Smart driving test

Abstract

The present invention relates to an intelligent driving test vehicle, which is converted into an intelligent driving test vehicle by modifying an existing driving test vehicle, installing a perception system, a vehicle networking terminal, a vehicle-mounted computing system and a vehicle-mounted control system on the existing driving test vehicle, collecting driving behavior data of trainees during driving and traffic data around the intelligent driving test vehicle through the perception system, and calculating and processing the data by the vehicle-mounted computing system, comparing the data with the standard rules of driver test subject three, transmitting the comparison result to the vehicle networking terminal, and sending the comparison result to the vehicle-mounted control system by the vehicle-mounted control system, and controlling the intelligent driving test vehicle according to the comparison result, thereby achieving all-round protection of personal and property safety during the road test of driving test subject three and ensuring the fairness and justice of the evaluation results of many test evaluation items of subject three.

Description

Technical Field

[0001] The invention belongs to the technical field of driving school test equipment, and in particular relates to an intelligent driving test car. Background Art

[0002] There are more than 1 million vehicles for driving training and testing in my country, and more than 10 million new motor vehicle drivers are added each year. In recent years, there have been several traffic accidents on public roads caused by driving training and testing vehicles, most of which were caused by novice drivers' misoperation. Driving test vehicles have become a major hidden danger affecting current road driving safety. The existing driving test subject three cannot fully guarantee the personal and property safety during the road test.

[0003] At present, a system using high-precision positioning for test evaluation has been developed for the second subject test in closed scenes and the third subject test on public roads; however, for the third subject test on public roads, there are still many test evaluation items that need to be evaluated by the examiner on the vehicle. The evaluation results are affected by personal subjective factors and there is a possibility of favoritism and fraud. Summary of the invention

[0004] In view of the technical problems that the existing driving test subject three cannot provide all-round protection for personal and property safety during the road test, and the evaluation results of many test evaluation items of subject three are affected by personal subjective factors, and there is a possibility of favoritism and fraud, the present invention provides an intelligent driving test vehicle, which is converted into an intelligent driving test vehicle by modifying the existing driving test vehicle, installing a perception system, a vehicle networking terminal, an on-board computing system and an on-board control system on the existing driving test vehicle, collecting the driving behavior data of the trainees during driving through the perception system, and the on-board computing system calculates and processes the data, compares the data with the standard rules of the driver's test subject three, transmits the comparison results to the vehicle networking terminal, and the vehicle networking terminal sends the comparison results to the on-board control system, and the on-board control system controls the intelligent driving test vehicle according to the comparison results, thereby achieving all-round protection for personal and property safety during the road test of driving test subject three and ensuring the fairness and justice of the evaluation results of many test evaluation items of subject three.

[0005] The technical solution of the present invention is as follows:

[0006] A smart driving test car, wherein a wire-controlled steering and wire-controlled braking system is arranged inside the smart driving test car, and the smart driving test car is also provided with a perception system, a vehicle networking terminal, a vehicle-mounted computing system and a vehicle-mounted control system, wherein the vehicle-mounted computing system and the vehicle-mounted control system jointly construct an on-board computing and control platform, and the perception system and the vehicle networking terminal are respectively connected to the on-board computing and control platform;

[0007] The perception system is used to collect the driving behavior data of the trainee during driving and the traffic data around the intelligent driving test vehicle; the on-board computing system is used to calculate and process the driving behavior data and the traffic data collected by the perception system, and compare the calculation results with the standard rules of the driver test subject three, and transmit the comparison results to the vehicle networking terminal, which transmits them to the vehicle control system, and the vehicle control system controls the intelligent driving test vehicle according to the comparison results;

[0008] The vehicle-mounted computing and control platform is used to send the comparison results obtained by the vehicle-mounted computing system to the vehicle management center through the Internet of Vehicles terminal.

[0009] Furthermore, the smart driving test car is also provided with a voice broadcast system, and the voice broadcast system is connected to the Internet of Vehicles terminal via an on-board network communication method, and is used for voice broadcasting of the comparison result.

[0010] Furthermore, when the comparison result is "qualified", the voice announcement system announces "qualified" or does not announce it, and when the comparison result is "unqualified", the voice announcement system announces "unqualified".

[0011] Furthermore, the perception system is arranged outside the driving test car, the Internet of Vehicles terminal, the on-board computing system and the on-board control system are all arranged inside the driving test car, and the perception system includes: a camera, a radar, a positioning system and an inertial navigation system.

[0012] Furthermore, the cameras are arranged at the front and rear of the driving test vehicle and are communicatively connected with the vehicle-mounted computing and control platform via a GMSL interface;

[0013] The radar includes a millimeter wave radar and an ultrasonic radar; the millimeter wave radar is arranged at the front and rear of the driving test vehicle, and is used to identify and judge obstacles around the vehicle body, and calculate the distance, speed and acceleration of motor vehicles around the vehicle body; the ultrasonic radar is arranged on the left and right sides of the driving test vehicle, and is used to calculate and judge the distance between the left and right sides of the vehicle; the millimeter wave radar and the ultrasonic radar are connected to the vehicle-mounted computing and control platform through CAN communication;

[0014] The positioning system is a GNSS positioning system, and the inertial navigation system is an IMU inertial navigation system, both of which are arranged on the top of the driving test car. The GNSS positioning system and the IMU inertial navigation system are combined to judge the lane position and the posture of the driving test car. The GNSS positioning system and the IMU inertial navigation system are connected to the on-board computing and control platform via serial port communication.

[0015] Furthermore, before the on-board control system controls the intelligent driving test car according to the comparison result, the perception system measures the distance and driving speed between the driving test car and other surrounding vehicles, locates the positions of pedestrians and non-motor vehicles, identifies traffic signals and traffic signs, and sends the information obtained by the measurement, positioning and identification to the on-board computing system. The on-board computing system plans a safe driving path based on the information obtained by the measurement, positioning and identification and according to a preset safety threshold. The end point of the safe driving path is the end point to which the on-board control system controls the driving test car to travel.

[0016] Furthermore, when the student's driving behavior is judged as "unqualified" and before the vehicle enters the automatic driving mode and drives to the roadside, the on-board computing system plans a safe driving route, the preset safety threshold of the distance between the driving test car and other surrounding vehicles is 50m, and the preset safety threshold of the driving test car and the driving speed of other surrounding vehicles is 50Km / h. When the driving speeds of the driving test car and other surrounding vehicles measured by the perception system do not exceed 50Km / h and the distances between the driving test car and other surrounding vehicles are greater than 50m, the on-board computing system judges it to be safe; the safety threshold of the position of the driving car and pedestrians and non-motor vehicles is 100m. When the distance between the driving car and pedestrians and non-motor vehicles measured by the perception system is greater than 100 meters, the on-board computing system judges it to be safe.

[0017] Furthermore, when the on-board computing system determines that the area around the driving test car is safe, the GNSS positioning system combines with the IMU inertial navigation system and the high-precision map to determine the safe parking destination of the driving test car, and the on-board computing system plans the driving route according to the preset safety threshold, and the on-board control system controls the steering-by-wire and braking-by-wire systems of the driving test car to drive to the safe parking destination according to the planned driving route.

[0018] Furthermore, the Internet of Vehicles terminal is arranged at the front glove box of the co-pilot inside the vehicle body; there are two cameras, which are respectively arranged at the central axis of the rear of the vehicle and the upper edge of the windshield.

[0019] Furthermore, there are two millimeter-wave radars, which are installed at the front and rear license plates of the driving test car; the ultrasonic radars are installed on both sides of the body of the driving test car, with four on each side; the GNSS positioning system and IMU inertial navigation system are installed on the central axis of the top of the car body; the voice broadcast system is installed at the center console position inside the driving test car.

[0020] The technical effects of the present invention are as follows:

[0021] The present invention provides an intelligent driving test vehicle, which is converted into an intelligent driving test vehicle by modifying an existing driving test vehicle. A perception system, a vehicle networking terminal, a vehicle-mounted computing system and a vehicle-mounted control system are arranged on the basis of the existing driving test vehicle. The perception system collects driving behavior data of trainees during driving and traffic data around the intelligent driving test vehicle. Specifically, a camera, a millimeter wave radar and an ultrasonic radar are installed on the outside of the existing driving test vehicle to complete the recognition and ranging functions of obstacles, the recognition and judgment functions of traffic signal signs, the detection function of lane lines, the recognition functions of other vehicles, non-motor vehicles and pedestrians, and the judgment function of signals sent by other vehicles in the driver's test subject three. A positioning system and an inertial navigation system are installed on the top of the vehicle to enable the trainee to complete the calculation function of the lane position and the judgment function of the vehicle posture in the driver's test subject three. A vehicle networking terminal and a vehicle-mounted computing and control system are installed inside the vehicle to enable the trainee to complete the function of calculating and processing the collected data of the trainee's driving behavior and the traffic data around the intelligent driving test vehicle in the driver's test subject three. After the processing is completed, it is compared and judged with the standard rules of the driver's test subject three to determine whether the student's driving behavior complies with the standard rules of the driver's test subject three. When the on-board computing and control system determines that the student's driving behavior does not comply with the standard rules of the driver's test subject three, the wire steering and wire braking systems can control the steering and braking of the intelligent driving test vehicle, thereby terminating the test and automatically driving the vehicle to the roadside for parking. When dangerous driving behavior occurs in the driver's test subject three, the on-board computing system and the on-board control system can take emergency measures, and the on-board control system can control the wire steering and wire braking systems to drive the vehicle to a safe area. By intelligently transforming the driving test vehicle, a vehicle without artificial intelligence and automatic driving functions can be converted into an intelligent driving test vehicle with artificial intelligence and automatic driving functions. During the driver's test subject three, the vehicle can perceive the surrounding traffic environment and the status of other motor vehicles, non-motor vehicles and pedestrians in real time, which can effectively improve the safety of the subject three test and ensure the fairness and justice of the evaluation results of many test evaluation items in the subject three. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a block diagram of the connection relationship between the various devices inside the intelligent driving test car of the present invention.

[0023] Figure 2 A block diagram of the communication relationship between the vehicle-mounted computing and control platform of the present invention and each device in the perception system and the voice broadcast system.

[0024] Figure 3 This is a front view of the preferred installation position of the perception system in the intelligent driving test vehicle of the present invention.

[0025] Figure 4This is a side view of the preferred installation position of the perception system in the intelligent driving test vehicle of the present invention.

[0026] Figure 5 This is a rear view of the preferred installation position of the perception system in the intelligent driving test vehicle of the present invention.

[0027] Figure 6 This is a main functional block diagram of the perception system in the intelligent driving test car of the present invention.

[0028] Figure 7 This is the overall workflow diagram of the intelligent driving test vehicle of the present invention. DETAILED DESCRIPTION

[0029] In order to more clearly understand the content of the present invention, it will be described in detail with reference to the drawings and embodiments.

[0030] The present invention relates to an intelligent driving test car, which adds a perception system, a vehicle networking terminal, an on-board computing system and an on-board control system to an existing ordinary driving test car with a wire-controlled steering and a wire-controlled braking system. The perception system is preferably arranged outside the driving test car, and may include: a camera, a radar, a positioning system and an inertial navigation system, etc., for collecting driving behavior data of students during driving and traffic data around the intelligent driving test car; the vehicle networking terminal, the on-board computing system and the on-board control system are preferably arranged inside the driving test car, and the on-board computing system is used to calculate and process the driving behavior data and traffic data collected by the perception system, and compare the calculation and processing results with the standard rules of the driver's test subject three, and transmit the comparison results to the vehicle networking terminal, which transmits them to the on-board control system, and the on-board control system controls the intelligent driving test car according to the comparison results; the on-board computing system and the on-board control system jointly construct an on-board computing and control platform, and the on-board computing and control platform is used to send the comparison results obtained by the on-board computing system to the vehicle management center through the vehicle networking terminal. Figure 1 As shown, the perception system and the Internet of Vehicles terminal are connected to the on-board computing and control platforms respectively.

[0031] Specifically, the intelligent driving test vehicle may be further provided with a voice broadcast system, which is arranged inside the vehicle compartment, such as at the center console position in the driving test vehicle compartment. Figure 2As shown, the voice broadcast system and the Internet of Vehicles terminal transmit information through the vehicle network communication. When the vehicle computing system determines whether the student's driving behavior is qualified, it will send an instruction to the Internet of Vehicles terminal, and the Internet of Vehicles terminal will control the voice broadcast system to make corresponding voice broadcasts according to the instruction. Specifically, the voice broadcast system will remind the test subjects in real time during the test of subject three of the driver's test. During the test, no voice broadcast reminder will be given for the items that the student has passed the test, and a voice warning reminder will be given for the items that the student has deducted points. A voice broadcast of "failed" will be given for the items that the student has failed the test. After the voice broadcast system has finished broadcasting "failed", the vehicle computing system will plan a safe driving path based on the information collected by the perception system, and then the vehicle control system will control the wire control steering and wire control braking systems to steer, accelerate or brake the vehicle according to the planned safe driving path so that the vehicle can drive to a safe area according to the planned route. In this embodiment, the vehicle-mounted computing and control platform composed of the vehicle-mounted computing system and the vehicle-mounted control system is connected to the perception system through CAN communication, GMSL interface or serial port, and is connected to the vehicle networking terminal through vehicle network communication. Specifically, Figure 2 As shown, the on-board computing and control platform is connected to the millimeter-wave radar and ultrasonic radar in the perception system through CAN communication, connected to the camera through the GMSL interface, and connected to the GNSS and IMU through the serial port. Different connection methods are used according to the different characteristics of each device in the perception system to make the communication between the perception system and the on-board computing and control platform more agile, and the communication and vehicle control effects are better.

[0032] Specifically, the data collected by the perception system includes: speed and position information of motor vehicles around the test vehicle, position information of non-motor vehicles and pedestrians, surrounding traffic lights, traffic signs, lane line information, etc. Figure 3-Figure 5 The front view, side view and rear view of the preferred installation position of the perception system shown in the figure, the perception system includes cameras arranged at the front and rear of the vehicle, preferably arranged at the center axis of the rear of the vehicle and the upper edge of the windshield, as shown in FIG. Figure 6As shown, the camera can perform vehicle recognition, non-motor vehicle recognition, pedestrian recognition, overtaking signal judgment, traffic light recognition, and sign and logo recognition, etc. The specific functions of cameras in different positions are different. For example, the camera at the front of the vehicle can recognize motor vehicles, non-motor vehicles, and pedestrians in front of the vehicle; it can recognize and judge the traffic lights in front of the vehicle; it can recognize traffic signs and logos on both sides of the vehicle; the camera at the rear of the vehicle can recognize motor vehicles behind the vehicle, and can recognize and judge the overtaking signals of motor vehicles behind the vehicle. The perception system sends the collected data to the on-board computing system, which analyzes and processes the collected data and compares it with the standard rules of the driver's test subject three, sends the comparison results to the Internet of Vehicles terminal, and the Internet of Vehicles terminal transmits the comparison results to the on-board control system to control the steering-by-wire and brake-by-wire systems to control the direction and speed of the vehicle, so as to drive the vehicle to the end of the planned safe area.

[0033] In this embodiment, if Figure 3-Figure 5 As shown, the perception system also includes two millimeter-wave radars fixedly installed at the front and rear license plates of the driving test vehicle, such as Figure 6 As shown, the millimeter-wave radar can calculate the distance between vehicles, the speed of vehicles and the acceleration of vehicles. Specifically, the millimeter-wave radar at the front of the vehicle can identify and judge obstacles such as motor vehicles, non-motor vehicles, pedestrians, etc. in front of the vehicle, and can calculate the distance between vehicles, the speed and the acceleration of motor vehicles in front of the vehicle; the millimeter-wave radar at the rear of the vehicle can identify and judge motor vehicles behind the vehicle, and specifically, can calculate the distance between vehicles, the speed and the acceleration of motor vehicles behind the vehicle.

[0034] In this embodiment, if Figure 3-Figure 5 As shown in FIG. 1 , the perception system also includes multiple ultrasonic radars fixed on the left and right sides of the driving test vehicle, such as Figure 6 As shown, the ultrasonic radar can calculate the lateral vehicle distance. Specifically, the ultrasonic radar on the right side of the vehicle can calculate and judge the distance to the right side of the vehicle when the vehicle is overtaking or parallel, and the ultrasonic radar on the left side of the vehicle can calculate and judge the distance to the left side of the vehicle when the vehicle is overtaken or parallel.

[0035] In this embodiment, if Figure 3-Figure 5 As shown, the perception system also includes a GNSS navigation system and an IMU inertial navigation system fixedly arranged on the top center axis of the vehicle, such as Figure 6As shown, the GNSS navigation system can calculate lane position and determine vehicle posture. The GNSS navigation system and the IMU inertial navigation system are used in combination and combined with the high-precision map of the driver test subject three site pre-implanted in the vehicle networking terminal to accurately locate the vehicle position and determine the vehicle posture, and can accurately calculate the lane position.

[0036] In this embodiment, the steer-by-wire and brake-by-wire systems in the existing ordinary driving test cars can work normally when the trainee is performing the third subject of the driver's test under normal operation, and can be controlled by the trainee; when a dangerous situation occurs when the trainee is performing the third subject of the driver's test, or the operation does not comply with the test rules and standards of the third subject, the steer-by-wire and brake-by-wire systems are controlled by the vehicle-mounted control system, specifically controlling the steering, acceleration or braking of the vehicle.

[0037] Preferably, in this embodiment, the vehicle networking terminal is arranged in the glove box in front of the co-pilot inside the vehicle body, realizes the collection, storage and transmission of all working conditions and static and dynamic information of the vehicle, realizes the human-vehicle interaction by using the vehicle mobile network, and communicates with the vehicle computing system and the vehicle control system to control the driving direction and speed of the vehicle. Specifically, Figure 7As shown, the on-board computing system calculates and processes the student's driving behavior data collected by the perception system and the traffic data around the smart driving test car, and compares and judges them with the standard rules of the driver's test subject three, so as to judge whether the student's driving behavior is qualified (whether it complies with the rules). When the student's driving behavior is judged to be unqualified (not in compliance with the rules), the on-board computing system transmits the student's unqualified driving behavior information to the Internet of Vehicles terminal, and the Internet of Vehicles terminal controls the voice broadcast system to give a real-time instruction reminder of "unqualified". The Internet of Vehicles terminal sends the received student's unqualified driving behavior information to the on-board control system. Before the on-board control system controls the smart driving test car according to the student's unqualified driving behavior information (that is, before entering the automatic driving mode), the perception system measures the driving test The test is completed by measuring the distance and driving speed between the vehicle and other surrounding vehicles, locating the positions of pedestrians and non-motor vehicles, identifying traffic signals and traffic signs, and sending the measured, positioned and identified information to the on-board computing system, which plans a safe driving path based on the measured, positioned and identified information and the preset safety threshold, and the on-board control system controls the steer-by-wire and brake-by-wire systems, and controls the steering, acceleration or braking of the vehicle through the steer-by-wire and brake-by-wire systems to drive the vehicle to a safe location along the planned safe driving path, thereby ending the test; when the student's driving behavior is judged to be qualified (in compliance with the rules), the test of the next subject will be continued, and the perception system will continue to obtain the student's driving behavior data and the traffic data around the smart driving test vehicle. Specifically, when planning a safe driving route, the safety threshold of the distance between the driving test car and other surrounding vehicles is set to 50m, and the safety threshold of the driving test car and the driving speed of other surrounding vehicles is set to 50Km / h. When the perception system measures that the driving speed of the driving test car and other surrounding vehicles does not exceed 50Km / h and the distance between the driving test car and other surrounding vehicles is greater than 50m, the on-board computing system judges that the path traveled by the driving test car is safe; the safety threshold of the position of the driving car and pedestrians and non-motor vehicles is set to 100m. When the distance between the driving car and pedestrians and non-motor vehicles measured by the perception system is greater than 100 meters, the on-board computing system judges that the path traveled by the driving test car is safe. The present invention does not specifically limit the numerical values ​​of the above-mentioned safety thresholds. As long as the thresholds that can ensure that the driving path of the test vehicle is safe fall within the protection scope of the present invention.

[0038] It should be noted that the above-described specific implementations can enable those skilled in the art to more fully understand the invention, but do not limit the invention in any way. Therefore, although this specification has described the invention in detail with reference to the drawings and embodiments, those skilled in the art should understand that the invention can still be modified or replaced by equivalents. In short, all technical solutions and improvements that do not deviate from the spirit and scope of the invention should be included in the protection scope of the patent for the invention.

Claims

1. An intelligent driving test vehicle, wherein the intelligent driving test vehicle is provided with a wire-controlled steering and wire-controlled braking system, characterized in that: The intelligent driving test vehicle is also provided with a perception system, a vehicle networking terminal, an on-board computing system and an on-board control system. The on-board computing system and the on-board control system jointly construct an on-board computing and control platform. The perception system and the vehicle networking terminal are respectively connected to the on-board computing and control platform. The perception system is used to collect the driving behavior data of the trainees during driving and the traffic data around the intelligent driving test vehicle; the on-board computing system is used to calculate and process the driving behavior data and the traffic data collected by the perception system, and compare the calculation and processing results with the standard rules of the driver test subject three, and transmit the comparison results to the Internet of Vehicles terminal, which is then transmitted to the on-board control system by the Internet of Vehicles terminal, and the on-board control system controls the intelligent driving test vehicle according to the comparison results; the on-board computing and control platform is used to send the comparison results obtained by the on-board computing system to the vehicle management center through the Internet of Vehicles terminal; The perception system is arranged outside the driving test car, and the Internet of Vehicles terminal, the on-board computing system and the on-board control system are all arranged inside the driving test car. The perception system includes: a camera, a radar, a positioning system and an inertial navigation system; the camera is arranged at the front and rear of the driving test car, and is connected to the on-board computing and control platform through the GMSL interface; the radar includes a millimeter-wave radar and an ultrasonic radar; the millimeter-wave radar is arranged at the front and rear of the driving test car, and is used to identify and judge obstacles around the vehicle body, and to detect the distance, speed and acceleration of motor vehicles around the vehicle body. The ultrasonic radar is arranged on the left and right sides of the driving test car to calculate and judge the distance between the left and right sides of the car; the millimeter wave radar and the ultrasonic radar are connected to the on-board computing and control platform via CAN communication; the positioning system is a GNSS positioning system, and the inertial navigation system is an IMU inertial navigation system, both of which are arranged on the top of the driving test car. The GNSS positioning system and the IMU inertial navigation system are combined to judge the lane position and the posture of the driving test car. The GNSS positioning system and the IMU inertial navigation system are connected to the on-board computing and control platform via serial port communication; Before the on-board control system controls the intelligent driving test vehicle according to the comparison result, the perception system measures the distance and driving speed between the driving test vehicle and other surrounding vehicles, locates the positions of pedestrians and non-motor vehicles, identifies traffic signals and traffic signs, and sends the information obtained by the measurement, positioning and identification to the on-board computing system, which plans a safe driving path based on the information obtained by the measurement, positioning and identification and according to a preset safety threshold. The end point of the safe driving path is the end point to which the on-board control system controls the driving test vehicle to travel; When the student's driving behavior is judged as "unqualified" and the vehicle enters the automatic driving mode and drives to the roadside, when the on-board computing system plans a safe driving path, the preset safety threshold of the distance between the driving test car and other surrounding vehicles is 50m, and the preset safety threshold of the driving test car and the driving speed of other surrounding vehicles is 50Km / h. When the driving speed of the driving test car and other surrounding vehicles measured by the perception system does not exceed 50Km / h and the distance between the driving test car and other surrounding vehicles is greater than 50m, the on-board computing system judges it to be safe; the safety threshold of the position of the driving car and pedestrians and non-motor vehicles is 100m. When the distance between the driving car and pedestrians and non-motor vehicles measured by the perception system is greater than 100 meters, the on-board computing system judges it to be safe; When the on-board computing system determines that the area around the driving test car is safe, the GNSS positioning system combines with the IMU inertial navigation system and the high-precision map to determine the safe parking destination of the driving test car, and the on-board computing system plans the driving route according to the preset safety threshold, and the on-board control system controls the steering-by-wire and brake-by-wire systems of the driving test car to drive to the safe parking destination according to the planned driving route.

2. The intelligent driving test vehicle according to claim 1, characterized in that: The smart driving test car is also provided with a voice broadcast system, and the voice broadcast system is connected to the Internet of Vehicles terminal via an on-board network communication method, and is used for voice broadcasting of the comparison results.

3. According to the intelligent driving test car according to claim 2, when the comparison result is "qualified", the voice broadcast system voice broadcasts "qualified" or does not broadcast, and when the comparison result is "unqualified", the voice broadcasts "unqualified".

4. The intelligent driving test vehicle according to claim 1, characterized in that: The Internet of Vehicles terminal is arranged at the glove box in front of the co-pilot inside the vehicle body; there are two cameras, which are respectively arranged at the central axis of the rear of the vehicle and the upper edge of the windshield.

5. The intelligent driving test vehicle according to claim 2, characterized in that: There are two millimeter-wave radars, which are installed at the front and rear license plates of the driving test car; the ultrasonic radars are installed on both sides of the body of the driving test car, with four on each side; the GNSS positioning system and IMU inertial navigation system are installed on the central axis of the top of the car body; the voice broadcast system is installed at the center console position inside the driving test car.

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