CN-119714920-B - RCW-based intelligent automobile collision early warning test method and system

CN119714920BCN 119714920 BCN119714920 BCN 119714920BCN-119714920-B

Abstract

The invention relates to the technical field of automobile tests, and particularly discloses a test method and a system for intelligent automobile collision early warning based on RCW, comprising the following steps of S1, constructing a vehicle rear collision early warning test scene, wherein the vehicle rear collision early warning test scene comprises a plurality of lanes, a background vehicle and a test vehicle; the method comprises the steps of S2, setting an danger avoiding strategy of a background vehicle, S3, carrying out a vehicle rear collision early warning test on a same-direction lane by the background vehicle and a test vehicle, S4, acquiring and analyzing running data of the background vehicle and the test vehicle, S5, completing the vehicle rear collision early warning test after the danger avoiding strategy is executed by the background vehicle, and acquiring a rear warning result of the test vehicle. The invention can improve the accuracy of the vehicle rear collision early warning test.

Inventors

LIU XINGQI
BAI SHIHAO
ZHANG SHENGGEN
HUANG JUNFU
YANG LIANGYI
LUO HAOXUAN
LI HONGWEI
Zhang Yigai
ZHOU JIE
Kan Xiaoqin

Assignees

中国汽车工程研究院股份有限公司

Dates

Publication Date: 20260508
Application Date: 20241031

Claims (5)

1. The intelligent automobile collision early warning testing method based on the RCW is characterized by comprising the following steps of: s1, constructing a vehicle rear collision early warning test scene, wherein the vehicle rear collision early warning test scene comprises a plurality of lanes, a background vehicle and a test vehicle; S2, setting a risk avoidance strategy of a background vehicle, wherein the risk avoidance strategy of the background vehicle comprises emergency braking and steering lane changing; When the danger avoiding strategy executed by the background vehicle is emergency braking, and the distance between the two vehicles is S, the background vehicle executes emergency braking, in particular, ; V1 is the initial speed of the background vehicle in the test, V0 is the speed of the background vehicle when the relative speed of the background vehicle and the target vehicle is 0, amax is the maximum deceleration of the background vehicle, and M is a safety threshold; Safety threshold m=n V1;n=0.5s; When the danger avoiding strategy executed by the background vehicle is steering lane changing, the time of the background vehicle steering lane changing is Ttest, wherein Ttest=T0+Tsafety; T0 is the time for the background vehicle to start turning and changing to a first target point, and the first target point is the position of the background vehicle when the overlapping rate of the background vehicle and the test vehicle is 0 percent, wherein T safety is 0.2-1.0 s; S3, carrying out a vehicle rear collision early warning test on the same-direction lane by the background vehicle and the test vehicle; s4, acquiring and analyzing running data of the background vehicle and the test vehicle; S5, after the background vehicle executes the risk avoidance strategy, the vehicle rear collision early warning test is completed, and a rear warning result of the tested vehicle is obtained.
2. The method for testing intelligent car collision warning based on RCW according to claim 1, wherein the control of the background vehicle comprises a robot brake control, a robot steering wheel control and a robot throttle control.
3. The method for testing collision pre-warning of an intelligent automobile based on RCW according to claim 1, wherein the background vehicle is a flat fake vehicle.
4. The method for testing the intelligent automobile collision warning based on the RCW according to claim 1, wherein the backward warning result of the tested automobile comprises warning sounds, instrument warning, backward flashing lights and parking lights of the tested automobile.
5. The intelligent automobile collision early warning test system based on the RCW is characterized by executing the intelligent automobile collision early warning test method based on the RCW as claimed in any one of claims 1-4, wherein the system comprises a background vehicle and a test vehicle; The two-vehicle positioning interaction module is used for sharing the running data of the background vehicle and the test vehicle; The driving robot module is used for controlling the background vehicle and specifically comprises a robot brake control, a robot steering wheel control and a robot accelerator control; The test vehicle is provided with an acquisition module for acquiring alarm sound, instrument warning, a backward flash lamp and a stop lamp of the test vehicle; The test vehicle is provided with a signal processing module for analyzing the running data of the background vehicle and the test vehicle of the double-vehicle positioning module, and alarming sound, instrument warning, backward flashing light and stop light of the test vehicle.

Description

RCW-based intelligent automobile collision early warning test method and system Technical Field The invention relates to the technical field of automobile tests, in particular to an intelligent automobile collision early warning test method and system based on RCW. Background The advanced auxiliary driving system is an important component of a future intelligent automobile, a currently known forward collision early warning (FCW) system testing method is mature, and a driver can effectively control braking/steering to avoid collision with a front vehicle or reduce collision speed through vehicle alarming and subjective feeling. Because the forward collision early warning system is operated by more subjective feeling of a driver, the condition that the test data is inaccurate can occur when the vehicle collision test is carried out. Rear Collision Warning (RCW), which is specifically a vehicle that monitors targets behind the vehicle in real time through sensors during travel, is part of advanced assisted driving systems. When the system detects that the rear object is rapidly approaching the vehicle body and the rear collision risk exists, the system can send alarm information to the driver to enable the driver to respond in time and avoid, and meanwhile, the vehicle can start double flashing to prompt the rear vehicle to slow down and keep a distance so as to prevent the rear collision accident. When the intelligent automobile collision test based on the RCW is carried out, a background vehicle is positioned behind the test vehicle and is used for testing the RCW of the test vehicle. In the prior art, a test apparatus and method for testing FCWs, AEBS and RCWS, such as one of patent application nos. CN 202210075298.7. The device simulates the road motion into the track motion and the real environment, so as to eliminate the transverse motion of the background vehicle and the test vehicle and reduce the transverse deviation, and the test vehicle is arranged on the first fixed rail, the background vehicle is arranged on the moving rail, and two objects which respectively move are converted into the relative motion, so that the longitudinal deviation is reduced. However, if the road state in the real environment or other environmental interference is ignored, a precise test value cannot be obtained. The real and accurate RCW test values obtained by the test vehicle are all used for continuously optimizing the TTC of the RCW so as to achieve the purpose of being used in a real environment. The test environment simulated by the patent belongs to the test environment under an ideal state, and has certain deviation with the real environment, so that the test value of the RCW under the real environment can not be obtained. In order to obtain the test value of the RCW in the real environment, some technicians refer to the test method of FCW-based car collision warning. However, for the intelligent automobile collision early warning test of the RCW, the backward collision early warning TTC is generally later than the TTC of the forward collision early warning (FCW), so the intelligent automobile collision early warning test of the RCW is realized according to the intelligent automobile collision early warning test method of the FCW, the intelligent automobile collision early warning test is carried out according to the method for testing the FCW, and the collision is easy to happen before the test is completed. Thus, if the RCW test is performed along with the FCW test method, there is a high risk of collision. Disclosure of Invention The intelligent automobile collision early warning test method based on the RCW comprises the steps of S1, constructing an automobile rear collision early warning test scene which comprises a plurality of lanes, background vehicles and test vehicles, S2, setting a risk avoidance strategy of the background vehicles, S3, carrying out automobile rear collision early warning test on the same-direction lanes by the background vehicles and the test vehicles, S4, acquiring and analyzing driving data of the background vehicles and the test vehicles, S5, completing the automobile rear collision early warning test after the background vehicles execute the risk avoidance strategy, and acquiring a rear warning result of the test vehicles. Compared with the prior art, the first scheme not only can improve the accuracy of the test while guaranteeing the safety, but also can improve the test efficiency. Preferably, the control of the background vehicle includes a robotic brake control, a robotic steering wheel control, and a robotic throttle control. The robot control method has the beneficial effects that the robot control is adopted, so that the test efficiency is improved, the artificial subjective control is reduced, the test consistency is enhanced, and the test safety is improved. Preferably, the background vehicle is a flatbed prosthesis vehicle. The flat-plate fake vehicle has the advantages o