KR20170061124A - Automatic driving test-method using driverless test-vehicle - Google Patents

Abstract

The present invention relates to a vehicle automatic running test method using a test vehicle (C). The present invention includes a step of checking whether a plurality of test vehicles are running in a cluster, a step of checking whether there is communication between vehicles when a plurality of test vehicles are running in a cluster, and checking at least one of a lane keeping system or a cruise control system of the front- A step of communicating data by communicating with a vehicle located behind the foremost test vehicle and confirming whether a plurality of test vehicles are running in a cluster and confirming whether or not the cluster is in a run when the cluster is not running And thereafter communicating between the test vehicles and operating the crowd traveling confluence system. According to the present invention, a plurality of test vehicles can be used to test automatic community driving.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an automatic driving test method using a test vehicle,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a method for testing an automatic running of a vehicle, and more particularly, to a method for testing an automatic running using a test small vehicle.

In recent years, much research has been conducted in relation to the autonomous navigation system, especially regarding autonomous navigation in robots and automobiles.

In general, the autonomous driving system or advanced driver assistance system automatically controls the driving of the vehicle from the start point to the end point on the road using GPS position information and signals obtained from various sensors based on the road map information It assists the driving of the driver and enables safe driving.

In particular, the autonomous navigation system may include sensor devices such as a scanning device, a camera, a radar, and the like in order to recognize and determine the traveling environment of a moving object (automobile or robot) moving at high speed in real time.

In this conventional technique, it is possible to carry out a variety of driving tests including autonomous driving by mounting various traveling devices and algorithms on the automobile, but most of the equipments mounted on the automobile are expensive equipments. There is a problem in that an effective autonomous driving performance due to space limitation can not be achieved.

Korean Patent No. 10-1209062

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems of the prior art, and it is an object of the present invention to provide a test vehicle which can test an automatic running method of a vehicle using a small test vehicle, will be.

According to an aspect of the present invention for achieving the above object, the present invention provides a vehicle automatic running test method using a plurality of test vehicles, comprising: checking whether a plurality of test vehicles are running in a cluster; A step of activating at least one of a lane keeping system or a cruise control system of a foremost test vehicle, communicating with a vehicle located at the rear of the foremost test vehicle, and exchanging data A step of confirming whether or not a plurality of test vehicles are running in a cluster and confirming whether or not a cluster run is joined when the cluster is not running and then communicating between the test vehicles and operating the cluster run joining system, A central frame formed with a mounting space, A rear portion provided at the rear of the central frame and provided with a rear wheel; a driving motor provided at the center frame for providing a driving force to the front or rear wheels; A battery module that is installed in the center frame and supplies power to the driving motor; a sensor module installed in the center frame or the front portion; And a communication module for wirelessly communicating the measured information with the adjacent test vehicle or the main control unit, wherein the sensor module includes a camera and an infrared sensor, and the total length leading to the center frame, the front portion, and the rear portion is 1200 mm To 1800 mm.

The front wheel or the rear wheel is provided with a braking device, and the steering device and the braking device are operated under control of a control part provided on the center frame or the main control part.

The camera and the infrared sensor are installed in a central frame or a front part to recognize a front obstacle or another test vehicle ahead.

The camera is installed on an upper part of a stand bar extending upward in the central frame or the front part.

The method may further include the steps of: determining whether a test vehicle in front of the test vehicle is detected using a camera; detecting a preceding test vehicle; activating the lane-keeping system; And if the test vehicle in front is not detected, it is checked whether the vehicle is in a curved main or inclined main road. If the vehicle is on a curved main road or an inclined main road, Further comprising the step of running at the same speed as the preceding test vehicle.

If the preceding test vehicle is not detected and the vehicle is not in the curved main road or the inclined main road, the step of searching for the position of the test vehicle ahead through communication with the preceding test vehicle, And a cluster running merge system for the cluster run of the vehicle is operated.

The system for joining a running junction communicates a test vehicle in the front and a test vehicle in the rear of the vehicle. The distance between the test vehicle in the front and the test vehicle in the rear is increased by adjusting the relative speed of the test vehicle in the front and the test vehicle in the rear. , And the speed of the joining test vehicle is adjusted to join between the forward test vehicle and the rearmost test vehicle.

The plurality of test vehicles communicate with each other to exchange data, and at the same time communicate with the main control unit, and the running control is controlled by the main control unit.

The method for testing an automatic running vehicle using the test vehicle according to the present invention as described above has the following effects.

The test vehicle of the present invention is capable of simulating running very similar to a general vehicle in a vehicle of about 1/3 to 1/4 scale and can test running by attaching various sensors mounted on an actual vehicle, It is possible to carry out a reliable running test in a limited space and at a cost.

According to the present invention, it is possible to test an automatic community driving by using a plurality of test vehicles. In particular, by using a wireless communication such as a WIFI in addition to a camera or an infrared sensor, So that it is possible to implement more accurate and reliable simulated running.

1 is a perspective view showing a configuration of an embodiment of a test vehicle constituting the present invention.
BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a test vehicle.
FIG. 3 is a plan view showing a plurality of test vehicles according to the present invention running along a straight path. FIG.
4 is a plan view showing a plurality of test vehicles according to the present invention running in a crowded manner along a curved path.
5 is a flowchart sequentially showing a method of testing an automatic driving test using a test vehicle according to the present invention.
6 is a flowchart sequentially showing a method of testing an automatic driving test using a test vehicle according to the present invention.

Hereinafter, some embodiments of the present invention will be described in detail with reference to exemplary drawings. It should be noted that, in adding reference numerals to the constituent elements of the drawings, the same constituent elements are denoted by the same reference symbols as possible even if they are shown in different drawings. In the following description of the embodiments of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the understanding why the present invention is not intended to be interpreted.

In describing the components of the embodiment of the present invention, terms such as first, second, A, B, (a), and (b) may be used. These terms are intended to distinguish the constituent elements from other constituent elements, and the terms do not limit the nature, order or order of the constituent elements. When a component is described as being "connected", "coupled", or "connected" to another component, the component may be directly connected or connected to the other component, Quot; may be "connected," "coupled," or "connected. &Quot;

The test vehicle (C) constituting the present invention is constituted by approximately 1/3 to 1/4 scale of the actual vehicle so as to simulate a running very similar to the ordinary vehicle. To this end, the test vehicle C of the present invention is constructed to have a structure similar to that of an actual vehicle, and the specific configuration thereof is as follows.

The skeleton of the test vehicle C includes a central frame 10 and a front portion 20 and a rear portion 30 provided on both sides of the central frame 10. [ The center frame 10 is located at the center of the test vehicle C and is formed of a substantially hexahedral body 11. The central frame 10 is made of a metal frame, and a mounting space 12 is formed therein to mount various components.

The central frame 10 includes a controller 100, a sensor module 200 and a communication module 300 as well as a driving motor 15 and a battery unit to be described below, The weight ratio is the highest. The mounting space 12 of the central frame 10 may be shielded by a cover (not shown) at a later time.

A drive motor 15 is installed in the central frame 10. The driving motor 15 is for providing a driving force to the rear wheel RW which will be described below. In this embodiment, the driving motor 15 is an electric motor The speed of the test vehicle C can be controlled by a transmission (not shown) or the speed of the drive motor 15 can be controlled by controlling the driving speed of the test vehicle C, Can be controlled. For reference, the driving unit 400 includes a driving motor 15, a steering device, a transmission, and a braking device.

The battery unit not only supplies power to the drive motor 15 but also supplies power to a sensor module 200, a steering device, and a braking device to be described later. To this end, the battery unit may include a plurality of batteries, and each battery may have a different voltage.

A front portion 20 is provided in front of the center frame 10. The front portion 20 is a portion where the front wheel FW is installed and protrudes forward of the center frame 10 and may be formed of a substantially hexahedral body 21 like the center frame 10 . A front bumper frame 25 is provided in front of the front portion 20 and a cushion or a small bumper (not shown) having a shock absorbing function can be coupled to the front bumper frame 25.

The front bumper frame 25 is a kind of front panel and is further protruded from the front portion 20 through a connecting member 23. [ The front bumper frame 25 is spaced from the front wheel FW and at the same time the front portion 20 is projected to fit the length ratio of the front overhang including the actual bonnet of the vehicle, .

The front portion 20 is provided with a pair of front wheels FW. Although not shown, a steering device may be connected to the front wheel FW to change a direction of the front wheel FW, and a suspension 40 may be provided on the front wheel FW.

A rear portion (30) is provided on the opposite side of the front portion (20). The rear portion 30 is provided behind the central frame 10 and has a substantially hexahedral body 31 similar to the central frame 10. A rear bumper frame 35 is provided on one side of the rear portion 30 and a cushion or a small bumper (not shown) having a buffering function can be coupled to the rear bumper frame 35.

The rear portion 30 is formed to be relatively shorter than the front portion 20 in order to allow the front portion 20 and the rear portion 30 to have similar proportions to the actual vehicle.

The rear portion 30 is provided with a pair of rear wheels RW. The rear wheel RW is connected to the drive motor 15 and has an actual rotational force. In this embodiment, the test vehicle C has a structure in which a driving force is transmitted to the rear wheel RW. Of course, the driving motor 15 may be connected to the front wheel FW.

The pair of rear wheels RW are connected to both ends of the rotary post 50 and the rotary post 50 is provided with a driving pulley 52 and connected to the driving motor 15. The driving motor 15 and the driving pulley 52 may be connected by a rotating belt or may be connected by a gear box to receive a driving force.

A camera (70) is installed in front of the central frame (10). The camera 70 is one of the sensors constituting the sensor module 200 and can photograph the front of the test vehicle C to recognize another test vehicle C or an obstacle. The camera 70 is installed on the upper part of the stand bar (not shown), so that a field of view can be secured through a longer distance.

The central frame 10, the front portion 20 and the rear portion 30 each have long rod-like metal parts connected thereto to form a three-dimensional shape. By doing so, the simplest The structure can be easily manufactured. Preferably, the overall length of the central frame 10, the front portion 20 and the rear portion 30 is in the range of 1200 mm to 1800 mm, and is configured to have 1/3 to 1/4 scale of the actual vehicle.

The sensor module 200 is installed in the central frame 10 or the front portion 20. [ The sensor module 200 includes at least one of an infrared sensor, a camera 70, a GPS, an acceleration sensor, a gyro sensor, a gravity sensor, and a Lidar sensor. The sensor module 200 measures the position or speed of the test vehicle C and is used to detect an external obstacle or another test vehicle C located in the front or rear.

The information measured by the sensor module 200 is transmitted to the adjacent test vehicle C or the main control unit 500 via the communication module 300. The communication module 300 may be a WIFI, a Bluetooth, an RFID, a WIMAX, And a wireless WAN. In this embodiment, the communication module 300 uses WIFI.

Advanced Driver Assistance Systems (ADAS), Intelligent Transportation Systems (ITS), and the like can be tested and verified through the sensor module 200 and the communication module 300.

The sensor module 200 and the communication module 300 may be connected to the control unit 100 installed in the test vehicle C or may be connected to the external main control unit 500. [ The main control unit 500 serves as a kind of control tower and controls the plurality of test vehicles C1 to C3 to manage and test them.

Next, a description will be given of a method for testing an automatic running of a vehicle using a test vehicle. Hereinafter, a system for running a plurality of vehicles in a cluster will be described as an example.

As shown in FIG. 5, a step S100 is first performed to check whether a plurality of test vehicles C1 to C3 are running in a cluster. When a large number of test vehicles C1 to C3 are running in a cluster, the presence or absence of communication between the test vehicles C is checked (S110), the lane keeping system of the foremost test car C1 is operated (S120) (S130) can be operated. Here, the foremost test vehicle C1 refers to the test vehicle C located at the foremost position among the plurality of test vehicles C1 to C3.

The lane-keeping system allows the test vehicle C to travel along a predetermined path, that is, the lane R, by using the camera 70 of the test vehicle C. The cruise control system includes a plurality of test vehicles C1- C3 are driven at a constant speed. Of course, only one of the lane keeping system or the cruise control system may be operated or the order of the two may be changed.

Next, there is a step of exchanging data by communicating with the test vehicles C2 and C3 positioned relatively behind the foremost test vehicle C1 (S140). Here, the test vehicles C2 and C3 located behind the test vehicles C1 and C3 The communication is for lane keeping and cruise control between adjacent test vehicles C, which will be described below with reference to FIG.

On the other hand, if it is determined in step S100 that the plurality of test vehicles C1 to C3 are running in a cluster, if the plurality of test vehicles C1 to C3 are not in the cluster run, (S104), the communicating running confluence system can be operated (S106). In other words, when the tester wants to test the communal running, the communication between the test vehicles (C) And to operate the cluster traveling confluence system using the communication module 300.

Here, the system for joining the traveling junctions is as follows. First, the step of communicating the test vehicle C1 on the front side and the vehicle C3 on the rear room test side is preceded. Here, the rearmost test vehicle C3 refers to the test vehicle C3 on the rear side of the joining test vehicle C2, and the forward test vehicle C1 refers to the joining test vehicle C2 on the basis of the joining test vehicle C2. Means the test vehicle C1.

A step of increasing the distance between the front test vehicle C1 and the rear end test vehicle C3 is performed by adjusting the relative speeds of the front test vehicle C1 and the rear test vehicle C3. For example, to increase the speed of the front test vehicle C1 or to increase the distance between the front vehicle C1 and the rear test vehicle C3. This speed control can be done by a transmission or by controlling the speed of the drive motor 15. [

In this state, the speed of the joining test vehicle C2 is adjusted so as to merge between the forward test vehicle C1 and the rear-most test vehicle C3. Of course, the driving direction of the test vehicle C2 must be changed together with the speed control of the joining test vehicle C2 and the control of the steering device. In this case, the test vehicle C2 can join together and travel together.

Referring to FIG. 6, it is determined whether any of the test vehicles C among the plurality of test vehicles C1 to C3 in the cluster is judging whether the test vehicle C1 ahead is detected using the camera 70 (150).

At this time, when the front test vehicle C1 is detected, the lane keeping system is operated (S160), and the adaptive cruise control system for maintaining the distance from the test vehicle C1 in front is operated (S170)

If the front test vehicle (C1) is not detected, it is possible that the vehicle is in a curvilinear or an inclined main road, and after confirming this (S180) (Step S190). The detection of the curved road is possible through the camera 70, and the detection of the inclined road can be performed by the tilt sensor or the gyro sensor. For reference, in FIG. 4, since the plurality of test vehicles C are on the curve, the camera 70 (or the infrared sensor) of the test vehicle C3 in the last test room can not detect the test vehicle C2 in the front.

Here, the communication with the forward vehicle may be directly communicated through the communication module 300 such as WIFI between the test vehicles C, or indirectly through the main control unit 500. [ Of course, the communication may be indirectly performed through the main control unit 500 when the test vehicle C is not available after a direct communication attempt.

That is, in the present invention, even if the camera 70 or the infrared sensor is arranged at a minimum, the interval (L1, L2) and the positional information between the test vehicles C are supplemented by wireless communication such as WIFI, It is possible to accurately measure the relative position and to drive the cluster.

On the other hand, if the test vehicle C is not on the curved main road or the inclined main road, it is detected that the test vehicle C has deviated from the communal running, and the test vehicle C1 The search for the position of the test vehicle C1 in front is followed by the step of searching for the position of the test vehicle C1 at step S182. By indirectly communicating with each other.

Then, a cluster running merge system for running the cluster with the test vehicle (C) whose position is searched is operated. Here, the crowd traveling confluence system is implemented in the same manner as described above.

In this embodiment, the interval maintenance, the lane keeping and the cruise control are exemplified while the vehicle is running in the cluster, but the automatic parking system may be tested or the collision test may be performed using the test vehicle C according to the present invention. In addition, the test vehicle C according to the present invention can be used to transfer goods at a distribution center or the like. In this case, efficient logistics management can also be performed using a cluster running method.

While the present invention has been described in connection with what is presently considered to be the most practical and preferred embodiments, it is to be understood that the invention is not limited to the disclosed embodiments. That is, within the scope of the present invention, all of the components may be selectively coupled to one or more of them. Furthermore, the terms "comprises", "comprising", or "having" described above mean that a component can be implanted unless otherwise specifically stated, But should be construed as including other elements. All terms, including technical and scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined. Commonly used terms, such as predefined terms, should be interpreted to be consistent with the contextual meanings of the related art, and are not to be construed as ideal or overly formal, unless expressly defined to the contrary.

The foregoing description is merely illustrative of the technical idea of the present invention, and various changes and modifications may be made by those skilled in the art without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are not intended to limit the scope of the present invention but to limit the scope of the technical idea of the present invention. The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.

10: center frame 20: front part
30: Rear part 70: Camera
100: control unit 200: sensor module
300: communication module 400:
500: main control unit C: test vehicle

Claims (8)

A method for automatically running a vehicle using a test vehicle,
Checking whether a plurality of test vehicles are running in a cluster,
Operating at least one of a lane keeping system or a cruise control system of a foremost test vehicle to check whether there is communication between vehicles when a plurality of test vehicles are traveling in a cluster,
Exchanging data by communicating with a vehicle located behind the foremost test vehicle,
And if the plurality of test vehicles are not running in a cluster, the test vehicles are communicated after confirming whether or not they are joining the cluster, and then the cluster running joining system is operated,
The test vehicle
A central frame formed with a mounting space,
A front portion provided in front of the center frame and provided with a front wheel,
A rear portion provided at the rear of the center frame and provided with a rear wheel,
A driving motor installed in the center frame for providing driving force to the front wheel or the rear wheel,
A steering device for adjusting the direction of the front wheel or the rear wheel,
A battery unit installed in the center frame for supplying power to the driving motor,
A sensor module installed in the central frame or the front part,
And a communication module for wirelessly communicating information measured by the sensor module with an adjacent test vehicle or a main control unit,
Wherein the sensor module includes a camera and an infrared sensor, and the total length of the center frame, the front portion, and the rear portion is 1200 mm to 1800 mm,
2. The automatic test vehicle according to claim 1, wherein the front wheel or the rear wheel is provided with a braking device, and the steering device and the braking device are operated under control of a control part provided on the center frame or the main control part. Test Methods.
The test method according to claim 2, wherein the camera and the infrared sensor are mounted on a central frame or a front part to recognize a lane, an obstacle ahead, and another test vehicle ahead.
4. The method of claim 3, wherein the camera is installed on an upper portion of a stand-up bar extending upwardly from the center frame or the front portion.
The method according to claim 1, further comprising the steps of: determining whether any one of the test vehicles detects a test vehicle ahead using the camera;
Operating the lane keeping system and operating an adaptive cruise control system for maintaining distance ahead of the test vehicle when a test vehicle ahead is detected,
If the test vehicle in front is not detected, it is checked whether the vehicle is in the curved main or inclined main road, and if it is on the curved main road or the inclined main road, communication with the preceding vehicle is carried out at the same speed as the preceding test vehicle [Withdrawn] AUTOMATIC TRAVELING TEST METHOD USING THE TEST VEHICLE INCLUDING.
The method of claim 5, further comprising the steps of: searching for the position of the test vehicle ahead of the test vehicle through communication with the test vehicle in front if the test vehicle in front is not detected and the vehicle is not in the curved main road or the inclined main road;
Further comprising the step of operating a cluster traveling confluence system for communicating with the test vehicle whose location is detected.
7. The system of claim 6, wherein the cluster travel merge system
A step of communicating the front test vehicle and the rearmost test vehicle,
Increasing the distance between the forward test vehicle and the rearmost test vehicle by adjusting the relative speed of the forward test vehicle and the rearmost test vehicle,
Wherein the speed of the joining test vehicle is adjusted so as to join between the forward test vehicle and the rearmost test vehicle.
The test method according to claim 7, wherein the plurality of test vehicles communicate with each other to exchange data, and communicate with the main control unit so that the running is controlled by the main control unit.

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