CN103236199A - Automatic testing system and testing method for street crossing of pedestrians - Google Patents

Automatic testing system and testing method for street crossing of pedestrians Download PDF

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Publication number
CN103236199A
CN103236199A CN2013101215947A CN201310121594A CN103236199A CN 103236199 A CN103236199 A CN 103236199A CN 2013101215947 A CN2013101215947 A CN 2013101215947A CN 201310121594 A CN201310121594 A CN 201310121594A CN 103236199 A CN103236199 A CN 103236199A
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dummy
detection apparatus
vehicle
vehicle detection
mobile device
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CN103236199B (en
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熊光明
李勇
周帅
陈慧岩
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Beijing Institute of Technology BIT
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Beijing Institute of Technology BIT
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Abstract

Disclosed are an automatic testing system and a testing method for street crossing of pedestrians. The automatic testing system comprises a dummy moving device, a vehicle detecting device and a wireless transmitting and receiving module. The automatic testing system and the testing method have the advantages that the testing system can detect an arrival lane of a tested vehicle, the distance from the vehicle to the simulation system and the running speed of the tested vehicle, accordingly, a dummy automatically moves to cross a street, the street crossing moment and the street crossing speed of the dummy can be set, and the distance from the dummy to a vehicle when the dummy passes through the vehicle also can be set.

Description

A kind of pedestrian's jaywalk Auto-Test System and method of testing thereof
Technical field
The present invention relates to a kind of pedestrian's jaywalk Auto-Test System and method of testing thereof, relate in particular to the pedestrian's jaywalk test macro and the method for testing thereof that can be applicable to begin to learn the test of driver's driving efficiency and automatic driving vehicle pedestrian identification and handle test.
Background technology
On the one hand, domestic hold the driver when taking an examination often the pedestrian seldom even do not have pedestrian's road surface to carry out, it is often panic to cause the fresh driver to run into more pedestrian or emergent pedestrian or animal when setting out on a journey, and is easy to do the operation that makes mistake, thereby causes the generation of tragedy.And in driver training and examination, can not adopt true man to test again.
On the other hand, all held the automatic driving vehicle challenge match both at home and abroad, as high-level plan research office of U.S. DARPA(U.S. Department of Defense) the Urban Challenge(city challenge match held), " the following challenge of intelligent vehicle " match of holding of China.At present mainly investigate the external performance that it shows for the test of automatic driving vehicle.Whether have pedestrian go across the road, mainly be by observing when the pedestrian goes across the road if correctly detecting as, automatic driving vehicle, whether unmanned vehicle stops or slow down is gone slowly.The artificial mobile dummy that this mode adopts also needs to be apprised of speed that unmanned car moves, apart from the distance of examination point and the track of travelling, the manpower that needs is more, and because that subjective factor causes the dummy to pass through speed and the time effects of road is bigger, thereby fairness and the effect of test there is bigger influence.
Therefore, be necessary to design a kind of pedestrian's jaywalk Auto-Test System, it can detect speed, the distance of tested vehicle arrival and the track of travelling automatically, and when the dummy being set occurring from the distance of tested vehicle and the moment of appearance, begin the mobile moment and mobile speed thereby control the dummy automatically.
Summary of the invention
In order to reach above-mentioned target, the present invention proposes a kind of pedestrian's jaywalk Auto-Test System, comprises dummy's mobile device, vehicle detection apparatus and tested vehicle; Described dummy's mobile device was apart from the distance of described tested vehicle when the translational speed of described dummy's mobile device was with test when wherein said vehicle detection apparatus can arrange test;
When described vehicle detection apparatus detects described tested vehicle, measure the speed of a motor vehicle of described tested vehicle and described tested vehicle with respect to the position of described vehicle detection apparatus;
Described vehicle detection apparatus calculates the constantly mobile and moving direction of described dummy's mobile device according to the speed of a motor vehicle of described tested vehicle and the described tested vehicle position for described vehicle detection apparatus;
Described vehicle detection apparatus sends to described dummy's mobile device in the described mobile moment with described translational speed and described moving direction;
Described dummy's mobile device moves according to described translational speed and described moving direction, so that described dummy's mobile device passes through described tested vehicle dead ahead according to described translational speed and described distance.
Wherein, described dummy's mobile device feeds back to described vehicle detection apparatus in real time with its positional information.
Wherein, described dummy's mobile device comprises dummy, dummy's mobile platform and dummy's mobile platform control system box, and described dummy and described dummy's mobile platform control system box are installed on described dummy's mobile platform.
Wherein, described dummy's mobile platform control system box comprises dummy's mobile platform radio receiving transmitting module, described vehicle detection apparatus comprises the vehicle detection apparatus radio receiving transmitting module, and described vehicle detection apparatus radio receiving transmitting module sends described translational speed and described moving direction to described vehicle detection apparatus radio receiving transmitting module; Described dummy's mobile platform radio receiving transmitting module feeds back described positional information to described vehicle detection apparatus radio receiving transmitting module.
The present invention also provides a kind of automatic test approach of pedestrian's jaywalk Auto-Test System, and described Auto-Test System comprises dummy's mobile device, vehicle detection apparatus and tested vehicle; Described automatic test approach comprises the steps:
Step 1, when by described vehicle detection apparatus the translational speed of described dummy's mobile device of when test and test being set described dummy's mobile device apart from the distance of described tested vehicle;
Step 2, when described vehicle detection apparatus detects described tested vehicle, measure the speed of a motor vehicle of described tested vehicle and described tested vehicle with respect to the position of described vehicle detection apparatus;
Step 3, described vehicle detection apparatus are calculated the constantly mobile and moving direction of described dummy's mobile device according to the speed of a motor vehicle of described tested vehicle and the described tested vehicle position with respect to described vehicle detection apparatus;
Step 4, described vehicle detection apparatus send to described dummy's mobile device in the described mobile moment with described translational speed and described moving direction;
Step 5, described dummy's mobile device move according to described translational speed and described moving direction, so that described dummy's mobile device passes through described tested vehicle dead ahead according to described translational speed and described distance.
Wherein, after described dummy's mobile device receives described translational speed and described moving direction, send control command to described vehicle detection apparatus and receive flag information.
Wherein, when described vehicle detection apparatus does not receive described control command when receiving flag information, described vehicle detection apparatus sends described translational speed and described moving direction according to the fixed cycle continuously to described dummy's mobile device, receives described control command up to described vehicle detection apparatus and receives flag information.
Wherein, described dummy's mobile device feeds back to described vehicle detection apparatus in real time with its positional information, and described dummy's mobile platform radio receiving transmitting module links to each other by serial ports with described dummy's mobile platform control system box.
Use the present invention, can obtain following beneficial effect:
By the present invention, can be in driver training, strengthen driver new hand is promptly occurred about the road surface training and the examination of the reaction capacity of situations such as the pedestrian of jaywalk or animal, reduce the incidence of such accident; The pedestrian who also can be applicable to simultaneously unmanned vehicle identifies in the test, and compares with existing artificial mobile dummy model, has better convenience, security and fairness.This device fitting operation is simple, and extensibility is very strong, can be useful for various similar sight.
Description of drawings
Following accompanying drawing this as a part of the present invention so that understand, in the accompanying drawing:
Fig. 1 is the entire block diagram of pedestrian's jaywalk Auto-Test System among the present invention;
Fig. 2 is the structural representation of dummy's mobile device among the present invention;
Fig. 3 is the structural representation of vehicle detection apparatus among the present invention;
Fig. 4 is the work synoptic diagram of pedestrian's jaywalk Auto-Test System among the present invention;
Fig. 5 is the workflow diagram of pedestrian's jaywalk Auto-Test System among the present invention.
Embodiment
In the following description, a large amount of concrete details have been provided in order to more thorough understanding of the invention is provided.Yet, it is obvious to the skilled person that the present invention can need not one or more these details and implemented.In other example, for fear of obscuring with the present invention, be not described for technical characterictics more well known in the art.Below in conjunction with accompanying drawing, embodiments of the present invention are described.
As shown in Figure 1, pedestrian's jaywalk Auto-Test System provided by the invention comprises dummy's mobile device 1, vehicle detection apparatus 2.Wherein, dummy's mobile device 1 mainly is made of dummy 11, dummy's mobile platform 16 and dummy's mobile platform control system box 18.Dummy's mobile platform control system box 18 controlled false making people mobile platforms 16 move forward and backward.Dummy 11 and dummy's mobile platform control system box 18 are installed on dummy's mobile platform 16, and can dismantle and install dummy 11 as required.Dummy's mobile platform radio receiving transmitting module 14 and dummy's mobile platform control system box 18 link to each other by serial ports.
Vehicle detection apparatus 2 is installed in the forbidden zone of travelling of road limit or the middle vehicle of road, and vehicle detection apparatus radio receiving transmitting module 23 links to each other by serial ports equally with vehicle detection apparatus control system box 20.
As shown in Figure 2, dummy's mobile platform control system box 18 comprises power module 12, locating module 13, single-chip microcomputer 17 and drive system 15.
Wherein power module 12 is made up of battery 121 and voltage stabilizing chip 122, and battery 121 is through voltage stabilizing chips 122 back output burning voltages, for single-chip microcomputer 17 provides+normal working voltage of 5V, and provides stable motor driven voltage for drive system 15 simultaneously.It is the diconnected relation between dummy's mobile platform radio receiving transmitting module 14 and the single-chip microcomputer 17, on the one hand single-chip microcomputer 17 by dummy's mobile platform radio receiving transmitting module 14 receive startup that vehicle measurement mechanisms 2 send constantly with relevant control command such as translational speed, single-chip microcomputer 17 returns to vehicle measurement mechanism 2 by dummy's mobile platform radio receiving transmitting module 14 with some flag informations of dummy's mobile platform 16 (such as above-mentioned control command receive flag information, complement mark information etc.) on the other hand.Locating module 13 accurately provides the position of its current arrival for dummy's mobile platform 16, for the motion of dummy's mobile platform 16 provides one about the closed loop feedback information of position.The control signal that drive system 15 can receive single-chip microcomputer 17 drives moving forward and backward of dummy's mobile platform 16.
Locating module 13 is made up of a rfid interrogator 131 and some RFID passive electronic labels 132, RFID passive electronic label 132 is installed in the sideline of road limit and centre and the place, point of crossing of dummy's mobile device motion track, the numbering that the numbering difference of different RF ID passive electronic label, rfid interrogator 131 are read different RF ID passive electronic label 132 just can be learnt the lane position of dummy's mobile device 1.And between two electronic tags the time, it is mobile that dummy's mobile device 1 can keep, and when only requiring that position of electronic tag of arrival detecting, dummy's mobile device 1 just can stop to move.
Dummy's mobile platform radio receiving transmitting module 14 is made up of serial port chip 141 and wireless serial module 142, it is the diconnected relation between them, both can realize that the data from serial port chip 141 to wireless serial module 142 flowed, can realize again from wireless serial module 142 to wireless chip that 141 data flowed.
As shown in Figure 3, vehicle detection apparatus 2 mainly is made of power module 24, human-computer interaction interface 22, sensing detection module 21, vehicle detection apparatus single-chip microcomputer 25, vehicle detection apparatus radio receiving transmitting module 23.Human-computer interaction interface 22 is mainly used to arrange and show correlation parameter.Sensing detection module 21 is mainly used to detect relative position and the speed of tested vehicle 3, sends vehicle detection apparatus single-chip microcomputer 25 to.The correlation parameter that vehicle detection apparatus single-chip microcomputer 25 arranges according to human-computer interaction interface 22, speed and the positional information of the tested vehicle 3 that obtains with sensing detection module 21, calculate dummy's mobile device 1 and should begin the mobile moment and mobile speed, and by vehicle detection apparatus radio receiving transmitting module 23 corresponding control command is sent to dummy's mobile platform control system box 18, after dummy's mobile platform control system box 18 receives control command, according to relevant requirement dummy's mobile platform 16 is moved, behind the desired track of arrival system, behind the desired RFID passive electronic label 132 of the system of namely passing through, automatically stop, and to vehicle detection apparatus 2 feedback complement mark information.
Wherein, power module 24 mainly is made up of battery 241 and voltage stabilizing chip 241, and it provides stable power for each module of vehicle detection apparatus 2.Human-computer interaction interface 22 comprises keyboard input 221 and LCDs 222, and the parameters such as distance apart from tested vehicle can be set and show when speed that the dummy moves and dummy arrive tested vehicle 3 dead aheads.Sensing detection module 21 mainly is made up of millimetre-wave radar 211 and CAN chip 212, and millimetre-wave radar 211 can be measured relative position and the speed of tested vehicle 3, by 212 conversions of CAN chip, sends data to vehicle detection apparatus single-chip microcomputer 25 then; Vehicle detection apparatus radio receiving transmitting module 23 comprises serial port chip 231 and wireless serial module 232, is responsible for control command is sent to dummy's mobile device 1, and receives the feedback complement mark information of dummy's mobile device 1.
The installation site of pedestrian's jaywalk Auto-Test System provided by the invention on road be (two-way traffic and six-lane are similar) as shown in Figure 4.Dummy's mobile device 1 can be done linear reciprocating motion in the jaywalk direction among the figure, this device adopts radio-frequency (RF) identification (RFID) technology accurately to locate, 5 small circles are represented the riding position (different number of track-lines can be changed number of tags according to demand) of RFID positioning label among the figure, and label is placed on dummy's mobile device 1 reciprocating track.The numbering that the numbering difference of different RF ID passive electronic label, rfid interrogator 131 are read different RF ID passive electronic label 132 just can be learnt the concrete lane position of dummy's mobile device 1.3 is tested vehicle among the figure; 2 is vehicle detection apparatus, and vehicle detection apparatus 2 can detect relative position and the speed of tested vehicle 3 by millimetre-wave radar 211, and wherein millimetre-wave radar 211 is outwards launched a row continuous frequency modulation millimeter wave by antenna, and the reflected signal of receiving target.The rule that the emission wave frequency is pressed modulation voltage in time changes, general modulation signal is triangular signal, reflection wave is identical with the shape of transmitted wave, a delay is just arranged in time, transmitting is the intermediate-freuqncy signal frequency of mixing output with reflected signal difference on the frequency at a time, and target range is directly proportional with the IF-FRE of front end output.If reflected signal is from the target of a relative motion, then comprise a caused Doppler frequency-shift of the relative motion by target in the reflected signal, just can calculate target range d, corresponding angle α and target speed of related movement v according to the multispectral principle of reining in.As shown in Figure 4, x1 be vehicle detection apparatus 2 apart from the horizontal range of tested vehicle 3, y1 be vehicle detection apparatus 2 apart from the vertical range of tested vehicle 3, y2 is that vehicle detection apparatus 2 is apart from the vertical range of dummy's mobile alignment; D is that vehicle detection apparatus 2 is apart from the air line distance of tested vehicle 3; α is the angle between vehicle detection apparatus 2 and tested vehicle 3 lines and the dummy's mobile alignment.Can calculate relative position x1 and the y1 of tested vehicle 3 according to the geometric relationship of d and α.Can calculate the traveling lane of tested vehicle 3 according to x1, y1 and y2 addition are s3, and namely tested vehicle 3 is apart from the vertical range of dummy's mobile alignment.Wherein vehicle detection apparatus 2 is fixedly mounted on the forbidden zone of travelling of vehicle in road next door or the road, should depart from the mobile alignment of dummy's mobile device.
The workflow diagram of pedestrian's jaywalk Auto-Test System among the present invention is described below in conjunction with Fig. 5.
At first the mounting vehicle pick-up unit 2, and dummy's mobile device 1 placed in place, and at the human-computer interaction interface 22 of vehicle detection apparatus 2 dummy's movement speed v 3 that test needs and the reaction distance s3(that requires to be set be dummy's distance apart from tested vehicle 3 when arriving tested vehicle 3 dead aheads).
Setting data host-host protocol then: for steering order, 5 bytes are adopted in the wireless data transmission, and first byte is beginning flag byte 0xAA, and second byte is moving direction, the 3rd and the 4th speed that the byte representation dolly moves, the 5th byte is end mark byte 0xFF.Wherein in second byte, 0x00 represents to stop, and 0x01 represents to advance, and 0x02 represents to retreat.
For feedback information, 5 identical bytes are also adopted in the wireless data transmission, when receiving steering order, and the data 0x55 of 5 bytes of feedback; After finishing, motion feeds back the data 0x88 of 5 bytes as complement mark information when finishing.
Follow open system, whether vehicle detection apparatus 2 just begins to detect by millimetre-wave radar 211 has vehicle to pass through tested zone, when vehicle detection apparatus 2 has detected tested vehicle 3 arrival, can measure absolute velocity and the relative position of this tested vehicle 3, the parameter that arranges in conjunction with human-computer interaction interface 22 then, draw the moment t that the dummy need move by computing, speed v 3, direction (namely advance or retreat) and the track that will pass, and delay arrival time carves t, at moment t with speed v 3, information such as direction and destination sends to dummy's mobile device 1 by wireless mode.Millimetre-wave radar 211 on the vehicle detection apparatus 2 detects the information of tested vehicle 3.
Millimetre-wave radar 211 can be measured relative position and the absolute velocity of tested vehicle 3, by 212 conversions of CAN chip, sends data to vehicle detection apparatus single-chip microcomputer 25 then.
Send control command
Vehicle detection apparatus single-chip microcomputer 25 passes through existing information, namely dummy's movement speed v 3 of Yao Qiuing, the reaction distance s3 that requires, tested vehicle 3 apart from vehicle detection apparatus 2 apart from d, tested vehicle 3 speed of a motor vehicle v, calculate, and the suitable time-delay t of process sends to dummy's mobile device 1 with control command, after dummy's mobile device 1 is received control command, feedback is received flag information simultaneously, vehicle detection apparatus 2 sends control command continuously according to some cycles, up to the flag information of receiving from dummy's mobile device 1 of receiving.
After dummy's mobile device 1 is received control command, receive flag information to vehicle detection apparatus 2 feedbacks, and begin to move, if vehicle detection apparatus 2 is not received above-mentioned feedback information, just continue in constant duration, to send related command again to dummy's mobile device 1, up to receiving feedback information.Dummy's mobile device 1, to vehicle detection apparatus 2 feedback complement mark information, finishes to this pedestrian's jaywalk Auto-Test System work when arriving required lane position then while moving the position of detecting oneself.
The system works flow process:
One, carries out preliminary work
1, native system is installed.Select test point, as shown in phantom in Figure 4, draw the route of a jaywalk, lay an electronic tag respectively (label of each electronic tag be different at the intersection point place in every track on this route and road, the position of label and label are corresponding one by one, with consistent in the program), vehicle detection apparatus 2 is placed in the middle of as shown in Figure 4 the road, distance apart from the route of jaywalk is y2, dummy's mobile device 1 is placed in an end of the route of jaywalk, be the road limit, the other end of direction along route towards road.
2, parameter setting.Open the power supply 24 of vehicle detection apparatus 2, this device enters parameter automatically pattern is set, and at human-computer interaction interface 22 test the dummy's movement speed v 3 that needs and the reaction distance s3 that requires are set as requested, after setting is finished, by " affirmation " button, withdraw from parameter pattern is set, enter the native system normal mode of operation.
Two, system's operate as normal
During the system operate as normal, following flow process (except 5 and 7) is the program circuit of vehicle detection apparatus single-chip microcomputer 25.
1, whether after system powers on, just millimetre-wave radar is opened simultaneously, and start working, detecting the place ahead has vehicle to pass through, if just continue to wait for, when having vehicle to pass through, measures position x1, y1 and the speed v of tested vehicle simultaneously on detecting the track.
2, the dummy's movement speed v 3 that arranges in conjunction with the information of measuring and parameter and the reaction distance s3 that requires calculate moment t that the dummy moves, speed v, direction (advance or retreat, be defaulted as and advance) herein.
3, t is constantly waited in time-delay.
4, information such as speed v, direction and purpose track are sent to dummy's mobile device 1.
5, dummy's mobile device 1 is received flag information to vehicle detection apparatus 2 transmissions, and is begun mobile after receiving control command.
6, vehicle detection apparatus 2 is waited for and is received flag information, if do not receive, then gets back to 4.
7, stop after dummy's mobile device 1 arrives the purpose track, and be sent completely flag information to vehicle detection apparatus 2.
8, end-of-job.
Although the present invention is described by above-mentioned preferred implementation, its way of realization is not limited to above-mentioned embodiment.Should be realized that under the situation that does not break away from purport of the present invention, those skilled in the art can make different variations and modification to the present invention.
The present invention is illustrated by above-described embodiment, but should be understood that, above-described embodiment just is used for for example and illustrative purposes, but not is intended to the present invention is limited in the described scope of embodiments.It will be appreciated by persons skilled in the art that in addition the present invention is not limited to above-described embodiment, can also make more kinds of variants and modifications according to instruction of the present invention, these variants and modifications all drop in the present invention's scope required for protection.Protection scope of the present invention is defined by the appended claims and equivalent scope thereof.

Claims (8)

1. pedestrian's jaywalk Auto-Test System comprises dummy's mobile device (1), vehicle detection apparatus (2) and tested vehicle (3); Wherein
The distance (s3) of described dummy's mobile device (1) described tested vehicle of distance (3) when described vehicle detection apparatus (2) can arrange the translational speed (v3) of described dummy's mobile device of when test (1) and test;
When described vehicle detection apparatus (2) detects described tested vehicle (3), measure the speed of a motor vehicle of described tested vehicle (3) and described tested vehicle (3) with respect to the position of described vehicle detection apparatus (2);
Described vehicle detection apparatus (2) calculates mobile (t) and the moving direction constantly of described dummy's mobile device (1) according to the speed of a motor vehicle of described tested vehicle (3) and described tested vehicle (3) position with respect to described vehicle detection apparatus (2);
Described vehicle detection apparatus (2) sends to described dummy's mobile device (1) in the described moment (t) with described translational speed (v3) and described moving direction;
Described dummy's mobile device (1) moves according to described translational speed (v3) and described moving direction, so that described dummy's mobile device (1) passes through described tested vehicle (3) dead ahead according to described translational speed (v3) and described distance (s3).
2. pedestrian's jaywalk Auto-Test System according to claim 1 is characterized in that, described dummy's mobile device (1) feeds back to described vehicle detection apparatus (2) in real time with its positional information.
3. pedestrian's jaywalk Auto-Test System according to claim 1, it is characterized in that, described dummy's mobile device (1) comprises dummy (11), dummy's mobile platform (16) and dummy's mobile platform control system box (18), and described dummy (11) and described dummy's mobile platform control system box (18) are installed on described dummy's mobile platform (16).
4. pedestrian's jaywalk Auto-Test System according to claim 2, it is characterized in that, described dummy's mobile platform control system box (18) comprises dummy's mobile platform radio receiving transmitting module (14), described vehicle detection apparatus (2) comprises vehicle detection apparatus radio receiving transmitting module (23), and described vehicle detection apparatus radio receiving transmitting module (23) sends described mobile (t), described translational speed (v3) and described moving direction constantly to described vehicle detection apparatus radio receiving transmitting module (23); Described dummy's mobile platform radio receiving transmitting module (14) feeds back described positional information to described vehicle detection apparatus radio receiving transmitting module (23).
5. the automatic test approach of pedestrian's jaywalk Auto-Test System, described Auto-Test System comprises dummy's mobile device (1), vehicle detection apparatus (2) and tested vehicle (3); Described automatic test approach comprises the steps:
Step 1, the distance (s3) of described dummy's mobile device (1) described tested vehicle of distance (3) when by described vehicle detection apparatus (2) translational speed (v3) of described dummy's mobile device of when test (1) and test being set;
Step 2, when described vehicle detection apparatus (2) detects described tested vehicle (3), measure the speed of a motor vehicle of described tested vehicle (3) and described tested vehicle (3) with respect to the position of described vehicle detection apparatus (2);
Step 3, described vehicle detection apparatus (2) are calculated mobile (t) and the moving direction constantly of described dummy's mobile device (1) according to the speed of a motor vehicle of described tested vehicle (3) and described tested vehicle (3) position with respect to described vehicle detection apparatus (2);
Step 4, described vehicle detection apparatus (2) send to described dummy's mobile device (1) at described mobile (t) constantly with described translational speed (v3) and described moving direction;
Step 5, described dummy's mobile device (1) move according to described translational speed (v3) and described moving direction, so that described dummy's mobile device (1) passes through described tested vehicle (3) dead ahead according to described translational speed (v3) and described distance.
6. automatic test approach according to claim 5 is characterized in that after described dummy's mobile device (1) receives described translational speed (v3) and described moving direction, sends control command to described vehicle detection apparatus (2) and receives flag information.
7. automatic test approach according to claim 6, it is characterized in that not receiving described control command when receiving flag information when described vehicle detection apparatus (2), described vehicle detection apparatus (2) sends described translational speed (v3) and described moving direction according to the fixed cycle continuously to described dummy's mobile device (1), receives described control command up to described vehicle detection apparatus (2) and receives flag information.
8. automatic test approach according to claim 5 is characterized in that described dummy's mobile device (1) feeds back to described vehicle detection apparatus (2) in real time with its positional information.
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CN109632331A (en) * 2018-12-12 2019-04-16 长安大学 A kind of the ADAS system pedestrian impact test device and its test method of low cost
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CN108898795B (en) * 2018-06-12 2020-03-27 广州小鹏汽车科技有限公司 Pedestrian state real-time analysis method and system based on mobile device
CN109632330A (en) * 2018-12-12 2019-04-16 长安大学 A kind of the AEB system cyclist's crash tests device and its test method of low cost
CN109632331A (en) * 2018-12-12 2019-04-16 长安大学 A kind of the ADAS system pedestrian impact test device and its test method of low cost
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CN111829791B (en) * 2020-06-24 2021-06-04 襄阳达安汽车检测中心有限公司 Automatic drive vehicle road inspection shaft and well lid flexibility simulation testing arrangement
CN112595525A (en) * 2020-11-27 2021-04-02 中船重工海为郑州高科技有限公司 Method and device for testing effectiveness of unmanned vehicle in avoiding pedestrians
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