CN103236199B - 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 PDFInfo
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- CN103236199B CN103236199B CN201310121594.7A CN201310121594A CN103236199B CN 103236199 B CN103236199 B CN 103236199B CN 201310121594 A CN201310121594 A CN 201310121594A CN 103236199 B CN103236199 B CN 103236199B
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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
Technical field
The present invention relates to a kind of pedestrian's jaywalk Auto-Test System and method of testing thereof, particularly relate to the pedestrian's jaywalk test macro and method of testing thereof that can be applicable to begin to learn driver skills tests and automatic driving vehicle pedestrian identification and process test.
Background technology
On the one hand, domesticly often to carry out on the road surface that pedestrian does not seldom even have pedestrian when holding examination of driver, causing fresh driver to run into more pedestrian when setting out on a journey or emergent row human or animal is often panic, being easy to do the operation made mistake, thus causing the generation of tragedy.And true man can not be adopted again to test in driver training and examination.
On the other hand, all held automatic driving vehicle challenge match both at home and abroad, as high-level plan research office of DARPA(U.S. Department of Defense of the U.S.) the Urban Challenge(city challenge match held), " intelligent vehicle Challenges for Future " match of holding of China.At present for its external performance showed of test paper examines of automatic driving vehicle.As, whether automatic driving vehicle correctly detects has pedestrian to go across the road, and mainly by observing when there being pedestrian to go across the road, whether vehicle stops or slow down.The moved by hand dummy that this mode adopts also needs to be apprised of the speed of unmanned vehicle movement, the distance distance of examination point and the track of traveling, the manpower needed is more, and due to subjective factor cause dummy by the speed of road and time effects comparatively large, thus have larger impact to the fairness of test and effect.
Therefore, be necessary to design a kind of pedestrian's jaywalk Auto-Test System, it can detect the track of speed, distance and the traveling that tested vehicle arrives automatically, and from the distance of tested vehicle and the moment of appearance during by arranging dummy and occurring, thus automatically control dummy and start the moment of movement and the speed of movement.
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; When wherein said vehicle detection apparatus can arrange test when the translational speed of described dummy's mobile device and test described dummy's mobile device apart from the distance of described tested vehicle;
When described vehicle detection apparatus detects described tested vehicle, measure the speed of a motor vehicle of described tested vehicle and the described tested vehicle position relative to described vehicle detection apparatus;
Described vehicle detection apparatus for the position of described vehicle detection apparatus, calculates mobile moment and the moving direction of described dummy's mobile device according to the speed of a motor vehicle of described tested vehicle and described tested vehicle;
Described translational speed and described moving direction are sent to described dummy's mobile device in the described mobile moment by described vehicle detection apparatus;
Described dummy's mobile device moves according to described translational speed and described moving direction, to make described dummy's mobile device according to described translational speed and described distance by described tested vehicle dead ahead.
Wherein, its positional information Real-time Feedback is given described vehicle detection apparatus by described dummy's mobile device.
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 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 one, when test is set by described vehicle detection apparatus when the translational speed of described dummy's mobile device and test 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 the described tested vehicle position relative to described vehicle detection apparatus;
Step 3, described vehicle detection apparatus relative to the position of described vehicle detection apparatus, calculate mobile moment and the moving direction of described dummy's mobile device according to the speed of a motor vehicle of described tested vehicle and described tested vehicle;
Described translational speed and described moving direction are sent to described dummy's mobile device in the described mobile moment by step 4, described vehicle detection apparatus;
Step 5, described dummy's mobile device move according to described translational speed and described moving direction, to make described dummy's mobile device according to described translational speed and described distance by described tested vehicle dead ahead.
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 do not receive described control command receive flag information time, described vehicle detection apparatus sends described translational speed and described moving direction according to the fixed cycle continuously to described dummy's mobile device, until described vehicle detection apparatus receives described control command receive flag information.
Wherein, its positional information Real-time Feedback is given described vehicle detection apparatus by described dummy's mobile device, and described dummy's mobile platform radio receiving transmitting module is connected by serial ports with described dummy's mobile platform control system box.
Application the present invention, can obtain following beneficial effect:
By the present invention, when driver training, training and the examination of the reaction capacity of the situations such as row human or animal driver new hand promptly being occurred to jaywalk about road surface can be strengthened, reduce the incidence of such accident; The pedestrian that simultaneously also can be applicable to vehicle identifies in test, and compared with existing moved by hand dummy model, has better convenience, security and fairness.This device is installed simple to operate, and extensibility is very strong, can be practically applicable to various similar sight.
Accompanying drawing explanation
Following accompanying drawing in this as a part of the present invention so that understand, in accompanying drawing:
Fig. 1 is the entire block diagram of pedestrian's jaywalk Auto-Test System in the present invention;
Fig. 2 is the structural representation of dummy's mobile device in the present invention;
Fig. 3 is the structural representation of vehicle detection apparatus in the present invention;
Fig. 4 is the operating diagram of pedestrian's jaywalk Auto-Test System in the present invention;
Fig. 5 is the workflow diagram of pedestrian's jaywalk Auto-Test System in the present invention.
Embodiment
In the following description, a large amount of concrete details is given to provide more thorough understanding of the invention.But, it is obvious to the skilled person that the present invention can be implemented without the need to these details one or more.In other example, in order to avoid obscuring with the present invention, technical characteristics more well known in the art are not described.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 is formed primarily of dummy 11, dummy's mobile platform 16 and dummy's mobile platform control system box 18.The controlled false making people mobile platform 16 of dummy's mobile platform control system box 18 moves forward and backward.Dummy 11 and dummy's mobile platform control system box 18 are arranged on dummy's mobile platform 16, and can dismantle dummy 11 and install as required.Dummy's mobile platform radio receiving transmitting module 14 is connected by serial ports with dummy's mobile platform control system box 18.
Vehicle detection apparatus 2 is arranged on the traveling forbidden zone of road limit or road intermediate car, and vehicle detection apparatus radio receiving transmitting module 23 is connected 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 stable output voltage after voltage stabilizing chip 122, for single-chip microcomputer 17 provides the normal working voltage of+5V, and simultaneously for drive system 15 provides stable motor driven voltage.Diconnected relation between dummy's mobile platform radio receiving transmitting module 14 and single-chip microcomputer 17, on the one hand single-chip microcomputer 17 receives the concerned control command such as Startup time that vehicle measurement mechanism 2 sends and translational speed by dummy's mobile platform radio receiving transmitting module 14, and some flag informations (the receiving flag information, complement mark information etc. of such as above-mentioned control command) of dummy's mobile platform 16 are returned to vehicle measurement mechanism 2 by dummy's mobile platform radio receiving transmitting module 14 by single-chip microcomputer 17 on the other hand.Locating module 13 accurately provides the position of its current arrival for dummy's mobile platform 16, and the motion for 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 arranged on the sideline of road limit and centre and the point of crossing place of dummy's mobile device motion track, the numbering of different RF ID passive electronic label is different, and the numbering that rfid interrogator 131 reads different RF ID passive electronic label 132 just can learn the lane position of dummy's mobile device 1.And time between two electronic tags, dummy's mobile device 1 can keep mobile, only when that position of the required electronic tag arrived being detected, dummy's mobile device 1 just can stop mobile.
Dummy's mobile platform radio receiving transmitting module 14 is made up of serial port chip 141 and wireless serial module 142, it is diconnected relation between them, both can realize, from serial port chip 141 to the flowing of the data of wireless serial module 142, can realizing again flowing from wireless serial module 142 to the data of wireless chip 141.
As shown in Figure 3, vehicle detection apparatus 2 is formed primarily 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 display correlation parameter.Sensing detection module 21 is mainly used to the relative position and the speed that detect tested vehicle 3, sends vehicle detection apparatus single-chip microcomputer 25 to.The correlation parameter that vehicle detection apparatus single-chip microcomputer 25 is arranged according to human-computer interaction interface 22, with speed and the positional information of the tested vehicle 3 of sensing detection module 21 acquisition, calculate dummy's mobile device 1 and should start the moment of movement and the speed of movement, 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 track required by arrival system, namely after the RFID passive electronic label 132 required by system, automatic stopping, and feed back complement mark information to vehicle detection apparatus 2.
Wherein, power module 24 forms primarily of battery 241 and voltage stabilizing chip 241, and the modules that it is vehicle detection apparatus 2 provides stable power supply.Human-computer interaction interface 22 comprises input through keyboard 221 and LCDs 222, can arrange and show when the speed of dummy's movement and dummy arrive tested vehicle 3 dead ahead apart from parameters such as the distances of tested vehicle.Sensing detection module 21 forms primarily of millimetre-wave radar 211 and CAN chip 212, and millimetre-wave radar 211 can measure relative position and the speed of tested vehicle 3, is then changed by CAN chip 212, data is sent to vehicle detection apparatus single-chip microcomputer 25; Vehicle detection apparatus radio receiving transmitting module 23 comprises serial port chip 231 and wireless serial module 232, is responsible for control command to send 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 as shown in Figure 4 (two-way traffic similar to six-lane).In figure, dummy's mobile device 1 can do linear reciprocating motion on jaywalk direction, this device adopts radio-frequency (RF) identification (RFID) technology accurately to locate, in figure, 5 small circles represent the riding position (different number of track-lines can change number of tags according to demand) of RFID positioning label, and label is placed on the reciprocating track of dummy's mobile device 1.The numbering of different RF ID passive electronic label is different, and the numbering that rfid interrogator 131 reads different RF ID passive electronic label 132 just can learn the concrete lane position of dummy's mobile device 1.In figure, 3 is tested vehicle; 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, wherein millimetre-wave radar 211 outwards launches a row continuous frequency modulation millimeter wave by antenna, and the reflected signal of receiving target.Launch the rule change that wave frequency presses modulation voltage in time, general modulation signal is triangular signal, reflection wave is identical with the shape of transmitted wave, just there is a delay in time, transmit and to be the IF signal frequency that mixing exports with reflected signal difference on the frequency at a time, and the IF-FRE that target range and front end export is directly proportional.If reflected signal is from the target of a relative motion, then reflected signal comprises a Doppler frequency-shift caused by the relative motion of target, just can calculate target range d, corresponding angle α and target relative movement speed v according to Doppler principle.As shown in Figure 4, x1 is the horizontal range of vehicle detection apparatus 2 apart from tested vehicle 3, and y1 is the vertical range of vehicle detection apparatus 2 apart from tested vehicle 3, and y2 is the vertical range of vehicle detection apparatus 2 apart from dummy's mobile alignment; D is the air line distance of vehicle detection apparatus 2 apart from tested vehicle 3; α is vehicle detection apparatus 2 and the angle between tested vehicle 3 line and dummy's mobile alignment.According to the geometric relationship of d and α, relative position x1 and y1 of tested vehicle 3 can be calculated.Can calculate the traveling lane of tested vehicle 3 according to x1, y1 and y2 is added and is 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 traveling forbidden zone of vehicle in road side or road, should depart from the mobile alignment of dummy's mobile device.
The workflow diagram of pedestrian's jaywalk Auto-Test System in the present invention is described below in conjunction with Fig. 5.
First mounting vehicle pick-up unit 2, and placed in place by dummy's mobile device 1, and the distance apart from tested vehicle 3 when dummy's movement speed v 3 and the reaction distance s3(required that test needs and dummy arrive tested vehicle 3 dead ahead is set on the human-computer interaction interface 22 of vehicle detection apparatus 2).
Then setting data host-host protocol: for steering order, Wireless Data Transmission adopts 5 bytes, and first character joint is beginning flag byte 0xAA, and second byte is moving direction, the speed of the 3rd and the 4th byte representation dolly movement, the 5th byte is end mark byte 0xFF.Wherein in second byte, 0x00 represents stopping, and 0x01 represents advance, and 0x02 represents retrogressing.
For feedback information, Wireless Data Transmission also adopts 5 identical bytes, when receiving steering order, and the data 0x55 of feedback 5 bytes; When complete moved after the data 0x88 of feedback 5 bytes as complement mark information.
Then open system, vehicle detection apparatus 2 just starts to detect whether there is vehicle by tested region by millimetre-wave radar 211, when vehicle detection apparatus 2 has detected that tested vehicle 3 arrives, absolute velocity and the relative position of this tested vehicle 3 can be measured, then in conjunction with the parameter that human-computer interaction interface 22 is arranged, show that dummy needs the moment t of movement 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 by speed v 3, the information such as direction and destination wirelessly sends to dummy's mobile device 1.Millimetre-wave radar 211 on vehicle detection apparatus 2 detects the information of tested vehicle 3.
Millimetre-wave radar 211 can measure relative position and the absolute velocity of tested vehicle 3, is then changed by CAN chip 212, data is sent to vehicle detection apparatus single-chip microcomputer 25.
Send control command
Vehicle detection apparatus single-chip microcomputer 25 passes through existing information, namely the dummy's movement speed v 3 required, the reaction distance s3 required, tested vehicle 3 are apart from distance d, tested vehicle 3 speed of a motor vehicle v of vehicle detection apparatus 2, calculate, and through suitable time delay t, control command is sent to dummy's mobile device 1, after dummy's mobile device 1 receives control command, feedback receives flag information simultaneously, vehicle detection apparatus 2 sends control command continuously according to some cycles, receives flag information until receive from dummy's mobile device 1.
After dummy's mobile device 1 receives control command, receive flag information to vehicle detection apparatus 2 feedback, and start mobile, if vehicle detection apparatus 2 does not receive above-mentioned feedback information, just continue in constant duration, again to send related command to dummy's mobile device 1, until receive feedback information.Dummy's mobile device 1 moves while detect the position of oneself, until when arriving required lane position, then feed back complement mark information to vehicle detection apparatus 2, complete to this pedestrian's jaywalk Auto-Test System work.
Working-flow:
One, preliminary work is carried out
1, native system is installed.Select test point, as shown in phantom in Figure 4, draw the route of a jaywalk, on this route with road, the point of intersection in every bar track is laid an electronic tag respectively (label of each electronic tag is different, the position mod sum label one_to_one corresponding of label, consistent with in program), vehicle detection apparatus 2 is placed in the middle of road as shown in Figure 4, the distance of the route of distance jaywalk is y2, dummy's mobile device 1 is placed in one end of the route of jaywalk, i.e. road limit, direction is along route towards the other end of road.
2, optimum configurations.Open the power supply 24 of vehicle detection apparatus 2, this device enters parameter setting mode automatically, and dummy's movement speed v 3 that test needs and the reaction distance s3 required are set as requested on human-computer interaction interface 22, after being provided with, press " confirmation " button, exit parameter setting mode, enter native system normal mode of operation.
Two, system worked well
During system worked well, following flow process (except 5 and 7) is the program circuit of vehicle detection apparatus single-chip microcomputer 25.
1, after system electrification, millimetre-wave radar is just opened simultaneously, and starts working, and whether detect front has vehicle to pass through, if just do not continue to wait for, when detect track has vehicle by time, measure position x1, y1 and the speed v of tested vehicle simultaneously.
2, the dummy's movement speed v 3 combining information and the optimum configurations measured and the reaction distance s3 required, calculate the moment t of dummy's movement, speed v, direction (advance or retreat, being defaulted as advance herein).
3, moment t is waited in time delay.
4, the information such as speed v, direction and object track are sent to dummy's mobile device 1.
5, dummy's mobile device 1 after receiving a control command, sends receive flag information to vehicle detection apparatus 2, and start mobile.
6, vehicle detection apparatus 2 wait-receiving mode receives flag information, if do not received, then gets back to 4.
7, dummy's mobile device 1 stops after arriving object track, and is 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, when not departing from purport of the present invention, those skilled in the art can make different changes and amendment to the present invention.
The present invention is illustrated by above-described embodiment, but should be understood that, above-described embodiment just for the object of illustrating and illustrate, and is not intended to the present invention to be limited in described scope of embodiments.In addition it will be appreciated by persons skilled in the art that the present invention is not limited to above-described embodiment, more kinds of variants and modifications can also be made according to instruction of the present invention, within these variants and modifications all drop on the present invention's scope required for protection.Protection scope of the present invention 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
When described vehicle detection apparatus (2) can arrange test when the translational speed (v3) of described dummy's mobile device (1) and test described dummy's mobile device (1) apart from the distance (s3) of described tested vehicle (3);
When described vehicle detection apparatus (2) detects described tested vehicle (3), measure the speed of a motor vehicle of described tested vehicle (3) and horizontal range x1, the vertical range y1 of described tested vehicle (3) relative to described vehicle detection apparatus (2) and the position of air line distance d;
Described vehicle detection apparatus (2) relative to the position of described vehicle detection apparatus (2), calculates mobile moment (t) and the moving direction 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);
Described translational speed (v3) and described moving direction are sent to described dummy's mobile device (1) described moment (t) by described vehicle detection apparatus (2);
Described dummy's mobile device (1) is moved according to described translational speed (v3) and described moving direction, to make described dummy's mobile device (1) according to described translational speed (v3) and described distance (s3) by described tested vehicle (3) dead ahead.
2. pedestrian's jaywalk Auto-Test System according to claim 1, is characterized in that, its positional information Real-time Feedback is given described vehicle detection apparatus (2) by described dummy's mobile device (1).
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 3, 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 moment (t), described translational speed (v3) and described moving direction to described dummy's mobile platform radio receiving transmitting module (14); 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. an automatic test approach for 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 one, when test is set by described vehicle detection apparatus (2) when the translational speed (v3) of described dummy's mobile device (1) and test described dummy's mobile device (1) apart from the distance (s3) of described tested vehicle (3);
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) position relative to described vehicle detection apparatus (2);
Step 3, described vehicle detection apparatus (2) relative to the position of described vehicle detection apparatus (2), calculate mobile moment (t) and the moving direction 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);
Described translational speed (v3) and described moving direction are sent to described dummy's mobile device (1) described mobile moment (t) by step 4, described vehicle detection apparatus (2);
Step 5, described dummy's mobile device (1) move according to described translational speed (v3) and described moving direction, pass through described tested vehicle (3) dead ahead to make described dummy's mobile device (1) according to described translational speed (v3) and described distance.
6. automatic test approach according to claim 5, it is characterized in that after described dummy's mobile device (1) receives described translational speed (v3) and described moving direction, send control command to described vehicle detection apparatus (2) and receive flag information.
7. automatic test approach according to claim 6, it is characterized in that when described vehicle detection apparatus (2) do not receive described control command receive flag information time, described vehicle detection apparatus (2) sends described translational speed (v3) and described moving direction, until described vehicle detection apparatus (2) receives described control command receive flag information according to the fixed cycle continuously to described dummy's mobile device (1).
8. automatic test approach according to claim 5, is characterized in that described dummy's mobile device (1) by its positional information Real-time Feedback to described vehicle detection apparatus (2).
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105841977A (en) * | 2016-05-16 | 2016-08-10 | 易觉汽车科技（上海）有限公司 | Low speed moving object traction system |
| CN107218941B (en) * | 2017-05-25 | 2021-05-28 | 百度在线网络技术（北京）有限公司 | Test method and device applied to unmanned automobile |
| 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 |
| 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 |
| CN112595525B (en) * | 2020-11-27 | 2023-04-11 | 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 |
| CN113219955B (en) * | 2021-05-13 | 2023-04-25 | 吉林大学 | Multi-driver driving-in-loop test platform |
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