Love is parallel to the world 2021-08-08 15:18:30 阅读数:702
Technical requirements for design of intelligent networked vehicle test field Basic correspondence between automatic driving function and basic road
The primary purpose of the design of the intelligent networked vehicle test field should be to meet the automatic driving function test . Reference appendix for basic automatic driving function of intelligent networked vehicle A.
The basic test road type required for each automatic driving function test of intelligent networked vehicles will be different , The basic test road types corresponding to the automatic driving function specified in this document are shown in the table 2 Shown .
The intelligent networked vehicle test site shall be designed according to the basic automatic driving function test requirements to be met by the test site , The corresponding type of foundation test road is selected as the minimum requirement for the design of the test site .
When the basic test road types corresponding to different automatic driving functions overlap or contain relationship , The basic road type with the widest coverage of automatic driving function should be selected for test site design , Improve road use efficiency , Avoid repeated construction .
Technical requirements for general test roads
Combined with the actual situation of the test site , The following types of high-speed roads should be built for high-speed test roads ：
a) High speed straight , One way two lanes can be selected 、 One way three lane 、 Two way four lane 、 Two way six lane, etc , Both slope and no slope can be selected at the same time ;
b) High speed curve , One way two lanes can be selected 、 One way three lane 、 Two way four lane 、 Two way six lane, etc , Both slope and no slope can be selected at the same time ;
c) High speed up and down ramp , One way single lane can be selected 、 One way two lane ;
d) The selection principle of high-speed test road construction is ： Enrich the types of high-speed test roads as much as possible , Selection of road types through different high-speed tests , Provide rich highway test scenarios . The design and construction of high-speed test road shall meet JTG B01 and JTG D80 And so on .
Combined with the actual situation of the test site , The following types of urban roads should be selected for urban test roads ：
a) Urban one-way street , Including one-way single lane 、 One way, two lanes, etc , Both with and without ramps can be included , Pedestrian crossing traffic lights can be set optionally ;
b) Urban two-way straight , Including two-way two lane 、 Two way three lane 、 Two way four lane, etc , Both with and without ramps can be included , Pedestrian crossing traffic lights can be set optionally ;
c) Urban two-way curve , Including two-way two lane 、 Two way three lane 、 Two way four lane, etc , Both with and without ramps can be included , Different curvature radii can be selected for curves according to site conditions , Curves with different radii of curvature should be included , The radius of curvature of the curve should be selected from the following values ：125m,250m,500m;
d) Traffic light intersection , Include T Type crossing 、Y Type crossing 、 Intersection 、X Type crossing 、 Compound intersection, etc , At the same time, the traffic lights at the intersection can be set according to GB 14886 Different types of traffic lights are required ;
e) Roundabout , Including four entrances around the island 、 Five entrances, roundabouts, etc ;
f) Pedestrian and non motorized lanes , Including sidewalks 、 Non motorway ;
g) The principles for the selection of urban test road construction are ： Cover as many different urban road types as possible , Through the selection and combination of different urban road types , Provide complex and diverse urban road test scenarios . The design and construction of urban test road shall meet JTG B01 and GB/T 51224 And so on .
Combined with the actual situation of the test site , The following types of rural roads should be built for rural test roads ：
a) Two way single lane , No lane separation in the middle , Including straight and curved lanes , Different curvature radii can be selected for curves according to site conditions , Curves with different radii of curvature should be included ;
b) Two lanes in both directions , There is a lane separation in the middle , Including straight and curved lanes , Different curvature radii can be selected for curves according to site conditions , Curves with different radii of curvature should be included ;
c) The selection principle of rural test road construction is ： Cover as many different types of rural roads as possible , Through the selection of different rural road types , Provide rich rural road test scenarios . The design and construction of rural test road shall meet JTG B01 and GB/T 51224 And so on .
Intelligent network alliance vehicle testing site should build ramp test road to meet the automatic driving vehicle ramp test. . The ramp test road includes straight longitudinal slope and curve longitudinal slope . The requirements for ramp construction shall be in accordance with JTG D20 The standard is , The design parameters of the maximum longitudinal slope and minimum slope length of the ramp are shown in the table below 21.
Intelligent network joint vehicle testing site should construct tunnel test road to meet the adaptability test of automatic driving vehicle through tunnel. , The requirements for tunnel construction shall be in accordance with JTGB01 The standard is . In order to reduce the construction cost , You can also choose to build a simulated tunnel （ Pictured 21 Shown ）. Tunnel （ Including simulated tunnel ） The construction length should not be less than 100m, The material selected for the simulated tunnel shall be able to shield the positioning and communication signals , It shall be able to block the transmission of sunlight .
It is advisable to build weather and light environment simulation road to meet the adaptability test of the automatic driving vehicle to the weather and lighting environment. . Weather simulation roads are used to simulate real rain 、 Fog and so on , The lighting simulation road is used to simulate the lighting environment at night , The following requirements shall be met ：
a) rain 、 Automatic control system should be adopted for weather simulator such as fog ;
b) rain 、 The total length of weather simulation system such as fog shall not be less than 100m;
c) The total length of light simulation road shall not be less than 500m.
A simulated gas station should be built in the intelligent networked vehicle test site to meet the test of automatic driving service application scenarios . The design and construction requirements of simulated gas station shall meet GB 50156 requirement .
A simulated charging station should be built in the intelligent networked vehicle test site to meet the charging scenario test of electric vehicles . The design and construction requirements of analog charging station shall meet GB 50966 requirement .
It is necessary to build a simulation bus station to meet the simulated automatic driving vehicle entry and departure test. . The design and planning of simulated bus stops shall meet CJJ 37 Standard requirements .
It is advisable to build simulated expressway toll stations to meet the test of automated driving vehicles entering and leaving toll stations. . The simulated highway toll station shall be ETC Toll station construction , The design and planning of simulated expressway toll station should meet JTG D20 Standard requirements .
The intelligent networked vehicle test field should build a special test road suitable for networked extended function test , The network expansion function mainly includes formation acceleration and deceleration 、 Formation lane change 、 Adaptive formation and green wave passage, etc . Formation acceleration and deceleration 、 Formation lane change 、 The test road corresponding to the adaptive formation network expansion function is straight 、 One way two lane 、 The minimum length of the lane is 1000 m（ Corresponding design speed 60 km/h）. The test road corresponding to the green wave traffic network expansion function is the traffic light intersection , The number of intersections shall be at least 2 individual , And the straight section connecting the intersection shall be at least 200 m, The length of straight section at the entrance shall be at least 200 m.
The roadside network communication equipment corresponding to the special test road of network connection function shall meet the requirements 7.1 Requirements specified in Clause .Environmental requirements for road network connection
Intelligent networked vehicle test field should be deployed C-V2X Network communication mode , And deployed C-V2X The network communication equipment shall support cellular communication （Uu） And direct communication （PC5） Two working modes .
C-V2X Communication system construction includes C-V2X Base station deployment and roadside unit based （RSU） Construction of communication environment , Should satisfy YD/T 3400-2018、YD/T 3340-2018 Standard requirements .
For roadside units （RSU）,EIRP≤29dBm.
C-V2X The communication system shall be able to support a maximum relative speed of 500km/h Send messages between vehicles , And the maximum absolute speed is 250km/h Vehicles and vehicles 、 The vehicle sends messages to roadside units and pedestrians .
For terminals supporting vehicle and vehicle person communication , Whether sent directly or forwarded by roadside unit ,C-V2X The communication system shall ensure that the maximum air interface communication delay does not exceed 100 ms.
For vehicle road communication , The maximum air interface communication delay between vehicle and roadside unit shall not exceed 100 ms.
For after C-V2X Communication between vehicle of communication system network entity and application server V2N signal communication , The maximum end-to-end delay shall not exceed 1000 ms.
For special use cases only （ Such as collision perception ）, Between cars 、 The maximum air interface communication delay for sending messages between the train and roadside units should not exceed 20 ms.
C-V2X The communication network shall provide highly reliable transmission without relying on application layer retransmission .
V2X The service must be supported with and without operator network coverage .
For periodic messages ,C-V2X The communication network shall be able to support roadside units and vehicles at maximum 10 Hz Message sending frequency .
Safety related message units are not included , The size of the periodic message is 50-300 byte Between , The maximum number of event triggered messages is 1200 byte.
The intelligent networked vehicle test field shall be able to provide high-precision positioning differential signal , Differential signal shall meet the following requirements ：
a) Beidou and GPS And other multi frequency point differential enhanced signals ;
b) Support RTD and RTK Differential information . real time RTK Positioning accuracy ： Level better than 3cm; Post static solution accuracy ： Level better than 5mm; Real time network RTD Positioning accuracy ： be better than 1m. Compatibility requirements ： It can access mobile terminals produced by mainstream manufacturers at home and abroad .
The traffic signal control system should be deployed at the intersection in the intelligent networked vehicle test site , Provide a real intersection scene in urban road environment for autonomous vehicle test , The automatic driving test vehicle can obtain rich intersection information through the signal data . The traffic signal control system shall meet the following requirements ：
a) The annunciator shall meet GB 25280 Standard requirements ;
b) The traffic signal controller shall meet GB/T 20999 Standard requirements , And compatible with national transportation ITS Communication protocol （NTCIP） agreement ;
c) The specification for setting and installation of traffic lights shall meet GB 14886 Standard requirements , If there are multiple traffic signal intersections , At least one traffic signal intersection shall comply with GB 14886 The requirements of , Other traffic lights can be set according to the characteristics of local roads .Cloud control platform
Cloud control platform should be deployed in the intelligent networked vehicle test site , Provide standard certification for data interaction between intelligent networked vehicles and intelligent roadside devices 、 Data analysis and storage of vehicle and roadside system 、 Test field environment and test process monitoring 、 And provide vehicle road collaborative perception 、 Decision making and control, assistance and enhancement .
The cloud control platform shall meet the following requirements ：
a) Support intelligent network test vehicle 、 Standardization of data interaction of intelligent roadside equipment CA Certification services ;
b) Support data docking with third-party cloud platforms , Data receiving delay is lower than 100 ms;
c) Test the vehicle 、 Standardized data acquisition by roadside equipment 、 Storage and Analysis , And dynamically monitor the test process in real time according to the management requirements ;
d) Test vehicle in real time 、 The traffic indication equipment in the test field provides the perception of fused vehicle road information 、 Decision and control aided computing service , Including providing collaborative awareness data , Driving decisions and control recommendations , Traffic system control recommendations , And driving behavior tips 、 early warning 、 Boot and a series of cloud computing results , Relevant computing services shall meet the cycle delay requirements of vehicle test function ;
e) Support the simulation test and actual environment test of third-party applications on the cloud platform according to the standard development interface and development requirements .Basic autopilot function
The ability of an autonomous vehicle to maintain stable driving at a safe speed through longitudinal control , Including correct identification of speed limit signs , And drive steadily according to the speed limit sign . Speed maintenance mainly includes two road types: straight road speed maintenance and curve road speed maintenance .
The ability of an autonomous vehicle to keep the vehicle in the lane through lateral control . Lane keeping mainly includes straight lane keeping and curve lane keeping .
Autonomous vehicles are controlled by lateral and longitudinal control , Enable the self driving vehicle to follow the vehicle in front and drive stably in the lane , In case of temporary loss of lane line , The self driving vehicle shall be able to follow the driving track of the front vehicle within the effective detection distance and continue to drive safely . Following mainly includes two road types: straight following and curve following .
When there is a need for parallel driving of autonomous vehicles （ Including the reduction of the number of lanes in front of this lane , There are low-speed vehicles ahead ）, Realize active parallel task , And without disturbing other traffic participants , Drive safely and stably to the corresponding adjacent lane . Parallel driving mainly includes straight parallel driving and curve parallel driving .
When an autonomous vehicle encounters a low-speed vehicle ahead , After actively changing lanes to the left and overtaking low-speed vehicles in the original lane , And return to the original lane to continue driving . Overtaking mainly includes overtaking by the adjacent lane in the same direction on the left and overtaking by the reverse Lane on the left , It is a road type test for straight lane overtaking .
The self driving vehicle drives out of the expressway or Urban Expressway into the ramp , Or the process of merging into expressway or urban expressway through ramp . Sail in / The off ramp mainly includes the test of two road types: on ramp and off ramp .
The self driving vehicle safely passes through the intersection according to the route planning to reach the corresponding route planning end point （ For example, the vehicle turns left and the lane turns left , Right turn lane, right turn traffic, etc ）. Intersection traffic mainly includes the test of road type of intersection .
Autonomous vehicles drive around the island stably according to the path planning , And drive out of the roundabout from the designated exit . Roundabout traffic mainly includes the test of cross roundabout road type .
When an autonomous vehicle passes through a traffic signal intersection, it correctly identifies the traffic signal and makes corresponding response , There is no red light running or vehicle identification with safe passage conditions but stopping at a green light . Traffic lights are mainly used for the test of a road type at the intersection of traffic lights .
When the self driving vehicle encounters the construction area ahead or there is a construction area sign , It can avoid safe passage in the construction area . The traffic in construction area mainly includes the test of two road types: straight construction area traffic and curve construction area traffic .
When an autonomous vehicle changes lanes in front of the vehicle （ For example, vehicles in the adjacent lane ahead cut in , Scenes such as vehicles cutting out of the lane ahead ）, Be able to identify and avoid the lane change behavior of vehicles ahead and pass smoothly . Lane change identification and avoidance of vehicles in front mainly includes two road types: lane change identification and avoidance of vehicles in front of straight road and lane change identification and avoidance of vehicles in front of curve .
Autonomous vehicles shall be able to identify vulnerable groups on the road along the route , Avoid collision with it and pass smoothly . Road vulnerable group avoidance mainly includes straight road vulnerable group avoidance and curve road vulnerable group avoidance .
Autonomous vehicles can avoid obstacles , And there shall be no obvious abnormal reaction to the obstacles that do not affect the normal driving of the vehicle . Obstacle avoidance mainly includes straight obstacle avoidance and curve obstacle avoidance .
When an autonomous vehicle makes a U-turn on a narrow road , By repeatedly moving back and forth to adjust the vehicle direction, the vehicle can turn around .N The U-turn is mainly straight N Type U-turn test of a road type .
When an autonomous vehicle makes a U-turn on a more spacious road section , Turn around the vehicle through one-time vehicle direction adjustment .U The U-turn is mainly straight U Type U-turn test of a road type .
Automatic driving vehicle in path planning 、 System failures and other reasons lead to the need for the automatic driving system to stop at the roadside. , Accurately and safely stop at the relatively safe area of the roadside . Side parking mainly includes straight side parking, which is a test of road type .
The automatic driving vehicle detects vehicles passing in the opposite direction occupying the lane of the vehicle , And through braking 、 Turn to avoid collision and avoid passing . There are mainly straight road avoidance vehicles. It is a road type test of straight road avoidance vehicles .
Self driving vehicle passing through vehicle 、 Car road 、 Vehicle person communication , So that the vehicle can make corresponding decision planning and pass safely according to the received driving environment information . The network communication mainly includes the test of straight road network communication and intersection network communication .
Autonomous vehicles are controlled by lateral and longitudinal control , Automatically drive the vehicle safely into or out of the corresponding parking space . Automatic parking mainly includes parallel parking spaces 、 Test of three types of parking spaces: vertical parking space and inclined parking space .
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