1. A system for testing a cognitive avoidance system, comprising:

the roadside sensing device is arranged in a test scene and used for acquiring the motion state information of the moving target in the test scene;

the communication terminal is connected with the roadside sensing device and used for transmitting the motion state information of the moving target to a tested vehicle provided with a sensing avoidance system; the detected vehicle sends a response control signal according to the motion state information of the moving target;

the vehicle state monitoring device is arranged in the detected vehicle and used for acquiring vehicle running information of the detected vehicle;

and the control analysis device is respectively connected with the moving target, the roadside sensing device and the vehicle state monitoring device and is used for controlling the moving target to move in the test scene, acquiring the motion state information of the moving target and the vehicle running information of the tested vehicle and analyzing whether the perception avoidance function of the tested vehicle meets the design requirement according to the motion state information of the moving target and the vehicle running information of the tested vehicle.

2. The system for testing a cognitive avoidance system according to claim 1, further comprising:

and the barrier is used for forming a perception blind area of the detected vehicle.

3. The system for testing a cognitive avoidance system according to claim 1 or 2, wherein the moving state information of the moving object includes a position, a moving direction and a moving speed of the moving object.

4. The system for testing a cognitive avoidance system according to claim 2, wherein the roadside sensing device comprises:

the camera module is used for acquiring the image information of the moving target;

the detection module is used for acquiring distance information between the moving target and the roadside sensing device;

and the calculation module is respectively connected with the camera module and the detection module and is used for calculating the position, the moving direction and the moving speed of the moving target according to the image information and the distance information.

5. The system for testing a cognitive avoidance system according to claim 1, wherein the vehicle operation information further comprises vehicle identification, vehicle location and vehicle motion status information.

6. The system for testing a cognitive avoidance system according to claim 5, wherein the vehicle condition monitoring device comprises:

the vehicle-mounted camera module is used for acquiring a vehicle identifier of the detected vehicle;

the vehicle positioning terminal is used for acquiring the vehicle position of the detected vehicle;

the accelerometer is used for acquiring vehicle motion state information of the detected vehicle;

and the vehicle control monitoring module is used for acquiring the response control signal.

7. The system for testing a cognitive avoidance system according to claim 1, wherein said communication terminal comprises a V2X road side terminal.

8. A method for testing a perception avoidance system is applied to a testing system of the perception avoidance system, and is characterized by comprising the following steps:

controlling a moving target to move in a test scene;

acquiring the motion state information of the moving target, and transmitting the motion state information to a detected vehicle provided with a perception avoidance system; the detected vehicle sends out a response control signal according to the motion state information;

and acquiring the motion state information of the moving target and the vehicle running information of the detected vehicle, and analyzing whether the perception avoidance function of the detected vehicle meets the design requirement or not according to the motion state information of the moving target and the vehicle running information of the detected vehicle.

9. The method for testing a cognitive avoidance system according to claim 8, the testing system of the cognitive avoidance system including an obstacle, the obstacle forming a blind perceptual zone with respect to the vehicle under test, wherein the controlling the moving object to move in the test scenario includes:

and controlling the moving target to move towards the motion direction of the detected vehicle by taking the perception blind area as a starting point.

10. The method for testing the cognitive avoidance system according to claim 8, wherein the vehicle under test runs at a constant speed of 30km/h-60km/h in the test scene.

Background

The technology of car-road cooperative automatic Driving system is a technology which is based on single-car intelligence, and makes the road car as a complete system by sharing information with other traffic participants and road side sensing systems, thereby being capable of completely executing functions of sensing, predicting, decision-making control and the like. When the system is used for dealing with traffic scenes such as 'ghost probes', the vehicle and the road can acquire more traffic condition perception information in cooperation with the automatic driving CADS, and therefore more safety redundant control is provided. The vehicle-road cooperative automatic driving scheme has gradually become a new generation of automatic driving solution due to the advantages. Therefore, before mass production and industrial application are realized, the vehicle-road cooperative automatic driving system needs to undergo various tests such as a software-in-loop test, a hardware-in-loop test, a closed test field test, a semi-open road test, an open road test and the like.

Disclosure of Invention

Based on the above, the invention aims to solve the problem of how to automatically test the perception and avoidance functions of the vehicle-road cooperative automatic driving system, and provides a test system and a test method of the perception avoidance system.

A test system of a perception avoidance system comprises a roadside perception device, a detection unit and a control unit, wherein the roadside perception device is arranged in a test scene and used for acquiring motion state information of a moving target in the test scene; the communication terminal is connected with the roadside sensing device and used for transmitting the motion state information of the moving target to a tested vehicle provided with a sensing avoidance system; the detected vehicle sends a response control signal according to the motion state information of the moving target; the vehicle state monitoring device is arranged in the detected vehicle and used for acquiring vehicle running information of the detected vehicle; and the control analysis device is respectively connected with the moving target, the roadside sensing device and the vehicle state monitoring device and is used for controlling the moving target to move in the test scene, acquiring the motion state information of the moving target and the vehicle operation information of the tested vehicle and analyzing whether the perception avoidance function of the tested vehicle meets the design requirement or not according to the motion state information of the moving target and the vehicle operation information of the tested vehicle.

According to the test system of the perception avoidance system, the control analysis device controls the moving target to move in the test scene, and the moving target is used for simulating pedestrians/non-motor vehicles in real road conditions. The roadside sensing device acquires the motion state information of the moving target and transmits the motion state information to the tested vehicle provided with the perception avoidance system through the communication terminal. And the perception avoidance system in the tested vehicle responds to the acquired motion state information and sends a response control signal to control the driving condition of the tested vehicle. The vehicle state monitoring device monitors the detected vehicle in real time and acquires the vehicle running information of the detected vehicle. And the control analysis device acquires the motion state information and the vehicle running information, compares and analyzes the motion state information when the traffic scene is triggered and the vehicle running information responded by the detected vehicle, and judges whether the perception and avoidance functions of the detected vehicle meet the design requirements. The mobile target is used for simulating road conditions possibly appearing in a real traffic state to test a closed test field of the tested vehicle, and the tested vehicle shares information with the road side sensing device to acquire road condition information, so that the functions of sensing, predicting, decision control and the like can be completely executed. The control analysis device evaluates the perception, behavior prediction and response capability of the detected vehicle according to the recognition and response conditions of the detected vehicle with the vehicle-road cooperative perception technology to the pedestrians/non-motor vehicles, so that the detection of the perception and avoidance functions of the non-motor vehicles or the pedestrians on the vehicles with the vehicle-road cooperative automatic driving function is realized.

In one embodiment, the test system of the cognitive avoidance system further comprises an obstacle, and the obstacle is used for forming a cognitive blind area of the tested vehicle.

In one embodiment, the motion state information of the moving object includes a position, a moving direction and a moving speed of the moving object.

In one embodiment, the roadside sensing device includes a camera module, configured to acquire image information of the moving target; the detection module is used for acquiring distance information between the moving target and the roadside sensing device; and the calculation module is connected with the camera module and the detection module and is used for calculating the position, the moving direction and the moving speed of the moving target according to the image information and the distance information.

In one embodiment, the vehicle operation information further includes vehicle identification, vehicle location, and vehicle motion status information.

In one embodiment, the vehicle state monitoring device comprises a vehicle-mounted camera module, which is used for acquiring a vehicle identifier of the detected vehicle; the vehicle positioning terminal is used for acquiring the vehicle position of the detected vehicle; the accelerometer is used for acquiring vehicle motion state information of the detected vehicle;

in one embodiment, the vehicle control monitoring module is configured to obtain the response control signal.

In one embodiment, the communication terminal comprises a V2X roadside terminal.

A test method of a perception avoidance system is applied to the test system of the perception avoidance system, and comprises the steps of controlling a moving target to move in a test scene; acquiring the motion state information of the moving target, and transmitting the motion state information to a detected vehicle provided with a perception avoidance system; the detected vehicle sends out a response control signal according to the motion state information; and acquiring the motion state information and the vehicle running information of the detected vehicle, and analyzing whether the perception avoidance function of the detected vehicle meets the design requirement or not according to the motion state information and the vehicle running information.

In one embodiment, the test system of the cognitive avoidance system includes an obstacle, the obstacle forms a cognitive blind area for the vehicle to be tested, and the controlling the moving target to move in the test scene includes controlling the moving target to move towards the moving direction of the vehicle to be tested with the cognitive blind area as a starting point.

In one embodiment, the tested vehicle runs at a constant speed of 30km/h-60km/h in the test scene.

Drawings

In order to more clearly illustrate the embodiments of the present specification or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only some embodiments described in the specification, and other drawings can be obtained by those skilled in the art without inventive labor.

FIG. 1 is a schematic diagram of a test system of a cognitive avoidance system according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a test scenario of a cognitive avoidance system test system according to an embodiment of the present invention;

fig. 3 is a flowchart illustrating a method for testing a cognitive avoidance system according to an embodiment of the present invention.

Detailed Description

To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. As used herein, the terms "vertical," "horizontal," "left," "right," "upper," "lower," "front," "rear," "circumferential," and the like are based on the orientation or positional relationship shown in the drawings for ease of description and simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the present invention.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

At present, a test scene is generated by adopting analog simulation when an automatic driving system with a vehicle-road cooperative sensing technology is tested, so that the test of a real road scene is not involved, and the condition that roadside sensor equipment and a tested vehicle share information is not considered. The simulation can be used as test verification before the real road test, and the subsequent test verification still needs to be carried out in a closed test field.

Fig. 1 is a schematic composition diagram of a test system of a cognitive avoidance system according to an embodiment of the present invention, in which the test system of the cognitive avoidance system includes a roadside sensing device 100, a communication terminal 200, a vehicle state monitoring device 300, and a control analysis device 400.

Before the tested vehicle 10 equipped with the perception avoidance system is tested, a test scene needs to be set in advance. At least a test road and a moving object 20 are included in the test scenario. In this embodiment, the test road is a long straight road including at least two lanes, the moving target 20 is a moving dummy or a non-motor vehicle, and the perception avoidance system is a vehicle-road cooperative automatic driving system. In actual test, crossroads or straight roads can be selected as closed test roads according to different test scenes. The mobile dummy/non-motor vehicle is controlled by the control analysis means 400 through an automatic program according to the test scenario. The scene to be tested in the test scene database is input to the control analysis means 400. The vehicle state monitoring device 300 is mounted on the vehicle 10 to monitor the vehicle operation information of the vehicle 10 in real time. The roadside sensing device 100 and the communication terminal 200 are initialized.

The control analysis device 400 controls the moving target 20 to move in the test scene according to the scene to be tested, and simulates the moving state of the pedestrian/non-motor vehicle in the real road condition by using the moving target 20. The roadside sensing device 100 acquires the motion state information of the moving object and transmits the motion state information to the vehicle 10 to be tested through the communication terminal 200. The perception avoidance system in the detected vehicle 10 responds to the acquired motion state information, analyzes the road condition information reflected by the motion state information, and sends out a response control signal in a targeted manner to control the detected vehicle 10 to correspond to the corresponding road condition.

The vehicle state monitoring device 300 monitors the vehicle 10 in real time, and acquires the vehicle operation information of the vehicle 10. The control and analysis device 400 is connected to the roadside sensing device 100 and the vehicle state monitoring device 300, and the control and analysis device 400 acquires the motion state information of the moving target from the roadside sensing device 100 and acquires the vehicle operation information of the vehicle to be detected from the vehicle state monitoring device 300. The control analysis device 400 determines whether the sensing and avoiding functions of the vehicle 10 meet the design requirements by comparing and analyzing the motion state information of the moving target 20 when the simulated traffic scene is triggered in the test and the vehicle operation information after the vehicle 10 responds.

The moving target 20 is used to simulate the road conditions that may occur in real traffic conditions to perform a closed test field test on the vehicle 10 under test. The perception avoidance system of the detected vehicle 10 obtains the road condition information by sharing the information with the roadside sensing device 100, so that the functions of perception, prediction, decision control and the like can be completely executed. The control analysis device 400 evaluates the perception, behavior prediction and response capabilities of the tested vehicle 10 according to the recognition and response conditions of the tested vehicle 10 with the vehicle path cooperative perception technology to the pedestrians/non-motor vehicles, so that the tested vehicle 10 with the vehicle path cooperative automatic driving function is tested for the non-motor vehicles or the pedestrians, and the non-motor vehicles or the pedestrians are sensed and avoided.

Fig. 2 is a test scenario diagram of a system for testing a cognitive avoidance system according to an embodiment of the present invention, wherein the system for testing a cognitive avoidance system further includes an obstacle 30. The obstacle 30 is used to form a blind sensing zone of the vehicle 10 under test. In this embodiment, the obstacle 30 may be a fixed obstacle or a movable obstacle. If a moving obstacle is used, this may be a real obstacle or an inflatable obstacle. The movable obstacle should be connected to the control and analysis device 400, and the control and analysis device 400 moves to a set position under the control of an automatic program. The tested vehicle 10 runs at a constant speed and approaches the position of the moving target 20 to be crossed with the test road, the barrier 30 is shielded between the tested vehicle 10 and the moving target 20, and a sensing blind area exists on one surface of the barrier 30 far away from the tested vehicle 10. The moving target 20 appears from the perception blind area, namely a traffic scene like a ghost probe can be simulated, and the ghost probe and the traffic scene have collision risks. The test device is used for testing various traffic scenes which may appear, so that the test of a closed test field of the tested vehicle 10 with the vehicle-road cooperative automatic driving function is realized.

In one embodiment, the motion state information of the moving object 20 includes the position, moving direction and moving speed of the moving object 20. The moving target 20 simulates the abnormal road condition of pedestrians/non-motor vehicles in the real road condition, the motion state information of the moving target 20 can visually represent the dynamic information thereof, and the motion trend and the motion track of the moving target 20 can be judged by analyzing the motion state information. In the present embodiment, the vehicle-road cooperative automatic driving system can determine whether the vehicle 10 under test is at risk of collision with the moving target 20 according to the position, moving direction and moving speed of the moving target 20, and make an optimal risk solution. In the actual test, other information of the moving object 20 such as shape, acceleration, inertia, mass, etc. can also be obtained according to the actual test requirements.

In one embodiment, the roadside sensing device 100 includes a camera module, a detection module, and a calculation module. The camera module is used for acquiring image information of the moving object 20. The detection module is used for acquiring distance information between the moving target 20 and the roadside sensing device 100. And the calculation module is respectively connected with the camera module and the detection module and is used for calculating the position, the moving direction and the moving speed of the moving target according to the image information and the distance information.

In this embodiment, the detection module includes a lidar. The laser radar is a short for laser detection and ranging system, is a product combining a laser technology and a radar technology, and takes a laser as a radiation source. The lidar includes a single beam narrow band laser and a receiving system. The laser generates and emits a beam of light pulses which impinge on the object and are reflected back and finally received by the receiver. The receiver accurately measures the travel time of the light pulse from emission to reflection. Since the light pulse propagates at a known speed of light, the distance from the object to be measured to the laser can be obtained from the propagation time. The target position (distance and angle) and the motion state can be accurately measured by combining the height of the laser, the laser scanning angle, the position of the laser and the laser emission direction.

The roadside sensing device 100 captures and acquires image information of the moving object 20 by using a camera module. Meanwhile, the roadside sensing device 100 transmits a light pulse onto the moving target 20 by using the laser radar and reflects back to be received by the receiver, and the receiver accurately measures the propagation time of the light pulse from the transmission to the reflection. The calculation module judges the shape of the moving target 20 according to the image information, and accurately measures the position and the motion state of the moving target 20 according to the propagation time, so that the roadside sensing device 100 achieves the purposes of detecting, identifying, distinguishing and tracking the moving target 20, and monitors the road condition on the road in real time.

In one embodiment, the vehicle operation information further includes vehicle identification, vehicle location, vehicle motion status information, and response control signals. The vehicle condition monitoring device 300 is mounted on the vehicle 10 to be tested, and the vehicle condition monitoring device 300 is used to monitor the vehicle 10 to be tested in real time. The vehicle operation information includes, but is not limited to, vehicle identification (such as vehicle frame number or temporary driving license plate information), vehicle control mode, motion state (such as vehicle position, vehicle speed, acceleration, driving direction, etc.), environment sensing and response state, vehicle light, signal real-time state, vehicle external 360-degree video monitoring condition, vehicle video and voice monitoring condition reflecting driver and man-machine interaction state, remote control instruction received by the vehicle, vehicle fault condition (if any), and other information. And (3) carrying out closed test field test on the automatic driving system with the vehicle road cooperative sensing technology according to the vehicle running information, and testing the identification and response conditions of the automatic driving system on pedestrians or non-motor vehicles existing in the sensing blind area, so as to evaluate the sensing, behavior prediction and response capabilities of the tested vehicle 10 on the pedestrians and the non-motor vehicles in the front self vehicle sensing blind area.

In one embodiment, the vehicle condition monitoring device 300 includes an onboard camera module, a vehicle location terminal, an accelerometer, and a vehicle control monitoring module. The vehicle-mounted camera module is used for acquiring the vehicle identification of the detected vehicle. The vehicle positioning terminal is used for acquiring the vehicle position of the detected vehicle. The accelerometer is used for acquiring vehicle motion state information of the detected vehicle. The vehicle control monitoring module is used for acquiring vehicle motion state information.

The vehicle-mounted camera module comprises an inside camera and an outside camera, and the inside camera and the outside camera can collect the frame number of the vehicle, the temporary running number plate information, the 360-degree video monitoring condition outside the vehicle, the in-vehicle video and voice monitoring condition reflecting the interaction state of a driver and a human-computer, the vehicle light and other image information. The vehicle positioning terminal can acquire the vehicle position information of the vehicle 10 under test. The accelerometer can acquire the motion state information of the vehicle 10 under test, such as vehicle position, vehicle speed, acceleration, driving direction, and the like. The vehicle control monitoring module can acquire the vehicle control mode, the environment sensing and responding state, the signal real-time state, the remote control instruction received by the vehicle, the vehicle fault condition and other control information of the tested vehicle 10 for indicating the vehicle running.

The vehicle 10 under test in the automatic driving mode can automatically select a driving route with the best road condition by analyzing the motion state information of the moving target 20; by using various vehicle-mounted sensors and camera systems, the surrounding environment can be sensed and rapidly adjusted, so that the probability of traffic accidents is effectively reduced. By comparing and analyzing the running state information such as the vehicle identification, the vehicle position, the vehicle motion state information and the like of the tested vehicle 10 in the automatic driving mode with the simulated traffic scene in the test of the closed test field, whether the sensing and avoiding functions of the tested vehicle 10 on the suddenly appeared pedestrians or non-motor vehicles meet the design requirements is judged.

In one embodiment, the communication terminal comprises a V2X roadside terminal. V2X (vehicle to evolution), i.e. the exchange of information from the vehicle to the outside. The system integrates a Global Positioning System (GPS) navigation technology, a vehicle-to-vehicle communication technology, a wireless communication technology and a remote sensing technology, and realizes the compatibility of manual driving and automatic driving. In this embodiment, the communication terminal is an internet of vehicles terminal for connecting the intelligent vehicle and the roadside sensing device 100. Under the automatic driving mode, the automobile 10 to be tested obtains the motion state information of the moving target 20, which is obtained by the roadside sensing device 100 through the roadside terminal V2X in real time. The tested automobile 10 can automatically select the driving route with the best road condition through the analysis of the motion state information, so that the traffic risk is greatly reduced. For example, when a pedestrian suddenly appears on the road ahead, the vehicle 10 under test may automatically decelerate to a safe speed or stop.

The invention also provides a test method of the perception avoidance system, which is applied to the test system of the perception avoidance system. Fig. 3 is a flowchart illustrating a method for testing a cognitive avoidance system according to an embodiment of the present invention, wherein the method includes the following steps S100 to S300.

Step S100: and controlling the moving target to move in the test scene.

Before the tested vehicle 10 equipped with the perception avoidance system is tested, a test scene needs to be set in advance. At least a test road and a moving object 20 are included in the test scenario. The scene to be tested in the test scene database is input to the control analysis means 400. The vehicle state monitoring device 300 is mounted on the vehicle 10 to monitor the vehicle operation information of the vehicle 10 in real time. The roadside sensing device 100 and the communication terminal 200 are initialized.

The mobile dummy/non-motor vehicle is controlled by the control analysis means 400 through an automatic program according to the test scenario. The control and analysis device 400 may control the moving target 20 to move at any speed and in any motion mode on the test road, or may control the moving target 20 to start moving after the vehicle 10 to be tested moves to a certain set position. For example, the vehicle 10 under test starts the networking communication function in the automatic driving mode to travel on the test road at a constant speed. When the time required for the vehicle 10 to reach the position where the moving target 20 crosses the road is 3.5s, the moving target 20 starts to start from the right side of the vehicle 10.

Step S200: acquiring the motion state information of the moving target, and transmitting the motion state information to a detected vehicle provided with a perception avoidance system; and the tested vehicle sends a response control signal according to the motion state information.

The roadside sensing device 100 acquires the motion state information of the moving target 20 and transmits the motion state information to the vehicle 10 under test through the communication terminal 200. The perception avoidance system in the detected vehicle 10 responds to the acquired motion state information, analyzes the road condition information reflected by the motion state information, and sends out a response control signal in a targeted manner to control the detected vehicle 10 to correspond to the corresponding road condition.

Step S300: and acquiring the motion state information and the vehicle running information of the detected vehicle, and analyzing whether the perception avoidance function of the detected vehicle meets the design requirement or not according to the motion state information and the vehicle running information.

The vehicle state monitoring device 300 monitors the vehicle 10 in real time, and acquires the vehicle operation information of the vehicle 10. The control and analysis device 400 is connected to the roadside sensing device 100 and the vehicle state monitoring device 300, and the control and analysis device 400 acquires the motion state information of the moving target from the roadside sensing device 100 and acquires the vehicle operation information of the vehicle to be detected from the vehicle state monitoring device 300. The control analysis device 400 determines whether the sensing and avoiding functions of the vehicle 10 meet the design requirements by comparing and analyzing the motion state information of the moving target 20 when the simulated traffic scene is triggered in the test and the vehicle operation information after the vehicle 10 responds.

The moving target 20 is used to simulate the road conditions that may occur in real traffic conditions to perform a closed test field test on the vehicle 10 under test. The perception avoidance system of the detected vehicle 10 obtains the road condition information by sharing the information with the roadside sensing device 100, so that the functions of perception, prediction, decision control and the like can be completely executed. The control analysis device 400 evaluates the perception, behavior prediction and response capabilities of the tested vehicle 10 according to the recognition and response conditions of the tested vehicle 10 with the vehicle path cooperative perception technology to the pedestrians/non-motor vehicles, so that the tested vehicle 10 with the vehicle path cooperative automatic driving function is tested for the non-motor vehicles or the pedestrians, and the non-motor vehicles or the pedestrians are sensed and avoided.

It should be understood that, although the steps in the flowchart of fig. 3 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in fig. 3 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed in turn or alternately with other steps or at least a portion of the other steps or stages.

In one embodiment, the tested vehicle 10 runs at a constant speed of 30km/h-60km/h in the test scene. When the vehicle runs on a road section such as an urban area, the pedestrian/non-motor vehicle is easy to suddenly drive into the lane, and the speed of the tested vehicle 10 is usually 30km/h-60km/h when the vehicle runs on the road section such as the urban area. Therefore, the tested vehicle 10 can run at the speed of 30km/h-60km/h, and the response condition of the tested vehicle 10 to various road emergency situations under the real automatic running state can be simulated.

Likewise, the mobile dummy/non-motor vehicle traverses the road at a speed of 5km/h to 6.5 km/h. The moving speed of the mobile dummy/non-motor vehicle is generally 5km/h-6.5 km/h. Therefore, the road condition that the pedestrians/non-motor vehicles suddenly drive into the driveway in the real road condition of the tested vehicle 10 can be simulated by enabling the mobile dummy/non-motor vehicle to cross the road at the speed of 5km/h-6.5 km/h.

In one embodiment, when determining whether the perceived avoidance function of the vehicle 10 meets the design requirement, the perceived avoidance of the vehicle 10 to the moving target 20 is determined from various angles. For example, whether the vehicle 10 under test can accurately analyze the accident occurrence probability based on the motion state information of the moving object 20; judging whether the vehicle can be decelerated and stopped in time after a collision accident happens in advance, and judging whether the distance between the detected vehicle 10 and the moving target 20 is within a safe distance range after the detected vehicle stops; whether the crisis situation is relieved can be judged, and the running is restarted in time, and the like.

In the embodiment, the tested vehicle 10 starts the networking communication function in the automatic driving mode and runs on the test road at a constant speed of 30km/h-60 km/h. When the time required by the tested vehicle 10 to reach the position where the pedestrian crosses the road is 3.5s, the control analysis device 400 controls the mobile dummy to start from the right side of the tested vehicle 10 and cross the road at the speed of 5km/h-6.5 km/h. The control analysis device 400 analyzes whether the sensing and avoiding functions of the vehicle-road type pedestrians or the non-motor vehicles meet the design requirements or not according to the vehicle running information of the detected vehicle 10 and the motion state information of the moving target 20.

The evaluation criterion of the control analysis device 400 is to judge whether the tested vehicle 10 can be decelerated in advance and ensure that the mobile dummy can safely pass through the lane where the vehicle is located; whether the distance between the stop position of the detected vehicle 10 and the moving dummy is more than 0.5m or not; after the dummy to be moved passes through the lane where the detected vehicle 10 is located, whether the detected vehicle 10 can judge that the dangerous condition is relieved or not is automatically started to continue driving, and the starting time is within 5 s. If the detected vehicle 10 can meet the above judgment standard, it is judged that the sensing and avoiding functions of the detected vehicle 10 meet the design requirements, otherwise, the sensing and avoiding functions of the detected vehicle 10 cannot meet the design requirements.

In the description herein, references to the description of "some embodiments," "other embodiments," "desired embodiments," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, a schematic description of the above terminology may not necessarily refer to the same embodiment or example.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.