Method, device and equipment for detecting steer-by-wire performance of unmanned vehicle and medium

Abstract

The embodiment of the invention provides a detection method, device and equipment for the steer-by-wire performance of an unmanned vehicle and a medium, and belongs to the technical field of automatic driving. The method comprises the steps that a preset steering control quantity is sent to a vehicle terminal according to each preset test case under various preset test conditions, so that the vehicle terminal controls a steering wheel of the unmanned vehicle to rotate according to the preset steering control quantity, and an actual steering execution quantity is collected; receiving the actual steering execution quantity sent by the vehicle terminal; generating a group of index data under each preset test case according to the actual steering execution quantity and the preset steering control quantity; performing comparative judgment processing on each piece of steering performance index data and preset index threshold value data to obtain a judgment result corresponding to each test case; and if all the judgment results are detected to reach the standard, generating a detection result that the test is passed. The method is used for achieving the effects of saving time and labor in detection and improving the detection coverage rate, accuracy and efficiency.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving technology, specifically to the field of unmanned vehicle detection technology, and in particular to a method, device, equipment and medium for detecting the steering-by-wire performance of an unmanned vehicle. Background Art

[0002] In the production process of unmanned vehicles in the field of autonomous driving, steer-by-wire technology is a particularly important control technology. It is used to control the steering of the vehicle through electrical signals. Compared with the traditional mechanical steering system, it has higher precision and response speed. Therefore, more and more unmanned vehicles are using steer-by-wire technology. However, it is also more important to test the steer-by-wire performance of unmanned vehicles before they leave the factory.

[0003] In the prior art, the existing offline testing scheme for unmanned vehicles mainly refers to the offline testing method for manned vehicles. This method that relies on manual testing mainly tests the maximum steering angle of the vehicle and the consistency of the steering angles of the left and right wheels. In the face of mass-produced unmanned vehicles, it is impossible to test the steering-by-wire performance of unmanned vehicles for each vehicle.

[0004] Therefore, the inventors have discovered that the prior art has at least the following technical problems: too little detection content to perform comprehensive wire-controlled steering performance testing, and manual testing is required, which is time-consuming and labor-intensive, leading to problems with low detection coverage, accuracy and efficiency. Summary of the invention

[0005] The embodiments of the present application provide a method, device, equipment and medium for detecting the steering-by-wire performance of an unmanned vehicle, so as to achieve the effect of saving time and effort in detection and improving detection coverage, accuracy and efficiency.

[0006] In a first aspect, an embodiment of the present application provides a method for detecting the steering-by-wire performance of an unmanned vehicle, comprising:

[0007] Sending a preset steering control amount to the vehicle computer end according to each preset test case under multiple preset test conditions, so that the vehicle computer end controls the steering wheel rotation of the unmanned vehicle according to the preset steering control amount and collects the actual steering execution amount;

[0008] Receiving the actual steering execution amount sent by the vehicle machine end;

[0009] Generating a set of indicator data under each preset test case according to the actual steering execution amount and the preset steering control amount, wherein the set of indicator data includes a plurality of steering performance indicator data;

[0010] Compare and judge each steering performance index data with the preset index threshold data to obtain the judgment result corresponding to each test case;

[0011] If all the judgment results are detected to be up to standard, a test result indicating that the test passed is generated.

[0012] In a possible implementation manner, generating a set of indicator data under each preset test case according to the actual steering execution amount and the preset steering control amount includes:

[0013] generating a steering-by-wire curve according to the actual steering execution amount and the preset steering execution amount;

[0014] The steer-by-wire curve is analyzed and processed to generate a set of index data under each preset test case.

[0015] In a possible implementation manner, each steering performance index data is compared with the preset index threshold data to obtain a judgment result corresponding to each test case, including:

[0016] Performing a comparison and judgment process on each steering performance indicator and a preset indicator threshold through a numerical comparison operation to obtain a comparison and judgment result of each steering performance indicator;

[0017] When it is detected that the comparison judgment results of all steering performance indicators are up to standard, a detection pass is obtained as the judgment result corresponding to each test case.

[0018] In a possible implementation manner, the multiple steering performance index data include a control dead zone value, a control accuracy value, a response delay value, a rise time value, a following delay value, an overshoot value, an overshoot time value and a steady-state error value, and the preset index threshold data include a control dead zone threshold, a control accuracy threshold, a response delay threshold, a rise time threshold, a following delay threshold, an overshoot threshold and a steady-state error threshold; accordingly, the comparison and judgment processing of each steering performance index and the preset index threshold through a numerical value comparison operation to obtain a comparison and judgment result of each steering performance index includes: comparing and judging the control dead zone value and the line control dead zone threshold through a numerical value comparison operation, comparing the control accuracy value The control accuracy threshold is compared and judged by comparing the numerical value size, the response delay value and the response delay threshold are compared and judged by comparing the numerical value size, the rise time value and the rise time threshold are compared and judged by comparing the numerical value size, the following delay value and the following time threshold are compared and judged by comparing the numerical value size, the overshoot value and the overshoot threshold are compared and judged by comparing the numerical value size, the overshoot time value and the overshoot time threshold are compared and judged by comparing the numerical value size, and the steady-state error value and the steady-state error threshold are compared and judged by comparing the numerical value size, to obtain the comparison and judgment result of each steering performance index.

[0019] In a possible implementation, the preset test conditions include step test conditions, sinusoidal test conditions, and ramp test conditions, and the preset test cases corresponding to each preset test condition include control dead zone test, resolution test, response delay test, rise time test, follow-up delay test, overshoot test, overshoot time test and steady-state error test; the step test condition includes step conditions of preset steering control quantities in multiple different numerical intervals.

[0020] In a possible implementation manner, the preset steering control amount is any one of a target steering wheel steering angle or a target front wheel steering angle.

[0021] In a possible implementation, it also includes: obtaining basic chassis parameters of the unmanned vehicle; adjusting and processing the preset test conditions, the preset test cases, the preset steering control amount and the preset index threshold data according to the basic chassis parameters to obtain new preset test conditions, preset test cases, preset steering control amount and preset index threshold data.

[0022] In a second aspect, an embodiment of the present application provides a device for detecting the steering-by-wire performance of an unmanned vehicle, comprising:

[0023] A sending module, used for sending a preset steering control amount to the vehicle machine end according to each preset test case under multiple preset test conditions, so that the vehicle machine end controls the steering wheel rotation of the unmanned vehicle according to the preset steering control amount and collects the actual steering execution amount;

[0024] A data acquisition module, used for receiving the actual steering execution amount sent by the vehicle terminal;

[0025] A data processing module, used for generating a set of index data under each preset test case according to the actual steering execution amount and the preset steering control amount, wherein the set of index data includes a plurality of steering performance index data;

[0026] The data processing module is used to compare and judge each steering performance index data with the preset index threshold data to obtain a judgment result corresponding to each test case;

[0027] The result output module is used to generate a test result indicating that the test has passed if all the judgment results are detected to be up to standard.

[0028] In a third aspect, an embodiment of the present application provides a device for detecting the steering-by-wire performance of an unmanned vehicle, comprising: a steering mechanism assembly, a steering execution amount acquisition device, and a control system;

[0029] Wherein, the steering mechanism assembly is used to simulate the steering operation of an unmanned vehicle;

[0030] The steering execution amount acquisition device is used to acquire the actual steering execution amount of the unmanned vehicle;

[0031] The control system includes a test host computer, and the control system is used to control and monitor the steering performance of the unmanned vehicle;

[0032] The test host computer includes a memory and a processor, wherein the memory stores computer-executable instructions; the processor executes the computer-executable instructions stored in the memory, so that the processor executes the first aspect and / or various possible implementations of the first aspect.

[0033] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the first aspect above and / or various possible implementations of the first aspect.

[0034] The embodiment of the present application provides a detection method, device, equipment and medium for the steering performance of unmanned vehicle by wire control. The method first sends the preset steering control amount to the vehicle end according to each preset test case under multiple preset test conditions, so that the vehicle end controls the steering wheel rotation of the unmanned vehicle according to the preset steering control amount, and then receives the actual steering execution amount collected by the vehicle end. Then, according to the actual steering execution amount and the preset steering control amount, a set of indicator data under each preset test case is generated, and a set of indicator data includes multiple steering performance indicator data. Then, each steering performance indicator data and the preset indicator threshold data are compared and judged to obtain the judgment result corresponding to each test case. Finally, if all the judgment results are detected to be up to standard, the technical means of generating the test result of passing the test is generated. The steering performance indicator data obtained by the test is also compared with the preset indicator threshold data. If it is up to standard, it is considered to be passed, otherwise it is not passed. The judgment is more objective and supported by data. The entire detection process reduces manual intervention, and achieves the technical effect of saving time and effort in detection, improving detection coverage, accuracy and efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0036] Figure 1 A schematic diagram of a flow chart of a method for detecting the steering-by-wire performance of an unmanned vehicle provided in this application;

[0037] Figure 2 A schematic diagram of the structure of a device for detecting the steering-by-wire performance of an unmanned vehicle provided in this application;

[0038] Figure 3A schematic diagram of the structure of the device for detecting the steering-by-wire performance of an unmanned vehicle provided in this application;

[0039] Figure 4 A schematic diagram of the structure of the test host computer provided in the embodiment of the present application.

[0040] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0041] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0042] First, the terms involved in this application are explained:

[0043] Test case: refers to a set of predefined conditions, inputs, operation steps and expected results used to verify whether the performance and functions of the unmanned vehicle in a specific situation meet the design requirements and standards. Test cases are designed to ensure that the vehicle can operate safely and reliably in various situations;

[0044] Test conditions: refers to different driving conditions set up for the performance test of unmanned vehicles.

[0045] In the prior art, the offline inspection scheme for unmanned vehicles mainly refers to the offline inspection method for manned vehicles, which can only detect the maximum steering angle. This method cannot achieve a comprehensive inspection of the steering-by-wire performance of unmanned vehicles. In the prior art, manual inspection and judgment are required, which is not only time-consuming and labor-intensive, but also easily affected by human factors, resulting in inaccurate test results. And because of the reliance on manual inspection, when unmanned vehicles are mass-produced, the inspection of steering-by-wire performance cannot be made a mandatory inspection item. It can only be inspected manually or not at all, resulting in low coverage and efficiency of the unmanned vehicle's steering-by-wire performance inspection, and unmanned vehicles that are missed have safety hazards.

[0046] The embodiment of the present application provides a method for detecting the steering-by-wire performance of an unmanned vehicle. The inventor has proposed the following technical concept: Under different test conditions and according to different test cases, the unmanned vehicle is simulated to send the steering-by-wire control quantity to the chassis, so that the vehicle-mounted end of the unmanned vehicle controls the steering of the unmanned vehicle after receiving the steering control quantity, and at the same time collects the actual steering angle, and then compares and analyzes the actual execution quantity and the actual steering angle to obtain some key indicators of the steering-by-wire performance, and then compares the key indicators with the pre-set judgment threshold. When all indicators meet the standards, a passing test result can be obtained. The entire detection process does not require manual operation and intervention, which improves the test efficiency, accuracy and coverage.

[0047] Figure 1 The present invention provides a flow chart of a method for detecting the steering-by-wire performance of an unmanned vehicle. The execution subject of the method may be a detection device such as a controller, a server or a computer device with data processing function that can establish a data transmission connection with the unmanned vehicle, such as Figure 1 As shown, the method includes:

[0048] S101: Sending a preset steering control amount to the vehicle computer end according to each preset test case under multiple preset test conditions, so that the vehicle computer end controls the steering wheel rotation of the unmanned vehicle according to the preset steering control amount and collects the actual steering execution amount.

[0049] In this embodiment, the preset test condition refers to a working scenario of the steering mechanism assembly equipment of the unmanned vehicle after some steering control quantities are sent, which is pre-set and saved based on the characteristics of the unmanned vehicle's wire-controlled steering performance. The preset test case may include sending the steering control quantity to the unmanned vehicle in advance, and then receiving the actual steering execution quantity collected by the unmanned vehicle. When different operating scenarios correspond to different preset test conditions, a test result can be obtained after each preset test case is tested.

[0050] The preset steering control amount refers to the control data of the target steering state of the driving unmanned vehicle, such as the target steering angle of the steering wheel or the target steering angle of the front wheels. After receiving the preset steering control amount, the unmanned vehicle will reach a fixed driving state. At this time, the vehicle computer of the unmanned vehicle can collect the actual driving execution amount through the sensor and return it to the controller, server or computer equipment with data processing function that establishes a data transmission connection with the unmanned vehicle through the communication module.

[0051] In an optional embodiment of the present application, the preset test conditions include step test conditions, sinusoidal test conditions, and ramp test conditions, and the preset test cases corresponding to each preset test condition include control dead zone test, resolution test, response delay test, rise time test, follow-up delay test, overshoot test, overshoot time test and steady-state error test; the step test condition includes step conditions of preset steering control quantities in multiple different numerical ranges.

[0052] In this embodiment, different numerical intervals refer to that the value range of the preset steering control amount is within the interval of different numerical sizes. For example, the preset steering control amount can be 0 to 180 degrees or -180 degrees to 0 degrees, where 0 degrees corresponds to the situation where the steering wheel of the unmanned vehicle does not rotate, and -180 degrees corresponds to the situation where the reverse wheel of the unmanned vehicle rotates 180 degrees in the opposite direction.

[0053] In an optional embodiment of the present application, the preset steering control amount is any one of a target steering wheel steering angle or a target front wheel steering angle.

[0054] In this embodiment, when the preset steering control amount is the target front wheel steering angle, after the vehicle machine end of the unmanned vehicle receives the preset steering control amount, it executes the target instruction automatically generated according to the preset steering control amount to control the front wheel to turn left or right by a fixed angle. When the preset steering control amount is the target steering wheel steering angle, after the vehicle machine end of the unmanned vehicle receives the preset steering control amount, it executes the target instruction automatically generated according to the preset steering control amount to control the steering wheel to turn counterclockwise or clockwise by a fixed angle.

[0055] In an optional embodiment of the present application, the acquisition of the actual steering execution amount in step S101 may be to acquire the actual steering angle of the steering wheel through an angle sensor.

[0056] S102: Receive the actual steering execution amount sent by the vehicle computer.

[0057] In this embodiment, the actual steering execution amount may be the steering angle of the steering wheel collected by the angle sensor on the unmanned vehicle. For example, if the preset steering control amount is 25 degrees, and the actual steering wheel turns 20 degrees, the actual steering execution amount is 20 degrees.

[0058] S103: Generate a set of indicator data under each preset test case according to the actual steering execution amount and the preset steering control amount, wherein the set of indicator data includes a plurality of steering performance indicator data.

[0059] In this embodiment, the actual steering execution amount and the preset steering control amount can be analyzed using detection and analysis software to analyze a set of indicator data related to the wire-controlled steering performance under each test case, and each set of indicator data includes multiple steering performance indicator data.

[0060] Specifically, in an optional embodiment of the present application, step S103 includes:

[0061] S103a: Generate a steer-by-wire curve according to the actual steering execution amount and the preset steering execution amount.

[0062] In this embodiment, the curve may be generated by pre-installed drawing software. After the actual steering execution amount and the preset steering execution amount are input into the drawing software according to time nodes, the drawing software may automatically generate the wire control steering curve.

[0063] S103b: Analyze and process the steer-by-wire curve to generate a set of index data for each preset test case.

[0064] In this embodiment, the analytical processing may be a process of obtaining the index data by analyzing the slope, difference, coordinate point and other data corresponding to each time node on the wire steering curve. For example, the response delay can be obtained by analyzing the time node difference between the starting coordinate point of the actual steering execution amount and the starting coordinate point of the preset steering execution amount in the wire steering curve.

[0065] S104: Compare and judge each steering performance index data with the preset index threshold data to obtain a judgment result corresponding to each test case.

[0066] In this embodiment, the comparison judgment process refers to the judgment result obtained by comparing the preset index threshold data and the steering performance index data. For example, if the preset index threshold is the maximum value within the allowable range, then when the steering performance index data is less than the preset index threshold, the judgment result of reaching the standard is obtained, otherwise, the judgment result of failing to reach the standard is obtained. If the preset index threshold is the minimum value within the allowable range, then when the steering performance index data is greater than the preset index threshold, the judgment result of reaching the standard is obtained, otherwise, the judgment result of failing to reach the standard is obtained.

[0067] In an optional embodiment of the present application, step S104 includes:

[0068] S104a: performing a comparison and judgment process on each steering performance indicator and a preset indicator threshold through a numerical comparison operation to obtain a comparison and judgment result of each steering performance indicator.

[0069] In this embodiment, the corresponding judgment result of each steering performance indicator may be that if the steering performance indicator is less than a preset indicator threshold, the steering performance indicator meets the standard, or if the steering performance indicator is greater than or equal to the preset indicator threshold, the steering performance indicator does not meet the standard.

[0070] S104b: When it is detected that the comparison judgment results of all steering performance indicators are up to standard, a detection pass is obtained as the judgment result corresponding to each test case.

[0071] In this embodiment, only when the comparison and judgment results of each steering performance indicator corresponding to each test case are up to standard, the wire-controlled steering performance of the unmanned vehicle corresponding to the test case is judged to have passed the test.

[0072] In an optional embodiment of the present application, the plurality of steering performance index data include a control dead zone value, a control accuracy value, a response delay value, a rise time value, a following delay value, an overshoot value, an overshoot time value, and a steady-state error value, and the preset index threshold data include a control dead zone threshold, a control accuracy threshold, a response delay threshold, a rise time threshold, a following delay threshold, an overshoot threshold, and a steady-state error threshold;

[0073] Correspondingly, each steering performance index and the preset index threshold are compared and judged by means of a numerical comparison operation to obtain a comparison and judgment result of each steering performance index, including: comparing and judging the control dead zone value and the line control dead zone threshold through a numerical comparison operation, comparing and judging the control accuracy value and the control accuracy threshold through a numerical comparison operation, comparing and judging the response delay value and the response delay threshold through a numerical comparison operation, comparing and judging the rise time value and the rise time threshold through a numerical comparison operation, comparing and judging the following delay value and the following time threshold through a numerical comparison operation, comparing and judging the overshoot value and the overshoot threshold through a numerical comparison operation, comparing and judging the overshoot time value and the overshoot time threshold through a numerical comparison operation, and comparing and judging the steady-state error value and the steady-state error threshold through a numerical comparison operation to obtain a comparison and judgment result of each steering performance index.

[0074] In this embodiment, the control dead zone threshold, control accuracy threshold, response delay threshold, rise time threshold, follow delay threshold, overshoot threshold and steady-state error threshold can all be pre-set related fixed values. For example: the control dead zone threshold is 5%, the control accuracy threshold is 0.5 degrees, the response delay threshold is 100ms, the follow delay threshold is 200 ms, the overshoot threshold is 10%, and the steady-state error threshold is 5%. When the control dead zone value is less than 5%, the control accuracy value is less than 0.5 degrees, the response delay value is less than 100ms, the follow delay value is less than 200 ms, the overshoot value is less than 10%, and the steady-state error value is less than 5%, the comparison and judgment results of all steering performance indicators are up to standard, and the corresponding unmanned vehicle's wire control steering performance test result under this test case is passed.

[0075] Of course, these fixed values ​​can also be adjusted for different unmanned vehicles, such as different chassis or different wire-control scenarios.

[0076] Based on the above embodiment, a method for detecting the steering-by-wire performance of an unmanned vehicle provided in an optional embodiment of the present application further includes:

[0077] Step A: Obtain the basic chassis parameters of the unmanned vehicle.

[0078] In this embodiment, the basic chassis parameters of the unmanned vehicle can be obtained from the management background of the unmanned vehicle offline workshop, or can be determined by collecting chassis-related data through cameras or sensors. The basic chassis parameters may include basic parameters such as chassis signals, chassis size, and chassis shape. Different chassis have different basic chassis parameters. For example: the chassis length of a standard vehicle is two meters, and the chassis length of an extended vehicle is three meters. When dealing with the same curve, to simulate safely turning the curve, the preset steering control amount sent to the unmanned vehicle will be different.

[0079] Step B: Adjust and process the preset test conditions, preset test cases, preset steering control quantities and preset index threshold data according to the basic chassis parameters to obtain new preset test conditions, preset test cases, preset steering control quantities and preset index threshold data.

[0080] In this embodiment, the adjustment process refers to the process of adjusting the data based on the chassis basic parameters and historical data, preset data or preset conversion formula to obtain new preset test conditions, preset test cases, preset steering control amounts and preset index threshold data. For example: the chassis of the last batch of unmanned vehicles off the production line are the chassis basic parameters of sedans, and their preset steering control amount is 50 degrees. The chassis basic parameters of the current batch of unmanned vehicles off the production line are off-road vehicles, and their preset steering control amount can be automatically adjusted to 60 degrees.

[0081] S105: If it is detected that all the judgment results meet the standards, a test result indicating that the test has passed is generated.

[0082] In this embodiment, all judgment results refer to the judgment results corresponding to each preset test case in each preset test condition. When all these judgment results meet the standards, the test of the drive-by-wire performance of the unmanned vehicle is considered to have passed. On the contrary, if any judgment result does not meet the standards, it can be regarded as a failure of the test.

[0083] In this embodiment, the test result of passing the test can be a test report or other visual content that can indicate passing. Among them, the test report can include preset test cases, preset test conditions, collected data, conclusions, etc. Other visual content can also be text, charts, voice broadcasts, and warning light signals.

[0084] In summary, the detection method for the steering performance of unmanned vehicle control by wire provided by the present application first sends the preset steering control amount to the vehicle end according to each preset test case under multiple preset test conditions, so that the vehicle end controls the steering wheel rotation of the unmanned vehicle according to the preset steering control amount, and then receives the actual steering execution amount collected by the vehicle end. Then, according to the actual steering execution amount and the preset steering control amount, a set of indicator data under each preset test case is generated, and a set of indicator data includes multiple steering performance indicator data. Then, each steering performance indicator data and the preset indicator threshold data are compared and judged to obtain the judgment result corresponding to each test case. Finally, if all the judgment results are detected to be up to standard, the technical means of generating the test result of passing the test is generated. The steering performance indicator data obtained by the test is also compared with the preset indicator threshold data. If it meets the standard, it is considered to pass the test, otherwise it is not passed. The judgment is more objective and supported by data. The entire detection process reduces manual intervention, achieving the technical effect of saving time and effort, improving detection coverage, accuracy and efficiency.

[0085] At the same time, by analyzing a variety of indicator data related to the steering-by-wire performance, and conducting subsequent detection steps based on this, the detection of the unmanned vehicle's steering-by-wire performance is more comprehensive and the unmanned vehicle's steering-by-wire performance can be evaluated more systematically.

[0086] At the same time, by modifying the test cases, test conditions, test indicators and other parameters according to the basic parameters of the chassis of different unmanned vehicles, the wire-controlled steering performance of unmanned vehicles with different chassis can be tested without changing the hub hardware equipment, making this method more widely applicable.

[0087] At the same time, the detection of the unmanned vehicle's wire-controlled steering performance can be made a mandatory inspection item for unmanned vehicles to leave the factory, and no manual inspection and judgment are required. The test results can also be automatically generated, which improves the detection coverage and efficiency of the unmanned vehicle's wire-controlled steering performance. This method not only reduces manual intervention and improves the efficiency of detection, but also reduces the impact of human factors on the test results and improves the accuracy of detection.

[0088] Figure 2 The schematic diagram of the structure of the detection device for the steering-by-wire performance of an unmanned vehicle provided in this application is as follows: Figure 2 As shown, the detection device for the steering-by-wire performance of an unmanned vehicle provided in this embodiment includes: a sending module 21, a data acquisition module 22, a data processing module 23 and a result output module 24.

[0089] The sending module 21 is used to send the preset steering control amount to the vehicle computer end according to each preset test case under multiple preset test conditions, so that the vehicle computer end controls the steering wheel rotation of the unmanned vehicle according to the preset steering control amount and collects the actual steering execution amount.

[0090] The data acquisition module 22 is used to receive the actual steering execution amount sent by the vehicle computer.

[0091] The data processing module 23 is used to generate a set of indicator data under each preset test case according to the actual steering execution amount and the preset steering control amount, and the set of indicator data includes a plurality of steering performance indicator data.

[0092] The data processing module 23 is used to compare and judge each steering performance index data with the preset index threshold data to obtain a judgment result corresponding to each test case.

[0093] The result output module 24 is used to generate a test result indicating that the test has passed if it is detected that all the judgment results meet the standards.

[0094] In an optional embodiment of the present application, the data processing module 23 is specifically used to: generate a wire-controlled steering curve based on the actual steering execution amount and the preset steering execution amount; analyze and process the wire-controlled steering curve to generate a set of indicator data under each preset test case.

[0095] In an optional embodiment of the present application, the data processing module 23 is further specifically used to: perform comparative judgment processing on each steering performance indicator and a preset indicator threshold through a numerical value comparison operation to obtain a comparative judgment result of each steering performance indicator; when it is detected that the comparative judgment results of all steering performance indicators are up to standard, a detection pass is obtained as the judgment result corresponding to each test case.

[0096] In an optional embodiment of the present application, multiple steering performance index data include a control dead zone value, a control accuracy value, a response delay value, a rise time value, a following delay value, an overshoot value, an overshoot time value and a steady-state error value, and the preset index threshold data include a control dead zone threshold, a control accuracy threshold, a response delay threshold, a rise time threshold, a following delay threshold, an overshoot threshold and a steady-state error threshold; accordingly, the data processing module 23 is specifically used to: compare and judge the control dead zone value and the line control dead zone threshold through a numerical value comparison operation, and compare and judge the control accuracy value and the control accuracy threshold through a numerical value comparison operation. The response delay value and the response delay threshold are compared and judged by means of numerical comparison operations, the rise time value and the rise time threshold are compared and judged by means of numerical comparison operations, the following delay value and the following time threshold are compared and judged by means of numerical comparison operations, the overshoot value and the overshoot threshold are compared and judged by means of numerical comparison operations, the overshoot time value and the overshoot time threshold are compared and judged by means of numerical comparison operations, and the steady-state error value and the steady-state error threshold are compared and judged by means of numerical comparison operations, so as to obtain the comparison and judgment result of each steering performance indicator.

[0097] In an optional embodiment of the present application, the data acquisition module 22 is further used to obtain the basic chassis parameters of the unmanned vehicle. The data processing module 23 is further used to adjust and process the preset test conditions, preset test cases, preset steering control amounts, and preset index threshold data according to the basic chassis parameters to obtain new preset test conditions, preset test cases, preset steering control amounts, and preset index threshold data.

[0098] The detection of the steering-by-wire performance of an unmanned vehicle provided in this embodiment can execute the method provided in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be described in detail here.

[0099] Figure 3 This is a schematic diagram of the structure of the device for detecting the steering-by-wire performance of an unmanned vehicle provided in this application. Figure 3 As shown, the detection equipment provided in this embodiment includes: a steering mechanism assembly 31 , a steering execution amount acquisition device 32 and a control system 33 .

[0100] Among them, the steering mechanism assembly is used to simulate the steering operation of an unmanned vehicle.

[0101] In this embodiment, the steering mechanism assembly 31 includes a steering wheel, a steering support and fixing mechanism, and a steering wheel distance adjustment mechanism. The steering wheel of the unmanned vehicle is installed on the vehicle through the steering support and fixing mechanism, and the steering wheel distance adjustment mechanism is used to adjust the distance between the steering wheel and the driver.

[0102] The steering execution amount acquisition device 32 is used to acquire the actual steering execution amount of the unmanned vehicle.

[0103] In this embodiment, the steering execution amount acquisition device 32 may be an acquisition instrument or device that can acquire the steering wheel rotation angle or the front wheel steering angle of the unmanned vehicle. For example, the steering execution amount acquisition device 32 may be an angle sensor or a displacement sensor, wherein the angle sensor is mounted on the steering wheel to measure the steering wheel angle. The angle sensor uses a high-precision angle sensor with an accuracy of 0.1 degrees.

[0104] The control system 33 includes a test host computer, and the control system 33 is used to control and monitor the steering performance of the unmanned vehicle.

[0105] In this embodiment, a test host computer for the wire-controlled steering performance test may be connected to the angle sensor and the steering mechanism assembly via a data line to control and monitor the steering performance.

[0106] Figure 4 The schematic diagram of the structure of the test host computer provided in the embodiment of the present application is as follows: Figure 4 As shown,

[0107] The test host computer includes: at least one processor 401 and a memory 402. Optionally, the test host computer also includes a communication component 403. The processor 401, the memory 402 and the communication component 403 are connected via a bus 404.

[0108] In a specific implementation process, at least one processor 401 executes the computer-executable instructions stored in the memory 402, so that at least one processor 401 executes the above method.

[0109] The specific implementation process of the processor 401 can be found in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0110] An embodiment of the present application further provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the above method.

[0111] An embodiment of the present application also provides a computer program product, including a computer program, which implements the above method when executed by a processor.

[0112] In the above embodiments, it should be understood that the processor can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the invention can be directly implemented as a hardware processor, or can be implemented by a combination of hardware and software modules in the processor.

[0113] The memory may include a high-speed memory (Random Access Memory, RAM), and may also include a non-volatile memory (NVM), such as at least one disk storage.

[0114] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of this application is not limited to only one bus or one type of bus.

[0115] The present application also provides a computer program product, including a computer program, which implements the above method when executed by a processor.

[0116] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above method is implemented.

[0117] The above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0118] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (Application Specific Integrated Circuits, referred to as: ASIC). Of course, the processor and the readable storage medium can also exist in the device as discrete components.

[0119] The division of units is only a logical function division, and there may be other divisions in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0120] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0121] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0122] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0123] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0124] Finally, it should be noted that those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention, which follow the general principles of the present invention and include common knowledge or customary technical means in the art not disclosed by the present invention, are not limited to the precise structure described above and shown in the drawings, and may be modified and changed in various ways without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A method for detecting the steering-by-wire performance of an unmanned vehicle, characterized in that: include: Sending a preset steering control amount to the vehicle computer end according to each preset test case under multiple preset test conditions, so that the vehicle computer end controls the steering wheel rotation of the unmanned vehicle according to the preset steering control amount and collects the actual steering execution amount; Receiving the actual steering execution amount sent by the vehicle machine end; Generating a set of indicator data under each preset test case according to the actual steering execution amount and the preset steering control amount, wherein the set of indicator data includes a plurality of steering performance indicator data; Compare and judge each steering performance index data with the preset index threshold data to obtain the judgment result corresponding to each test case; If all the judgment results are detected to be up to standard, a test result indicating that the test passed is generated.

2. The method according to claim 1, characterized in that The step of generating a set of indicator data under each preset test case according to the actual steering execution amount and the preset steering control amount includes: generating a steering-by-wire curve according to the actual steering execution amount and the preset steering execution amount; The steer-by-wire curve is analyzed and processed to generate a set of index data under each preset test case.

3. The method according to claim 1, characterized in that: Compare and judge each steering performance index data with the preset index threshold data to obtain the judgment result corresponding to each test case, including: Performing a comparison and judgment process on each steering performance indicator and a preset indicator threshold through a numerical comparison operation to obtain a comparison and judgment result of each steering performance indicator; When it is detected that the comparison judgment results of all steering performance indicators are up to standard, a detection pass is obtained as the judgment result corresponding to each test case.

4. The method according to claim 3, characterized in that The plurality of steering performance index data include a control dead zone value, a control accuracy value, a response delay value, a rise time value, a follow-up delay value, an overshoot value, an overshoot time value, and a steady-state error value, and the preset index threshold data include a control dead zone threshold, a control accuracy threshold, a response delay threshold, a rise time threshold, a follow-up delay threshold, an overshoot threshold, and a steady-state error threshold; Accordingly, the comparison and judgment processing of each steering performance indicator and the preset indicator threshold value is performed through a numerical comparison operation to obtain a comparison and judgment result of each steering performance indicator, including: The control dead zone value and the line control dead zone threshold are compared and judged by means of numerical comparison, the control accuracy value and the control accuracy threshold are compared and judged by means of numerical comparison, the response delay value and the response delay threshold are compared and judged by means of numerical comparison, the rise time value and the rise time threshold are compared and judged by means of numerical comparison, the following delay value and the following time threshold are compared and judged by means of numerical comparison, the overshoot value and the overshoot threshold are compared and judged by means of numerical comparison, the overshoot time value and the overshoot time threshold are compared and judged by means of numerical comparison, and the steady-state error value and the steady-state error threshold are compared and judged by means of numerical comparison, so as to obtain the comparison and judgment result of each steering performance index.

5. The method according to claim 1, characterized in that The preset test conditions include step test conditions, sine test conditions, and ramp test conditions, and the preset test cases corresponding to each preset test condition include control dead zone test, resolution test, response delay test, rise time test, follow-up delay test, overshoot test, overshoot time test, and steady-state error test; The step test condition includes a plurality of step conditions of preset steering control quantities in different numerical intervals.

6. The method according to claim 5, characterized in that The preset steering control amount is any one of a target steering wheel steering angle or a target front wheel steering angle.

7. The method according to any one of claims 1 to 6, characterized in that Also includes: Obtaining basic chassis parameters of the unmanned vehicle; The preset test conditions, the preset test cases, the preset steering control amount and the preset index threshold data are adjusted and processed according to the chassis basic parameters to obtain new preset test conditions, preset test cases, preset steering control amount and preset index threshold data.

8. A device for detecting the steering-by-wire performance of an unmanned vehicle, characterized in that: include: A sending module, used for sending a preset steering control amount to the vehicle machine end according to each preset test case under multiple preset test conditions, so that the vehicle machine end controls the steering wheel rotation of the unmanned vehicle according to the preset steering control amount and collects the actual steering execution amount; A data acquisition module, used for receiving the actual steering execution amount sent by the vehicle terminal; A data processing module, used for generating a set of index data under each preset test case according to the actual steering execution amount and the preset steering control amount, wherein the set of index data includes a plurality of steering performance index data; The data processing module is used to compare and judge each steering performance index data with the preset index threshold data to obtain a judgment result corresponding to each test case; The result output module is used to generate a test result indicating that the test has passed if all the judgment results are detected to be up to standard.

9. A device for detecting the steering-by-wire performance of an unmanned vehicle, characterized in that: include: Steering mechanism assembly, steering execution amount acquisition device and control system; Wherein, the steering mechanism assembly is used to simulate the steering operation of an unmanned vehicle; The steering execution amount acquisition device is used to acquire the actual steering execution amount of the unmanned vehicle; The control system includes a test host computer, and the control system is used to control and monitor the steering performance of the unmanned vehicle; The test host computer includes a memory and a processor, wherein the memory stores computer-executable instructions; the processor executes the computer-executable instructions stored in the memory, so that the processor executes the method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 7 when executed by a processor.

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