VEHICLE PERFORMANCE EVALUATION SYSTEM, VEHICLE PERFORMANCE EVALUATION METHOD, AND VEHICLE PERFORMANCE EVALUATION PROGRAM

This invention comprises a first testing unit for testing the performance of a vehicle, at least one second testing unit for testing the performance of the vehicle using a different method from that of the first testing unit, and a data processing device for subjecting a test result from the first testing unit and a test result from the second testing unit to alignment processing on the basis of test conditions including a weather condition and outputting an evaluation. The first testing unit comprises an environment reproduction mechanism for reproducing an environment around the vehicle under test, a travel condition reproduction mechanism for moving in relation to the vehicle under test and reproducing a vehicle travel state, and a building that covers the environment reproduction mechanism and travel condition reproduction mechanism and makes the space around a testing stage an indoor space.

TECHNICAL FIELD

The present disclosure relates to a vehicle performance evaluation system, a vehicle performance evaluation method, and a vehicle performance evaluation program.

BACKGROUND ART

Examples of a testing device for a vehicle include a collision testing device for checking a safety, a test course for checking running performance, and the like. PTL 1 discloses an invention of a testing system and a testing method for performing an operation test of a safe driving assistance application by simulating a behavior of a nearby vehicle under various road surface conditions existing in an actual environment.

CITATION LIST

Patent Literature

SUMMARY OF INVENTION

Technical Problem

In recent years, vehicles having a function of assisting in driving such as autonomous driving will be developed. A vehicle having a driving assistance function detects a running state, controls a behavior of the vehicle based on a result of the detection, and outputs driving assistance information. The running state includes a state of a host vehicle and surrounding traffic participants (other vehicles, motorcycles, bicycles, pedestrians, running paths, signs, structures, and the like). Therefore, it is necessary to evaluate whether or not the running state is properly detected and whether or not control adequate for the detected running state is taken.

In the simulation described in PTL 1, analysis can be made by the simulation, but an actual test is also required for a design of the vehicle. Therefore, it is necessary to devise ways to make effective use of a result of the simulation.

Solution to Problem

In order to solve the above problems, the present disclosure provides a vehicle performance evaluation system, a vehicle performance evaluation method, and a vehicle performance evaluation program capable of evaluating vehicle performance in more detail.

The vehicle performance evaluation system of the present disclosure includes a first testing unit that tests performance of a vehicle, at least one second testing unit that tests the performance of the vehicle by a method different from that of the first testing unit, and a management unit that manages a test result of the first testing unit and a test result of the second testing unit. The management unit includes a test condition determination device that performs alignment processing based on a test condition including a weather condition, a data processing device that outputs an evaluation, and a database. The first testing unit includes an environment reproduction mechanism that reproduces an environment around a vehicle to be tested, a running condition reproduction mechanism that moves relative to the vehicle to be tested and reproduces a running state of the vehicle, and a building that covers the environment reproduction mechanism and the running condition reproduction mechanism and has an indoor space around the vehicle. The relative movement includes a case where a surrounding traffic participant moves and a case where the vehicle to be tested moves.

The vehicle performance evaluation method of the present disclosure includes: a step of acquiring a test condition of a test executed in a first testing unit and performance of a vehicle as a test result; a step of acquiring a test condition of a test executed in at least one second testing unit that tests the performance of the vehicle by a method different from that of the first testing unit and the performance of the vehicle as a test result; and a step of subjecting the test result of the first testing unit and the test result of the second testing unit to alignment processing based on a test condition including a weather condition and outputting an evaluation thereof, in which the first testing unit includes an environment reproduction mechanism that reproduces an environment around a vehicle to be tested, a running condition reproduction mechanism that moves relative to the vehicle to be tested and reproduces a running state of the vehicle, and, a building that covers the running condition reproduction mechanism and the environment reproduction mechanism and has an indoor space around the testing platform.

The vehicle performance evaluation program of the present disclosure includes a step of acquiring a test condition of a test executed in a first testing unit and performance of a vehicle as a test result, the first testing unit including an environment reproduction mechanism that reproduces an environment around a vehicle to be tested, a running condition reproduction mechanism that moves relative to the vehicle to be tested and reproduces a running state of the vehicle, and a building that covers the running condition reproduction mechanism and the environment reproduction mechanism and has an indoor space around the testing platform; a step of acquiring a test condition of a test executed in at least one second testing unit that tests the performance of the vehicle by a method different from that of the first testing unit and the performance of the vehicle as a test result; and a step of subjecting the test result of the first testing unit and the test result of the second testing unit to alignment processing based on a test condition including a weather condition and outputting an evaluation thereof.

Advantageous Effects of Invention

According to the present disclosure, the performance of the vehicle can be evaluated in more detail.

DESCRIPTION OF EMBODIMENTS

Hereinafter, an embodiment of the present disclosure will be described in detail with reference to the drawings. Note that description in the embodiment is an example of the present invention and the present invention is not limited thereto.

FIG.1is a block diagram showing a schematic configuration of a vehicle performance evaluation system1according to the embodiment. The vehicle performance evaluation system1includes a management unit2, a first testing unit3, and a second testing unit5. The first testing unit3includes an indoor testing unit4. The second testing unit5includes a simulation unit6and an outdoor testing unit7. The first testing unit3of the present embodiment includes one indoor testing unit4, but may include a plurality of the indoor testing units4. The second testing unit5of the present embodiment includes the simulation unit6and the outdoor testing unit7. However, the second testing unit5may include only one of the simulation unit6and the outdoor testing unit7and may include a plurality of the simulation units6and a plurality of the outdoor testing units7. The vehicle performance evaluation system1tests a vehicle8to be tested and evaluates performance of the vehicle8to be tested. The vehicle8to be tested may be one or a plurality of vehicles having the same function. Further, the vehicle8to be tested that is tested by the simulation unit6only needs to have a control function of the vehicle8to be tested and does not need to include a vehicle body, tires, a prime mover, a sensor, or the like. The performance of the vehicle8to be tested is performance during running. The vehicle performance evaluation system1evaluates performance of a driving assistance function including autonomous driving. The driving assistance function includes an autonomous driving function of causing the vehicle to run without performing an operation by a passenger, a function of detecting surrounding conditions to provide warnings and guidance and assist the passenger in running, and the like. The autonomous driving function includes functions corresponding to various levels of autonomous driving.

The management unit2manages a test executed by a plurality of units that perform tests. The management unit2acquires and accumulates information on a test result of each unit that performs a test. The management unit2analyzes the test result and outputs an analysis result. In addition, the management unit2determines a test condition, that is, a condition of a test to be executed in each unit. The management unit2includes a test condition determination device50, a data processing device52, a database54, an input unit56, and an output unit58. The management unit2may be one personal computer or may be configured by connecting a plurality of calculation devices via a wired or wireless network. The management unit2may include a plurality of the input units56and the output units58. For example, the input unit56and the output unit58may be provided for each of the test condition determination device50, the data processing device52, and the database54. The input unit56is a device that receives an input of a user and is, for example, a mouse, a keyboard, a touch panel, or the like. The output unit58is a device that displays calculation results of the test condition determination device50and the data processing device52, data in the database, input contents from the user, and the like. The output unit58is, for example, a display or a touch panel.

The test condition determination device50determines conditions of tests of the vehicle8to be tested that are executed by the indoor testing unit4, the simulation unit6, and the outdoor testing unit7. The test condition determination device50includes a calculation device, that is, a central processing unit (CPU), a storage device, that is, a memory that stores calculation contents, program information, and the like. The memory includes, for example, at least one of a random access memory (RAM), a read-only memory (ROM), and an external storage device such as a hard disk drive (HDD). The test condition determination device50includes an evaluation acquisition unit302, a unit information acquisition unit304, and a test condition calculation unit306.

The evaluation acquisition unit302acquires test conditions and test results of the vehicle8to be tested that are executed by the indoor testing unit4, the simulation unit6, and the outdoor testing unit7. The test conditions include vehicle information of the vehicle8to be tested, running conditions, environmental conditions, and weather conditions. The running conditions include a running speed, a steering angle, a driving source output, a braking operation, and the like of the vehicle8to be tested. The environmental conditions include a temperature, a brightness, a position of the sun, a road surface condition, and surrounding conditions of the vehicle8to be tested when running. The road surface condition is whether the road surface on which the vehicle runs is dry, wet, frozen, snowy, paved, or the like. The surrounding conditions of the vehicle8to be tested when running are presence or absence, a position, a moving direction, a moving speed of a pedestrian, a person riding a bicycle, an oncoming vehicle, a position of a road sign, the number of lanes, and the like. The weather conditions include weather such as sunny, cloudy, rain, snow, hail, fog, and sandstorm, wind direction, and wind speed. In a case of rain or the like, an amount of rainfall or the like is also included in the conditions. The test results include information acquired by the vehicle8to be tested during a test, the executed control, and the like.

The unit information acquisition unit304acquires information about the indoor testing unit4, the simulation unit6, and the outdoor testing unit7. Specifically, the unit information acquisition unit304acquires a condition of a test that can be executed in each of the indoor testing unit4, the simulation unit6, and the outdoor testing unit7, a device that detects test results and environmental conditions in each testing unit, and performance information.

The test condition calculation unit306calculates conditions of a test to be executed based on the information about the executed test acquired by the evaluation acquisition unit302and the information about each unit acquired by the unit information acquisition unit304.

The data processing device52processes the test result based on the result of a test executed in each unit and the condition of the test and evaluates the test result. The data processing device52includes a calculation device, that is, a central processing unit (CPU), and a storage device, that is, a memory that stores calculation contents, program information, and the like. The memory includes, for example, at least one of a random access memory (RAM), a read-only memory (ROM), and an external storage device such as a hard disk drive (HDD). The data processing device52includes a test result acquisition unit312, a parameter conversion unit314, a test result integration unit316, and an evaluation unit318.

The test result acquisition unit312acquires test conditions and test results of the vehicle8to be tested executed by the indoor testing unit4, the simulation unit6, and the outdoor testing unit7. The test conditions include vehicle information of the vehicle8to be tested, running conditions, environmental conditions, and weather conditions.

The parameter conversion unit314converts the test conditions of the test executed in each unit into a state capable of being evaluated with the same parameter. Here, the parameter is a condition that can be detected or set at the time of testing the vehicle8to be tested and is a condition selected from the weather condition, the environmental condition, and the running condition. For example, it is possible to use the amount of rainfall as the parameter while keeping the environmental conditions constant, or to use the road surface condition (wet or dry, a wet degree, or a road surface friction coefficient) as the parameter while keeping the running conditions constant. The parameter conversion unit314arranges the parameters based on the test conditions to bring tests executed in different units into a state capable of being evaluated with the same parameter.

The test result integration unit316integrates the results of the tests executed in different units based on the results converted by the parameter conversion unit314. This makes it possible to compare the test results of a plurality of units executed on the vehicle8to be tested.

The evaluation unit318evaluates the performance of the vehicle8to be tested, based on the test results integrated by the test result integration unit316. The evaluation unit318may create and output a graph based on the parameters integrated by the test result integration unit316as a result of the evaluation.

The database54stores and manages a program that executes processing of the management unit2and data related to various tests acquired by the vehicle performance evaluation system1. The database54includes a calculation device, that is, a central processing unit (CPU), and a storage device, that is, a memory that stores calculation contents, program information, and the like. The memory includes, for example, at least one of a random access memory (RAM), a read-only memory (ROM), and an external storage device such as a hard disk drive (HDD). The database54may not include the calculation device, but may include only the storage device, and data processing (writing and reading) may be performed by the test condition determination device50and the data processing device52. In addition, although the database54is provided in the present embodiment, the management unit2may store various data in the storage devices of the test condition determination device50and the data processing device52. The database54includes a performance testing program322, a test condition database324, a test result database326, and an evaluation database328.

The performance testing program322is a program for executing various processes to be executed by the vehicle performance evaluation system1and the management unit2. The performance testing program322is, for example, a program that executes processing of the test condition determination device50and the data processing device52. The vehicle performance evaluation system1may include a program for executing tests in the indoor testing unit4, the simulation unit6, and the outdoor testing unit7in the performance testing program322, or may include the program as a separate program. The performance testing program322does not have to be one program and may be a combination of a plurality of programs.

The test condition database324includes data of conditions of the tests executed by the indoor testing unit4, the simulation unit6, and the outdoor testing unit7. The test condition database324includes information on a range of test conditions that can be executed by the indoor testing unit4and the simulation unit6, and information for calculating test conditions based on the results acquired by the outdoor testing unit7. The test condition database324includes data in which information on test conditions of each test executed in the indoor testing unit4, the simulation unit6, and the outdoor testing unit7is associated with the test results.

The test result database326includes data on test results acquired by being executed by the indoor testing unit4, the simulation unit6, and the outdoor testing unit7. The test result includes data acquired from the vehicle8to be tested in the executed test, and data acquired for confirming test conditions and the like. The data acquired from the vehicle8to be tested includes detection results of a sensor mounted on the vehicle8to be tested and processing results calculated by a control unit of the vehicle8to be tested.

The evaluation database328includes data of various processing conditions and thresholds used for executing the evaluation in the evaluation unit318, and templates such as graphs and tables for outputting evaluation results.

The indoor testing unit4reproduces a running state of the vehicle8to be tested indoors and performs a test of the vehicle8to be tested. The indoor testing unit4can reproduce running conditions, environmental conditions, and weather conditions indoors. The indoor testing unit4will be described later.

The simulation unit6executes a running test of the vehicle8to be tested by simulation. The simulation unit6includes a calculation device, that is, a central processing unit (CPU), and a storage device, that is, a memory that stores calculation contents, program information, and the like. The memory includes, for example, at least one of a random access memory (RAM), a read-only memory (ROM), and an external storage device such as a hard disk drive (HDD). The simulation unit6may be a part of the management unit2. The simulation unit6includes a condition acquisition unit402, an analysis execution unit404, and an output unit406.

The condition acquisition unit402acquires the test conditions input to the input unit56. The test conditions include information on the vehicle8to be tested, running conditions, environmental conditions, weather conditions, and the like. The analysis execution unit404executes the test of the vehicle8to be tested by simulation based on the test conditions acquired by the condition acquisition unit402. The simulation executed by the analysis execution unit404can be various simulations. The analysis execution unit404includes a processing unit executing a control function of the vehicle8to be tested, creates information acquired by various sensors of the vehicle8to be tested in a case where the vehicle8to be tested runs based on the test conditions, and inputs the created information to the processing unit. The analysis execution unit404acquires control information output from the processing unit as a test result. The output unit406outputs the test result acquired by the analysis execution unit404to the management unit2.

The outdoor testing unit7executes a running test of the vehicle8to be tested outdoors. The outdoor testing unit7causes the vehicle8to be tested to run outdoors, processes information acquired from the vehicle8to be tested and information around the vehicle8to be tested, and calculates test conditions and test results. The outdoor testing unit7can perform both a test of causing the vehicle8to be tested to run on a test course and a test of causing the vehicle8to be tested to run on a public road. The test course is a facility provided on a closed site and can be provided with various facilities for reproducing weather conditions and environmental conditions. The public road is a place where traffic of vehicles and people unrelated to the test other than the vehicle8to be tested may occur. The outdoor testing unit7includes a position detection unit452, an environmental information acquisition unit454, and a vehicle information acquisition unit456.

The position detection unit452detects a running position of the vehicle8to be tested at the time of the test. The position detection unit452is mounted on, for example, the vehicle8to be tested, and detects a position on the earth using a global navigation satellite system (GSNN). The position detection unit452may detect the position from a communication with a base station of a public radio communication network or from a surrounding image without being limited to the method using the GSNN.

The environmental information acquisition unit454acquires information on surroundings of the vehicle8to be tested at the time of the test. The environmental information acquisition unit454includes an imaging unit that images the surroundings of the vehicle8to be tested, a sensor that detects a brightness, a temperature, and a humidity, and the like. The environmental information acquisition unit454acquires information on an oncoming vehicle, situations of front and rear vehicles and information on a person or a bicycle passing through the surroundings, and the like, based on the information acquired by the imaging unit. The environmental information acquisition unit454also has a function of acquiring weather information and the like at the time of testing the vehicle8to be tested from a data server in which the weather information is recorded. The environmental information acquisition unit454acquires information corresponding to the environmental conditions of a position where the vehicle8to be tested runs at the time of the test, based on position information detected by the position detection unit452and map information in which the position information and the environmental information (information on the road surface and the surroundings) and the like are associated with each other.

The vehicle information acquisition unit456acquires information necessary for control acquired by the vehicle8to be tested during the test and control information output to each unit from the control unit of the vehicle8to be tested. The information necessary for control acquired by the vehicle8to be tested is information acquired by various sensors, for example, information on temperature, humidity, surrounding obstacles, oncoming vehicles, and front and rear vehicles. The control information output from the control unit of the vehicle8to be tested to each unit is speed control information to a drive unit, steering control information, notification information to a driver, information output to the outside such as lights and horns, and the like.

Next, an example of the vehicle8to be tested will be described with reference toFIGS.2and3.FIG.2is a block diagram showing a functional configuration of the vehicle to be tested.FIG.3is an explanatory view for explaining a sensor function of the vehicle to be tested. The vehicle8to be tested of the present embodiment includes a driving assistance function including an autonomous driving function. The vehicle performance evaluation system1of the present embodiment tests and evaluates the performance of the driving assistance function of the vehicle8to be tested. Further, as shown inFIG.2, the vehicle8to be tested includes a steering device202and an operation pedal204. The vehicle8to be tested includes various mechanisms necessary as a moving object, specifically, a vehicle body, tires, a driving source, a human machine interface, and the like. The steering device202is a device by which the driver inputs a turning operation of the tire. The operation pedal204includes an accelerator pedal and a brake pedal and is a device for the driver to input an operation of a driving force such as acceleration and deceleration.

The vehicle8to be tested includes a sensor that detects surrounding environments and performs autonomous driving or driving assistance based on a detection result of the sensor. The vehicle8to be tested includes a sensor unit121and an operation information output unit123. The vehicle8to be tested has various functions necessary for running in addition to the above-described configuration. The vehicle8to be tested may have a structure in which only a vehicle body and a necessary sensor are provided, as a test body.

The sensor unit121includes a sensor that acquires surrounding information of a host vehicle and a sensor that acquires an operation input to the vehicle8to be tested. The sensor unit121can use, as the sensor that acquires surrounding information of a host vehicle, various sensors detecting surrounding objects and situations such as a camera, a millimeter-wave radar, an infrared sensor, and a light detection and ranging (or laser imaging detection and ranging (LiDAR)). In the vehicle8to be tested shown inFIGS.2and3, a millimeter-wave radar214, a camera216, and a LiDAR217are provided at a front side of the vehicle, millimeter-wave radars215are provided at lateral sides of the vehicle, and cameras216are provided at the lateral sides and a rear side of the vehicle. The millimeter-wave radar214is a sensor that can detect a distant object, for example, a 76-78 GHz millimeter-wave radar, and acquires information about a measurement range224. The millimeter-wave radars215are sensors that detect an object in ranges narrower than that of the millimeter-wave radar214, for example, a 24 GHz millimeter-wave radar, and acquire information about measurement ranges225. The cameras216acquire images of imaging ranges226. The LiDAR217acquires information about a measurement range227in front of the vehicle. The LiDAR230on an upper portion of the vehicle acquires information about the upper portion of the vehicle and front, rear, left, and right sides of the vehicle.

The sensor unit121includes, as the sensor that acquires an operation input to the vehicle8to be tested, a vehicle speed sensor232, an acceleration sensor234, operation detection units236and238, and a position sensor240. The vehicle speed sensor232detects the running speed of the vehicle8to be tested. The acceleration sensor234is a gyro sensor or the like, and detects acceleration in each direction of the vehicle8to be tested, and detects the acceleration in each direction and an orientation of the vehicle8to be tested. The operation detection unit236detects a steering operation input to the vehicle8to be tested. The operation detection unit238detects an operation on the driving source, such as an accelerator operation or a brake operation, which is input to the vehicle8to be tested. The position sensor240detects the position of the vehicle8to be tested using the GSNN.

The control device206executes control of the driving assistance function of the vehicle8to be tested. The control device206includes an environment recognition unit207and a control signal generation unit208. The environment recognition unit207recognizes the surrounding conditions of the vehicle8to be tested, based on the information acquired by the sensor unit121. The control signal generation unit208determines the control to assist in the driving of the vehicle8to be tested, based on the surrounding conditions recognized by the environment recognition unit207and generates a control signal to execute the determined control. The control signal generation unit208inputs the generated control signal to the steering device202and the operation pedal204. The control device206of the present embodiment controls steering and acceleration/deceleration, as the driving assistance function. For example, the control device206performs autonomous driving, collision avoidance, and crisis avoidance, as the driving assistance function.

The vehicle8to be tested includes a sensor information output unit122and an operation information output unit123that are also a part of the indoor testing unit4, and a position detection unit452, an environmental information acquisition unit454, and a vehicle information acquisition unit456that are a part of the outdoor testing unit7. The sensor information output unit122outputs information acquired by the sensor unit121. The operation information output unit123outputs operation information determined by the vehicle8to be tested. Here, the operation information includes information about results of operations performed on a steering wheel, an accelerator, a brake, and a shifter. The position detection unit452, the environmental information acquisition unit454, and the vehicle information acquisition unit456acquire detection results from each sensor of the vehicle8to be tested.

In a case where the vehicle8to be tested is a vehicle corresponding only to the indoor testing unit4, the vehicle8to be tested may not include the position detection unit452, the environmental information acquisition unit454, and the vehicle information acquisition unit456, which are a part of the outdoor testing unit7. In addition, in a case where the vehicle8to be tested is a vehicle corresponding only to the indoor testing unit4, assumed position information may be input by communication or the like as the position information. In addition, in a case where the vehicle8to be tested corresponds to the simulation, it is sufficient that the vehicle8to be tested has only a function of the control device206.

Next, the indoor testing unit will be described with reference toFIGS.4to7.FIG.4is a block diagram showing a schematic configuration of the indoor testing device.FIG.5is a front view showing a schematic configuration of the indoor testing unit and is a case of a relative movement in which a surrounding traffic participant moves.FIG.6is a side view showing a schematic configuration of the indoor testing unit and is a case of a relative movement in which a surrounding traffic participant moves.FIG.7is a plan view showing a schematic configuration of the vehicle performance testing device and is a case of a relative movement in which a surrounding traffic participant moves. As shown inFIG.4, the indoor testing unit4reproduces a surrounding environment and a driving state of the vehicle8to be tested and acquires vehicle operation information of the vehicle8to be tested. The indoor testing unit4includes a vehicle performance testing device12, an operation information acquisition device14, and a control device16. The vehicle performance testing device12includes a testing platform22, an environment reproduction mechanism26, a running condition reproduction mechanism28, and a building30.

The testing platform22is disposed on one end side of the indoor testing unit4in a longitudinal direction and at a central portion of the indoor testing unit4in a lateral direction and is configured to be movable in a lateral direction by means of a movement mechanism115. The testing platform22is a pallet on which the vehicle8to be tested is installed. The testing platform22changes an orientation of a testing platform surface111on which the vehicle8to be tested is installed. The testing platform22includes four roller belts112disposed at the center of the testing platform surface111and each roller belt112includes a turnable pivot113and an actuator114capable of expanding and contracting the pivot113. The testing platform22lifts, lowers, and tilts the testing platform surface111by means of expansion and contraction of each actuator114to change the orientation of the testing platform surface111. The testing platform22may further include a table mechanism that rotates the testing platform surface111. In the present embodiment, it is possible to perform a test for rotating the tires of the vehicle8to be tested by providing the roller belts112. Regarding the testing platform22, the testing platform surface111may be a plate-shaped member in a case where the vehicle8to be tested is not to be caused to run.

The testing platform22changes the orientation of the vehicle8to be tested by lifting, lowering, tilting, and turning the testing platform surface111so as to reproduce an orientation with respect to a road surface at the time of turning right or left, cornering, climbing a slope, descending a slope, starting movement, or stopping movement.

The environment reproduction mechanism26adjusts an environment inside the building30to change an environment in the surroundings of the vehicle8to be tested (that is, an environment in a range where detection is performed by the sensors) to an environment corresponding to test conditions. The environment reproduction mechanism26includes a rainfall facility102, a snowfall facility103, a sunlight facility104, an atmospheric temperature/humidity/pressure control facility105, a fog generation facility106, a blowing facility107, a dust generation facility108, a hail-fall facility109, an electromagnetic noise generation facility110, and an electromagnetic noise reduction facility116. The rainfall facility102drops a predetermined amount of water in the form of water droplets in a testing region to reproduce rain. The snowfall facility103produces snow and drops the produced snow in the testing region to reproduce snowfall. The sunlight facility104illuminates the testing region to reproduce a daytime environment. The sunlight facility104may irradiate a vehicle to be tested with light at a predetermined illuminance to reproduce the sun. The atmospheric temperature/humidity/pressure control facility105is an air conditioner having a heating function, a cooling function, a humidifying function, and a dehumidifying function, and changes the temperature and the humidity of a testing space to a temperature and a humidity corresponding to test conditions. Furthermore, the atmospheric temperature/humidity/pressure control facility105includes a pump and increases or decreases a pressure to a pressure corresponding to the test conditions. The fog generation facility106ejects mist-like water to reproduce fog in the testing region. The blowing facility107includes a blower that can control the direction of wind and the velocity of wind and controls the blower such that the direction of wind and the velocity of wind in the testing region correspond to test upper limits. The dust generation facility108generates dust in the testing region. The hail-fall facility109produces ice and drops the produced ice in the testing region to reproduce hail. The electromagnetic noise generation facility110generates an electromagnetic noise in the surroundings of the testing region. As a result, it is possible to create a testing environment in which a component that hinders the detection performed by the sensors is generated. The electromagnetic noise reduction facility116reduces the reflected wave of the millimeter-wave radar or LiDAR transmitted by the vehicle to be tested. The electromagnetic noise reduction facility116is disposed on a wall surface such as a front surface of the vehicle8to be tested. By providing the electromagnetic noise reduction facility116, it is possible to suppress reflection of the millimeter-wave radar and LiDAR transmitted from the vehicle8to be tested at a portion other than the wall surface, for example, a position on an extension line of the road under the test conditions, and it is possible to make the environment similar to the outdoor test. The environment reproduction mechanism26can adjust the inside of the building30to correspond to the test conditions by controlling each unit based on the test conditions.

The running condition reproduction mechanism28reproduces a running state in a region where the sensors of the vehicle8to be tested, which is installed on the testing platform22, perform detection. Specifically, the running condition reproduction mechanism28moves a target object that moves relatively in a case where a condition that the vehicle8to be tested runs is set. The running condition reproduction mechanism28includes a road infrastructure130and a moving object140.

The road infrastructure130includes road surfaces131,135,136, and a movable road surface132. In the present embodiment, the road surface131is a road surface that is a reproduction of a three-lane road. The road surface135is a road surface with a curve. The road surface135is partially provided with a stepped road surface134whose height changes. The road surface136is a road surface that is a reproduction of a road at the intersection. The road infrastructure130includes a rail and the road surfaces131,135, and136are configured to be movable on a rail137. The road infrastructure130also includes a mechanism that moves a road surface used for a test to a position facing the testing platform22. In addition, the road infrastructure130may be provided with various road surfaces for a test such as a road surface that is a reproduction of a sandy place and an unpaved road surface. The road infrastructure130has a temperature adjustment function133inside the road surface131and can achieve a state in which the road surface131is frozen or a state in which the road surface is heated. In addition, the road infrastructure130may also include, for example, a traffic signal, a pedestrian crossing, a sign, a guardrail, and a building in accordance with the purpose of a test. The traffic signal, the pedestrian crossing, the sign, the guardrail, and the building may be the moving object140which will be described later. The movable road surface132is disposed between the road surface131and the testing platform surface111and changes a direction of the road surface on the entire surface of the vehicle8to be tested in synchronization with the movement of the testing platform surface111. In addition, the movable road surface132is formed of an endless belt and moves the road surface in accordance with the running conditions of the vehicle8to be tested.

The moving object140includes various kinds of objects that move relative to the vehicle8to be tested. The moving object140includes a nearby vehicle141and a human-shaped model142. The moving object140is movable with respect to the road infrastructure130. The moving object140is disposed on the road infrastructure130and moves at positions on the road surface based on test conditions. The moving object140may move by remote control or may be manually or automatically moved based on a testing state.

The building30is a structure in which the testing platform22, the environment reproduction mechanism26, and the running condition reproduction mechanism28are disposed. In the building30, an environment in the surroundings of the vehicle8to be tested mounted on the testing platform22is set as an indoor environment and a closed space is provided. Regarding the building30, a space for the road infrastructure is preferably wider than detection ranges of the sensors of the vehicle. The testing region in the building30preferably has, for example, a length of 80 m or more in a longitudinal direction and a length of 15 m or more in a lateral direction. A structure in which the sensor unit121of the vehicle8to be tested does not detect a wall surface of the testing region of the building30as a wall surface is preferable. Specifically, it is preferable that the structure absorbs detection wavelengths of the sensors of the vehicle8to be tested. In addition, an image may be displayed on the wall surface of the testing region of the building30so that the cameras216do not recognize the wall surface as a wall surface.

The indoor testing unit4can acquire operation information determined and operated by the vehicle8to be tested under a predetermined reproduced environment.

The operation information acquisition device14communicates with the vehicle8to be tested and acquires operation information determined by the vehicle. The operation information acquisition device14outputs the acquired operation information to the control device16. The operation information acquisition device14may be separated from or integrated with the indoor testing unit4and may be integrated with or separated from the vehicle8to be tested.

The control device16includes a recording unit310, an input unit320, a calculation unit330, and an output unit340. The recording unit310stores various kinds of data and a scenario program311is recorded thereon. In the scenario program311, vehicle running conditions, test conditions to be reproduced by the environment reproduction mechanism26, and information about transitions of an object in the surroundings of the vehicle running, which are to be reproduced by the running condition reproduction mechanism28, are stored corresponding to a time axis.

The input unit320is a mouse, a keyboard, or a touch panel, and an operator inputs various kinds of information. A human machine interface321is an operation device and an emergency stoppage button for each environment reproduction mechanism and operates and stops the environment reproduction mechanism. The calculation unit330calculates adjustment conditions such as the amount of movement of a testing platform410, a road infrastructure430, and a moving object440based on the result of the scenario program311or the operation information acquisition device14. In addition, the calculation unit330outputs vehicle orientation information18, which is the orientation of the vehicle, to the vehicle8to be tested. Here, the vehicle orientation information18includes the orientation and the acceleration with respect to six axes of the vehicle8to be tested and includes information necessary for vehicle control such as ABS, TCS, and ESC. The control device16outputs the amount of movement or the like calculated by the calculation unit330to the output unit340. The output unit340outputs the results of various calculations to the testing platform22, the environment reproduction mechanism26, the running condition reproduction mechanism28, and the vehicle8to be tested.

Next, a method for testing driving performance of the vehicle8to be tested using the indoor testing unit4will be described. The indoor testing unit4installs the vehicle8to be tested on the testing platform22. The indoor testing unit4acquires the scenario program. The scenario program is a time-series condition of a test to be executed on the vehicle8to be tested. The scenario program is created based on the test conditions.

The indoor testing unit4acquires environmental conditions and weather conditions. The indoor testing unit4acquires various test conditions at a target point in time to be reproduced. The indoor testing unit4adjusts the environment reproduction mechanism26. That is, a temperature, a humidity, weather, and the like are set corresponding to the test conditions at the target point in time. The indoor testing unit4adjusts the testing platform22. That is, the orientation of the vehicle8to be tested is set corresponding to the test conditions at the target point in time. The indoor testing unit4adjusts the running condition reproduction mechanism28. That is, the position of the moving object140disposed in the surroundings of the vehicle8to be tested is set to a position corresponding to the environmental conditions at the target point in time. The indoor testing unit4notifies the vehicle8to be tested that conditions and scenario conditions related to the testing platform22, the environment reproduction mechanism26, and the running condition reproduction mechanism28are set.

Next, the indoor testing unit4acquires operation information which is a result of recognition and determination by the vehicle8to be tested under the test conditions. The indoor testing unit4calculates a next testing state based on the acquired operation information, outputs the conditions and scenario conditions related to the testing platform22, the environment reproduction mechanism26, and the running condition reproduction mechanism28, and outputs the vehicle orientation information18to the testing platform22and the vehicle8to be tested. Next, the indoor testing unit4determines whether the test is completed. In a case where the indoor testing unit4determines that the test is not completed, the indoor testing unit4reproduces test conditions at a next point in time and acquires operation information of the vehicle8to be tested. In a case where the indoor testing unit4determines that the test is completed, the indoor testing unit4ends the present process.

Next, processing of the vehicle performance evaluation system1will be described.FIG.8is a flow chart showing an example of a processing operation of the vehicle performance evaluation system1. The management unit2determines test conditions (step S12). In a case of the test of the outdoor testing unit7, the management unit2sets conditions other than conditions that cannot be set such as weather and a surrounding environment. The management unit2sets, for example, a date and time at which the test is to be executed, a course to be run, and the like. In a case where the test of the outdoor testing unit7is executed by using the test course, the management unit2may have a condition of using a device for reproducing the weather, the surrounding environment, or the like provided in the test course.

The management unit2performs a vehicle performance test in each testing unit and acquires data (step S14). The management unit2performs a test under test conditions in each of the indoor testing unit4, the simulation unit6, and the outdoor testing unit7, and acquires test result data. The management unit2does not need to perform the test on all of the indoor testing unit4, the simulation unit6, and the outdoor testing unit7and may perform the test on the set unit.

The management unit2accumulates the test conditions and the test results in the data processing device52(step S16). That is, the management unit2accumulates information which is results of the test of the vehicle8to be tested executed in each testing unit. The management unit2accumulates the acquired data related to the test.

The management unit2processes results of a plurality of testing units based on the parameters of the test conditions and evaluates the test results (step S18). The evaluation process will be described with reference toFIG.9. The management unit2outputs the evaluation result (step S20). The management unit2outputs the evaluation result from the output unit58.

Next, the evaluation process executed by the data processing device will be described with reference toFIG.9.FIG.9is a flowchart showing an example of a process of the data processing device. The data processing device52will be described as a case where the test is executed in each of the indoor testing unit4, the simulation unit6, and the outdoor testing unit7. The data processing device52acquires the results of the plurality of testing units and the test conditions (step S32). The data processing device52calculates test conditions from the test results of the outdoor testing unit (step S34). Specifically, the data processing device52determines a weather condition, an environmental condition, and a running condition from the test result of the outdoor testing unit7and uses the determined result as a test condition.

The data processing device52integrates the results of the plurality of testing units based on the test conditions (step S36). The data processing device52standardizes the test conditions of each of the plurality of testing units with the same parameters and evaluates the test results of different testing units with the standardized reference.

The data processing device52evaluates the vehicle performance with the test results based on the integrated parameters (step S38). The data processing device52evaluates the performance of the vehicle8to be tested, based on the test results integrated based on the standardized reference. Accordingly, the results of the testing units that perform the tests in different methods can be evaluated based on one standard.

Next, an example of a process of determining the test conditions by the test condition determination device will be described.FIG.10is a flowchart showing an example of a process of the test condition determination device. The process shown inFIG.10is a process in a case where based on test conditions of the simulation unit or the outdoor testing unit, a test for interpolating the test conditions is executed in the indoor testing unit.

The test condition determination device50acquires test results of the simulation unit or the outdoor testing unit (step S42). The test condition determination device50acquires information on the executed test conditions and test results. The test condition determination device50converts the results of the plurality of testing units based on the parameters of the test conditions (step S44). The test condition determination device50performs conversion to the standardized conditions. The test condition determination device50calculates test conditions for extrapolating or interpolating parameters based on the conversion result (step S46). The test condition determination device50determines the calculated test conditions to be used for a test executed in the indoor testing unit (step S48). Accordingly, the test condition determination device50can perform a test under conditions in which the conditions are changed with respect to the test in which the test has been executed.

In the above-described embodiment, the processing is performed in a case of interpolating the test conditions, but in the vehicle performance evaluation system1, the operator can also set the test conditions. In addition, in the above-described embodiment, the processing is performed in a case of interpolating the test conditions. However, in order to evaluate a correlation between test results of different testing units, the same test conditions are executed in a plurality of testing units, and the correlation between the test results may be calculated. As a result, an error in each testing unit can be interpolated, and the performance of the vehicle can be evaluated with high accuracy by using the test results of a plurality of testing units.

FIG.11is an explanatory view for explaining an example of the evaluation result of the vehicle performance evaluation system. As shown inFIG.11, the vehicle performance evaluation system1can evaluate tests under a plurality of different conditions in association with each other by executing and evaluating the tests using the plurality of testing units as described above. InFIG.11, the test results can be summarized for each of conditions that the weather conditions of fine, rain (rainfall), and fog (visibility) are different, and the performance of the vehicle can be evaluated for each condition.FIG.11is a graph showing a relationship between a distance of an object (person) and a detection probability under each test condition. The vehicle performance evaluation system1can show a correlation with the graph shown inFIG.11as an example of the evaluation result. In addition, the vehicle performance evaluation system1can perform each measurement in different testing units.

By performing a test using at least one of the simulation unit6or the outdoor testing unit7, and the indoor testing unit4, the vehicle performance evaluation system1can adjust the test conditions in higher detail and can evaluate the performance of the vehicle with higher accuracy by performing evaluation using both a test result with high reproducibility of weather conditions and environmental conditions that are executed in a vehicle to be tested actually in the indoor testing unit4and test results of other testing units.

The vehicle performance evaluation system1can increase an accuracy of the test result of the indoor testing unit4by comparing the test result of the indoor testing unit4with the test result of at least one of the simulation unit6or the outdoor testing unit7. In addition, the performance of the vehicle can be evaluated with high accuracy with a small number of the outdoor testing units7.

In addition, the vehicle performance evaluation system1can perform a test for interpolating the executed test results with high accuracy by determining the test conditions by the test condition determination device50. Accordingly, the test can be efficiently executed.

In addition, in the vehicle performance evaluation system1, it is preferable that the data processing device52adjusts the parameters of the test conditions at the time of evaluation based on information on the regulation and the idea of a development target. As a result, the evaluation result can be output based on a reference corresponding to the regulation and the idea of the development target, and the performance of the vehicle to be tested can be evaluated more effectively.

The indoor testing unit4can reproduce test conditions at each point in time by adjusting a surrounding environment inside the building30and adjusting a position of a moving object in the surroundings of the vehicle8to be tested, calculate a testing state at a next point in time by acquiring operation information of the vehicle8to be tested in a state as reproduced, and reproduce an environment in the surroundings of the vehicle8to be tested by operating each device.

In addition, it is possible to remove the influence of weather and an environment outside the building30by reproducing test conditions inside the building30as in the present embodiment and to perform a test with high reproducibility. Accordingly, it is possible to preferably perform comparative investigation. In addition, a test in an extreme environment can be executed with a high reproducibility.

In addition, in the present embodiment, test conditions for each timing corresponding to a predetermined time are reproduced based on a scenario program, operation information of the vehicle8to be tested is acquired in a state in which the test conditions are reproduced, and reproduction at a different point in time is performed when the acquisition is completed. Accordingly, it is not necessary to cause the vehicle to be tested to run actually, and thus it is possible to perform a test in a limited space. Here, examples of the predetermined time include several tens of msec to 12 msec. The predetermined time may be determined based on the rate of recognition, determination, and operation of the vehicle to be tested.

In addition, as in the present embodiment, since the vehicle8to be tested is installed on the testing platform22and the running condition reproduction mechanism28moves a moving object in the surroundings of the vehicle8to be tested relative to the vehicle8to be tested (that is, the running condition reproduction mechanism28moves a target object moving with respect to the vehicle8to be tested), it is possible to reduce the size of a testing environment. Here, the target object is the moving object140and is a nearby vehicle other than the vehicle to be tested which is a target to be tested, a model, and other objects that are generally recognized when the vehicle runs on a road.

The environment reproduction mechanism26reproduces at least one of the amount of rainfall, the amount of snowfall, and fog, and thus it is possible to perform a test under various running conditions.

In the above-described embodiment, the running condition reproduction mechanism28may consecutively reproduce running conditions and consecutively acquire data when detection is performed by the sensors after test conditions are reproduced each time a predetermined time elapses.

In addition, the indoor testing unit4can determine whether or not autonomous driving or driving assistance has effectively worked under a condition under which an accident has occurred by reproducing the condition under which the accident has occurred as a scenario program. In addition, the vehicle performance evaluation system1can check how autonomous driving or driving assistance works under test conditions by supplying acquired sensor information to a program for autonomous driving or driving assistance. In addition, as described above, the indoor testing unit4may determine test conditions at a next point in time by processing sensor information detected under test conditions by means of a program for autonomous driving and driving assistance.

Here, the indoor testing unit4preferably has the structure of the above-described embodiment, but is not limited thereto. The indoor testing unit4only needs to be able to reproduce environmental conditions and weather conditions indoors. In the indoor testing unit4of the above-described embodiment, the environmental conditions around the vehicle8to be tested are reproduced by disposing the vehicle8to be tested on the testing platform22(pallet) and relatively moving a target object disposed around the vehicle8to be tested while changing the orientation of the vehicle8to be tested by the orientation of the testing platform22, but the present invention is not limited thereto. The relative movement is not limited to a case where a surrounding traffic participant moves as in the present embodiment, and the vehicle to be tested may move as described later. The case where the vehicle to be tested moves includes a case where only the vehicle to be tested moves and a case where both the vehicle to be tested and the traffic participant move. In addition, the traffic participants include other vehicles, motorcycles, bicycles, pedestrians, running paths, signs, structures, and the like.

FIG.12is a schematic view of a case where the vehicle to be tested of the indoor testing unit moves. An indoor testing unit502shown inFIG.12is the same as the indoor testing unit4except for a mechanism for relative movement between the vehicle8to be tested and a target object disposed around the vehicle8to be tested. The indoor testing unit502causes the vehicle8to be tested to run. The indoor testing unit502moves the vehicle8to be tested relative to surrounding structures, for example, the human-shaped model142and the bicycle144by causing the vehicle8to be tested to run. The indoor testing unit502reproduces the test conditions by causing the vehicle to run inside the building.

FIG.13is a schematic view of a case where the vehicle to be tested of the indoor testing unit moves. An indoor testing unit504shown inFIG.13is the same as the indoor testing unit4except for a mechanism for relative movement between the vehicle8to be tested and a target object disposed around the vehicle8to be tested. The indoor testing unit504includes a traction mechanism550that tows the vehicle8to be tested. The traction mechanism550tows the vehicle8to be tested, thereby moving the vehicle8to be tested relative to surrounding structures, for example, the human-shaped model142and the bicycle144. The indoor testing unit502reproduces the test conditions by towing the vehicle with the traction mechanism550inside the building. By using the traction mechanism550, the vehicle to be tested can be towed under the same condition, and the reproducibility can be improved.

FIG.14is a schematic view of a case where the vehicle to be tested of the indoor testing unit moves. An indoor testing unit506shown inFIG.14is the same as the indoor testing unit4except for a mechanism for relative movement between the vehicle8to be tested and a target object disposed around the vehicle8to be tested. The indoor testing unit506includes a moving carriage554that moves the vehicle8to be tested. The vehicle8to be tested is placed on the moving carriage554, and the moving carriage554moves in a predetermined direction by a driving mechanism. The moving carriage554moves in a state in which the vehicle8to be tested is placed, thereby moving the vehicle8to be tested relative to surrounding structures, for example, the human-shaped model142and the bicycle144. The indoor testing unit506reproduces the test conditions by towing the vehicle with the moving carriage554inside the building.

FIG.15is a schematic view of a case where the vehicle to be tested of the indoor testing unit moves. An indoor testing unit510shown inFIG.15is the same as the indoor testing unit4except for a mechanism for relative movement between the vehicle8to be tested and a target object disposed around the vehicle8to be tested. The indoor testing unit510causes the vehicle8to be tested to run. In addition, the indoor testing unit510also moves surrounding structures, the human-shaped model142, the bicycle144, and a vehicle556by their driving methods. The indoor testing unit510moves the vehicle8to be tested and the human-shaped model142, the bicycle144, or the vehicle556, so that the vehicle8to be tested and the surroundings are relatively moved.

FIG.16is a schematic view of a case where the vehicle to be tested of the indoor testing unit moves. An indoor testing unit512shown inFIG.16is the same as the indoor testing unit4except for a mechanism for relative movement between the vehicle8to be tested and a target object disposed around the vehicle8to be tested. The indoor testing unit512causes the vehicle8to be tested to run. In addition, the indoor testing unit512also moves surrounding structures, the human-shaped model142, the bicycle144, and the vehicle556by respective traction mechanisms560,562, and564. The traction mechanism560tows the vehicle556to move the vehicle556relative to the vehicle8to be tested. The traction mechanism562tows the human-shaped model142to move the human-shaped model142relative to the vehicle8to be tested. The traction mechanism562tows the bicycle144to move the bicycle144relative to the vehicle8to be tested. The indoor testing unit512reproduces the test conditions by causing the vehicle to run inside the building and moving the surrounding structures, the human-shaped model142, the bicycle144, and the vehicle556by the respective traction mechanisms560,562, and564. By using the traction mechanisms560,562, and564, the vehicle to be tested can be towed under the same condition, and the reproducibility can be improved.

FIG.17is a schematic view of a case where the vehicle to be tested of the indoor testing unit moves. An indoor testing unit514shown inFIG.17is the same as the indoor testing unit4except for a mechanism for relative movement between the vehicle8to be tested and a target object disposed around the vehicle8to be tested. The indoor testing unit514causes the vehicle8to be tested to run. In addition, the indoor testing unit514also moves surrounding structures, the human-shaped model142, the bicycle144, and the vehicle556by respective moving carriages570,572, and574. The moving carriage570moves the vehicle556relative to the vehicle8to be tested by moving in a state in which the vehicle556is placed. The moving carriage572moves the human-shaped model142relative to the vehicle8to be tested by moving in a state in which the human-shaped model142is placed. The moving carriage574moves the bicycle144relative to the vehicle8to be tested by moving in a state in which the bicycle144is placed. The indoor testing unit514reproduces the test conditions by causing the vehicle to run inside the building and moving the surrounding structures, the human-shaped model142, the bicycle144, and the vehicle556by the respective moving carriages570,572, and574.

The constitutional elements described above include those that can be easily assumed by those skilled in the art and those that are substantially the same. Furthermore, the configurations described above can be appropriately combined. In addition, various omissions, substitutions, or modifications of the configurations can be made without departing from the gist of the present invention.

REFERENCE SIGNS LIST