overview
Actuator performance is divided into lateral performance and longitudinal performance. The lateral performance mainly refers to the response performance of the steering wheel, and the longitudinal performance mainly includes the acceleration performance of the accelerator and the deceleration performance of the brake. Among them, the functions related to lateral performance in ADAS include LKA and LDW, the functions related to longitudinal acceleration/deceleration performance are mainly ACC (adaptive cruise control), and the functions related to longitudinal deceleration are mainly AEB (automatic emergency braking) function.
Requirement description (take horizontal as an example)
performance requirements
The performance requirements are for step input, sinusoidal input and ramp input.
①Step response
The schematic diagram of angle request input is as follows:
The green line in the figure represents the requested angle value sent, and the blue line represents the actual corresponding angle change. The key performance requirements parameter descriptions and indicators are shown in the following table:
| parameter name |
Explanation & Performance Indicators |
|---|---|
| A_req |
Steering angle request value. Steady-state value of angle request from ADAS |
| Ess(Steady state error) |
Steady-state error, calculation formula for the deviation between the actual rotation angle and the angle request value after it is stable: (response result steady-state value-request value) ÷ request value performance index: Ess≤3% |
| Delay time——Td1 |
Initial response delay time The time from the moment the request is sent to the time when the response value reaches 5% of the request value performance index: Td1<50ms |
| Delay time——Td |
Request value response delay time, from the moment when the angle request reaches a stable value, to the time when the actual steering wheel angle reaches 97% of the target value Performance index: Td≤100ms |
| Setting time——Ts |
Stabilization time, the time performance index from the moment when the angle request reaches the target value to the actual response reaches the steady-state error limit: Ts≤200ms |
| Overshoot |
Overshoot, the difference between the peak value of the actual response angle and the steady-state angle request Performance index: Overshoot≤A_req*10% |
| T3 |
Overshoot time performance index: T3≤50ms |
②Sine Angle Response
The performance requirements, parameter descriptions and indicators are shown in the table below:
| parameter name |
Explanation & Performance Indicators |
|---|---|
| Areq_max_l |
Request angle peak left |
| Areq_max_r |
Request angle peak right |
| θmax_left |
Left turn angle peak value, response peak value of left turn angle under angle sine input |
| θmax_right |
Right turn angle peak value, response peak value of right turn angle under angle sine input |
| Ainv_left |
Left turn angle, the corresponding angle request value that starts to turn after the steering wheel angle reaches the peak value of the left turn angle |
| Ainv_right |
Right turn angle, the corresponding angle request value when the steering wheel angle reaches the peak value and starts to turn |
| Td1 |
Corner response delay time The time from the moment the request is sent to the time when the response value reaches 5% of the request value Performance index: Td1<50ms |
| Overshoot |
Overshoot, the difference between the actual response angle peak value and the steady-state angle request Performance index: Overshoot≤amplitude*10% |
| Td |
Actual angle peak response time difference, request angle peak value to response angle peak time difference performance index: Td≤100ms |
③Slope response
The performance requirements, parameter descriptions and indicators are shown in the table below:
| parameter name |
Explanation & Performance Indicators |
|---|---|
| T_req |
Steering torque request value. Steady state value of torque request from ADAS |
| Delay Time T_rsp1 |
Delay time from torque output to motor end torque response reaching 5% of the requested value Performance index: T_rsp1<50ms |
| Delay Time T_rsp2 |
Delay time from torque output to steering angle response to 5% of requested value Performance index: T_rsp2<120ms |
| T_breed |
The time performance indicator for the torque at the motor end from response to 5% of the requested value to 97% of the maximum value: T_raise<200ms |
test case
Summarize
Execution control is the basis for the real implementation of autonomous driving. Perception and positioning are like the driver's eyes, planning decisions are like the driver's brain, and actuators are like the driver's hands and feet, and planning decisions cannot be separated from execution control. Understand, decision-making is impossible to make.
As mentioned at the beginning of the article, actuators include lateral control (that is, steering control) and longitudinal control (that is, speed control), and most of the current research is also lateral control. The purpose of the vehicle traveling along the predetermined trajectory, and the purpose of the longitudinal control is to meet the speed requirements during the driving process of the vehicle. Sometimes it is necessary to cooperate with the lateral control to meet the vehicle's trajectory tracking while also meeting the safety, stability and comfort requirements. sexual purpose. Because the vehicle is a particularly complex system, there are coupling relationships both horizontally and vertically, so it is necessary to conduct horizontal, vertical and cooperative control tests on autonomous vehicles.
at last:
You can go to my personal account: atstudy-js, and you can get a copy of the 10G software test engineer interview collection document for free. And the corresponding video learning tutorials are free to share! These include basic knowledge, Linux essentials, Mysql database, packet capture tools, interface testing tools, advanced testing-Python programming, Web automated testing, APP automated testing, interface automated testing, continuous integration testing, testing framework development testing framework , performance testing, etc.
These test materials should be the most comprehensive and complete preparation warehouse for friends who do [software testing]. This warehouse has also accompanied me through the most difficult journey, and I hope it can help you too!