Test equipment and test vehicle for intelligent vehicle-road cooperative system

Abstract

The present invention relates to a test device and a test vehicle for an intelligent vehicle-road cooperative system, including a test scene acquisition device, a scene simulation device and an evaluation device arranged on the test vehicle body. The scene simulation device is arranged inside the test vehicle body, and is used to simulate the test environment of the intelligent vehicle-road cooperative system according to the scene information and the test type information. The test scene acquisition device is used to receive the scene information, and is arranged on the roof of the test vehicle. The evaluation device generates an evaluation chart based on the interactive data generated during the test, for reference and evaluation by the test personnel. By adopting the technical solution of the present invention, it is only necessary to drive the test vehicle body to the road where the intelligent vehicle-road cooperative system is located to simulate the test environment, conduct open road testing, and then test and evaluate the vehicle-road cooperative system.

Description

Technical Field

[0001] The present invention relates to the technical field of Internet of Things, and in particular to testing equipment and a testing vehicle for an intelligent vehicle-road cooperative system. Background Art

[0002] Intelligent networked vehicles are an organic combination of Internet of Vehicles and smart cars. They are equipped with advanced on-board sensors, controllers, actuators and other devices, and integrate modern communication and network technologies to achieve intelligent information exchange and sharing between vehicles and people, vehicles, roads, and backgrounds, and achieve safe, comfortable, energy-saving, and efficient driving, and eventually replace human operation. Intelligent vehicle-road cooperative system is an organic combination of roadside facilities and smart cars. Through intelligent roadside sensors, vehicle wireless communication, edge computing and other technologies, dynamic and real-time information exchange between people, vehicles, roads, and backgrounds is achieved, and on this basis, active vehicle safety control and road cooperative management are carried out to fully realize the effective coordination of people, vehicles, and roads.

[0003] Intelligent vehicle-road cooperative technology is a necessary way to solve traffic safety problems through the intelligentization of automobiles and traffic, and it is also an inevitable trend of future development. However, vehicle-road cooperative technology is a complex and comprehensive application technology based on the network, including vehicle-to-vehicle / vehicle-to-road communication, environmental detection and fusion, scenario modeling and construction, business testing and reproduction, and other aspects. Among them, vehicle-road cooperative technology testing is the difficulty and focus encountered in the development of vehicle-road cooperative technology. At present, when conducting tests, the equipment to be tested needs to be transported to a special test site for testing, which consumes a lot of manpower, material resources and time, and reduces the test efficiency. Summary of the invention

[0004] In view of this, the purpose of the present invention is to provide a test device and a test vehicle for an intelligent vehicle-road cooperative system, so as to overcome the current problem that the equipment under test needs to be transported to a special test site for testing, which consumes a lot of manpower, material resources and time and reduces test efficiency.

[0005] To achieve the above objectives, the present invention adopts the following technical solutions:

[0006] A test device for an intelligent vehicle-road cooperative system, characterized in that it comprises a test scene acquisition device, a scene simulation device and an evaluation device respectively installed on a test vehicle body;

[0007] The scene simulation device is arranged inside the body of the test vehicle, and is used to simulate the test environment of the intelligent vehicle-road cooperative system according to the preset test type information and the scene information fed back by the test scene acquisition device;

[0008] The test scene acquisition device is fixedly arranged on the roof of the test vehicle, and the test scene acquisition device includes an image acquisition component, an electromagnetic environment detection component, a laser radar component and a positioning component;

[0009] The image acquisition component, the electromagnetic environment detection component, the laser radar component and the positioning component are respectively connected to the scene simulation device; the image acquisition component, the electromagnetic environment detection component, the laser radar component and the positioning component are used to obtain the scene information generated during the detection process;

[0010] The evaluation device is also arranged inside the body of the test vehicle, and is used to generate and output an evaluation chart based on the scene information and the interaction data generated during the detection process.

[0011] Furthermore, in the test equipment of the intelligent vehicle-road cooperative system described above, the scenario simulation device includes a simulation component, a control component, an environment node and an interaction component; the environment node is communicatively connected with the intelligent vehicle-road cooperative system;

[0012] The simulation component is used to determine the initial configuration content of the simulation according to the test type information;

[0013] The control component is connected to the environment node and the simulation component respectively; the control component is used to specify the associated node and the vehicle node in the environment node and perform initial simulation configuration according to the initial configuration content;

[0014] The interactive component is connected to the test scene acquisition device and the control component respectively, and the interactive component is used to obtain the scene information and send the scene information to the control component, so that the control component adjusts the working status of the associated node and the vehicle-mounted node according to the scene information and the test type information.

[0015] Furthermore, in the test equipment of the intelligent vehicle-road cooperative system described above, the control component is also used to obtain and store the interaction data.

[0016] Furthermore, in the test device of the intelligent vehicle-road cooperative system described above, the control component includes a first controller and a second controller;

[0017] The first controller is connected to the simulation component and the second controller respectively;

[0018] The second controller is connected to the environment node.

[0019] Furthermore, in the test equipment of the intelligent vehicle-road cooperative system described above, the environmental node is a communication module.

[0020] Furthermore, the test equipment for the intelligent vehicle-road cooperative system described above further includes a communication antenna;

[0021] The communication antenna is arranged on the roof of the test vehicle and is connected to the communication module.

[0022] Furthermore, in the test equipment for the intelligent vehicle-road cooperative system described above, the scene information includes video data, electromagnetic intensity data, state data of the intelligent vehicle-road cooperative system and state data of the test vehicle body;

[0023] The image acquisition component is used to acquire the video data;

[0024] The electromagnetic environment detection component is used to detect the electromagnetic intensity data;

[0025] The laser radar component is used to detect the status data of the intelligent vehicle-road cooperative system;

[0026] The positioning component is used to detect the status data of the test vehicle body.

[0027] Furthermore, in the test device of the intelligent vehicle-road cooperative system described above, the interaction data includes first data sent by the intelligent vehicle-road cooperative system, second data sent by the associated node, and third data sent by the vehicle-mounted node;

[0028] The first data, the second data and the third data all contain time stamps with a unified time reference.

[0029] Furthermore, the test equipment of the intelligent vehicle-road cooperative system described above further includes a power supply device;

[0030] The power supply equipment is used to provide electric power.

[0031] The present invention also provides a test vehicle, comprising a test vehicle body and any one of the above-mentioned test equipment for the intelligent vehicle-road cooperative system;

[0032] The test equipment of the intelligent vehicle-road cooperative system is arranged on the test vehicle body.

[0033] The test equipment and test vehicle of the intelligent vehicle-road cooperative system of the present invention include a test scene acquisition device, a scene simulation device and an evaluation device arranged on the test vehicle body. The scene simulation device is arranged inside the test vehicle body, and is used to simulate the test environment of the intelligent vehicle-road cooperative system according to the scene information and the test type information. The test scene acquisition device is used to receive the scene information, and is arranged on the roof of the test vehicle. The evaluation device generates an evaluation chart based on the interactive data generated during the test for the reference of the test personnel. By adopting the technical solution of the present invention, it is only necessary to drive the test vehicle body to the road where the intelligent vehicle-road cooperative system is located to simulate the test environment, conduct open road testing, and then test and evaluate the vehicle-road cooperative system. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0035] Figure 1 This is a structural diagram provided by an embodiment of a test device for an intelligent vehicle-road cooperative system of the present invention;

[0036] Figure 2 yes Figure 1 The structural diagram of the test scene acquisition device;

[0037] Figure 3 It is a structural diagram provided by an embodiment of a test vehicle of the present invention. DETAILED DESCRIPTION

[0038] To make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described in detail below. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention.

[0039] Figure 1 The intelligent vehicle-road cooperative system test device of this embodiment includes a test scene acquisition device 11, a scene simulation device 12 and an evaluation device 13 respectively installed on the test vehicle body.

[0040] The scene simulation device 12 is a relatively sophisticated electronic device that can be installed inside the body of the test vehicle. The scene simulation device 12 simulates the test environment of the intelligent vehicle-road cooperative system based on the preset test type information and the scene information fed back by the test scene acquisition device 11. The test type information includes the test type and interference level, among which the test type includes the testing of roadside facilities such as traffic signs and traffic lights in different application scenarios, as well as the testing of intelligent networked vehicles. The interference level is divided into high interference level, medium interference level and low interference level.

[0041] The test scene acquisition device 11 is mainly used for information interaction with an external intelligent vehicle-road cooperative system, so it can be fixedly installed on the roof of the test vehicle to improve the signal quality. Figure 2 yes Figure 1 For the structural diagram of the test scene acquisition device, please refer to Figure 2In this embodiment, the test scene acquisition device 11 includes an image acquisition component 111, an electromagnetic environment detection component 112, a laser radar component 113 and a positioning component 114. The image acquisition component 111, the electromagnetic environment detection component 112, the laser radar component 113 and the positioning component 114 are respectively connected to the scene simulation device 12.

[0042] The scene information includes video data, electromagnetic intensity data, status data of the intelligent vehicle-road cooperative system, and status data of the test vehicle. The image acquisition component 111 is used to acquire video data, and a high-definition camera can be used as the image acquisition component 111; the electromagnetic environment detection component 112 can use an electromagnetic intensity detector to detect electromagnetic intensity data of the corresponding frequency band; the laser radar component 113 is used to acquire dynamic data of the traffic environment during the test, generally 3D point cloud metadata, based on which the moving speed, moving direction, posture and position of each actual target in the test traffic environment can be determined; the positioning component 114 is used to detect the status data of the test vehicle, such as the speed, direction, posture and position of the test vehicle, and the positioning component 114 can use a GPS positioning module provided with a positioning antenna 1141.

[0043] During the entire detection process, the intelligent vehicle-road cooperative system will interact with the scene simulation device 12 to generate interaction data. The evaluation device 13 generates and outputs an evaluation chart based on the interaction data generated during the detection process and the above-mentioned scene information. Among them, the evaluation device 13 can also be set inside the body of the test vehicle. It should be noted that the technology for generating evaluation charts based on the collected information is already very mature, and technicians in this field can refer to the prior art, which will not be elaborated in this embodiment.

[0044] Specifically, the scene simulation device 12 includes a simulation component 121, a control component 122, an environment node 123 and an interaction component 124; the environment node 123 is connected to the intelligent vehicle-road cooperative system for data interaction. In this embodiment, the environment node 123 is preferably a communication module.

[0045] The simulation component 121 is used to determine the initial configuration content of the simulation according to the test type information, and send the initial configuration content to the control component 122. The simulation component 121 can use a human-computer interaction device, such as a computer, a tablet computer, etc., to obtain the manually input content as the initial configuration content, or it can automatically generate the initial configuration content based on the input test type information based on a pre-trained configuration model. It should be noted that by inputting enough samples into the neural network model, a trained configuration model can be obtained, which is not described in detail in this embodiment.

[0046] The control component 122 is connected to the environment node 123 and the simulation component 121 respectively. The control component 122 is used to specify the target communication module as the associated node and the vehicle node in the communication module and perform the initial simulation configuration according to the initial configuration content. The associated node is used to simulate the intelligent roadside signs, intelligent traffic lights and other devices, and the vehicle node is used to simulate the passing vehicles and the real signal density. The simulation configuration includes configuring the initial position of the associated node, vehicle wireless communication (Vehicle to Everything, V2X) service data, V2X service data transmission / reception frequency and V2X service data transmission / reception range, etc.; configuring the initial position, initial speed, initial acceleration, initial V2X interference signal transmission strength, etc. of the vehicle node.

[0047] It should be noted that if the device under test is an intelligent connected car in an intelligent vehicle-road cooperative system, the associated node is used to simulate roadside equipment such as traffic signs and signal lights, and the V2X service data is traffic sign information, signal light timing information, traffic congestion information, etc. At this time, the simulation configuration includes configuring the initial position of the associated node, V2X service data, V2X service data transmission frequency, and V2X service data transmission range, etc.; if the device under test is a roadside device in an intelligent vehicle-road cooperative system, the associated node is used to simulate an intelligent connected car, and the V2X service data is traffic sign information, signal light timing information, traffic congestion information, etc. from the roadside device, and the simulation configuration includes configuring the initial position of the associated node, V2X service data, V2X service data receiving frequency, and V2X service data receiving range, etc.

[0048] The interaction component 124 is connected to the test scene acquisition device 11 and the control component 122 respectively. The interaction component 124 is used to obtain scene information and send the scene information to the control component 122, so that the control component 122 can adjust the working status of the associated node and the vehicle-mounted node according to the scene information and the test type information. For example, the initial V2X interference signal transmission intensity and transmission frequency of the vehicle-mounted node are adjusted according to the electromagnetic intensity data so that the signal density in the simulation environment meets the interference level requirements, and the transmission frequency of the associated node is adjusted according to the V2X service data transmission / reception range, etc., to ensure that the intelligent vehicle-road cooperative system interacts with the associated node and the vehicle-mounted node in a real simulation environment. The control component 122 can also transmit the scene information back to the simulation component 121 to form a test closed loop.

[0049] The control component 122 is also used to obtain and store the above-mentioned interaction data, which includes the first data sent by the intelligent vehicle-road cooperative system, the second data sent by the associated node and the third data sent by the vehicle-mounted node. The first data, the second data and the third data all contain a timestamp with a unified time reference. According to the timestamp, the sending order and time interval of the first data, the second data and the third data can be determined. Combined with the scene information, the time of data transmission and reception and the business processing results in the entire business processing flow can be determined. The evaluation module 13 can generate evaluation charts on communication transmission delay, packet loss rate, business processing success rate and error processing rate, so that the testing personnel can evaluate the performance of the intelligent vehicle-road cooperative system.

[0050] Further, the control component 122 includes a first controller 1221 and a second controller 1222, the first controller 1221 is connected to the simulation component 121 and the second controller 1222 respectively, and the second controller 1222 is connected to the environment node 123. The second controller 1222 is a node controller, which is used to directly control the environment node 123 to realize the above-mentioned simulation configuration. The first controller 1221 is a main controller, and the first controller 1221 is mainly used to realize the signal conversion between the simulation component 121 and the second controller 1222, and convert the simulation data into a standard V2X message. The first controller 1221 and the second controller 1222 can both adopt a microcontroller unit, such as a single-chip microcomputer of the STM32 series, etc., which is not limited in this embodiment. In order to make the simulation result more realistic, as many second controllers 1222 as possible can be set, and each second controller 1222 is connected to as many environment nodes 123 as possible.

[0051] Furthermore, the test equipment of the intelligent vehicle-road cooperative system of this embodiment also includes a communication antenna 14, which is arranged on the roof of the test vehicle and connected to the communication module to improve the communication efficiency between the communication module and the outside world.

[0052] Furthermore, the test equipment of the intelligent vehicle-road cooperative system in this embodiment further includes a power supply device 15, which is used to provide electric power. The power supply device 15 can be a battery of the test vehicle.

[0053] The test equipment and test vehicle of the intelligent vehicle-road cooperative system of this embodiment include a test vehicle body and a test scene acquisition device 11, a scene simulation device 12 and an evaluation device 13 arranged on the test vehicle body. The scene simulation device 12 is arranged inside the test vehicle body, and is used to simulate the test environment of the intelligent vehicle-road cooperative system according to the scene information and the test type information. The test scene acquisition device 11 is used to receive the scene information, and is arranged on the roof of the test vehicle. The evaluation device 13 generates an evaluation chart based on the interactive data generated during the test for reference by the test personnel. By adopting the technical solution of this embodiment, it is only necessary to drive the test vehicle body to the road where the intelligent vehicle-road cooperative system is located to simulate the test environment, and then test and evaluate the vehicle-road cooperative system.

[0054] Figure 3 This is a structural diagram of an embodiment of the test vehicle of the present invention. Figure 3 The test vehicle of this embodiment includes a test vehicle body 21 and the test equipment 22 for the intelligent vehicle-road cooperative system described in the above embodiments. The test equipment 22 for the intelligent vehicle-road cooperative system is set on the test vehicle body 21.

[0055] Among them, the scene simulation device 12 of the test equipment 22 of the intelligent vehicle-road cooperative system is a relatively sophisticated electronic device that can be installed inside the body of the test vehicle. The test scene acquisition device 11 of the test equipment 22 of the intelligent vehicle-road cooperative system is mainly used to interact with the external intelligent vehicle-road cooperative system, so it can be fixedly installed on the roof of the test vehicle to improve the signal quality.

[0056] It can be understood that the same or similar parts of the above embodiments can be referenced to each other, and the contents not described in detail in some embodiments can refer to the same or similar contents in other embodiments.

[0057] It should be noted that, in the description of the present invention, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, in the description of the present invention, unless otherwise specified, the meaning of "plurality" refers to at least two.

[0058] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0059] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A test device for an intelligent vehicle-road cooperative system, characterized in that: It includes a test scene acquisition device, a scene simulation device and an evaluation device which are respectively installed on the test vehicle body; It also includes power supply equipment; The power supply equipment is used to provide electric power; The scene simulation device is arranged inside the body of the test vehicle, and is used to simulate the test environment of the intelligent vehicle-road cooperative system according to the preset test type information and the scene information fed back by the test scene acquisition device; The test scene acquisition device is fixedly arranged on the roof of the test vehicle, and the test scene acquisition device includes an image acquisition component, an electromagnetic environment detection component, a laser radar component and a positioning component; The image acquisition component, the electromagnetic environment detection component, the laser radar component and the positioning component are respectively connected to the scene simulation device; the image acquisition component, the electromagnetic environment detection component, the laser radar component and the positioning component are used to obtain the scene information generated during the detection process; The evaluation device is also arranged inside the body of the test vehicle, and is used to generate and output an evaluation chart according to the scene information and the interaction data generated during the detection process; The scene simulation device includes a simulation component, a control component, an environment node and an interaction component; The environmental node is communicatively connected with the intelligent vehicle-road cooperative system; The simulation component is used to determine the initial configuration content of the simulation according to the test type information; The control component is connected to the environment node and the simulation component respectively; the control component is used to specify the associated node and the vehicle node in the environment node and perform initial simulation configuration according to the initial configuration content; The interactive component is connected to the test scene acquisition device and the control component respectively, and the interactive component is used to obtain the scene information and send the scene information to the control component, so that the control component adjusts the working status of the associated node and the vehicle-mounted node according to the scene information and the test type information; The interactive data includes first data sent by the intelligent vehicle-road cooperative system, second data sent by the associated node, and third data sent by the vehicle-mounted node; The first data, the second data and the third data all contain time stamps with a unified time reference.

2. The test equipment for the intelligent vehicle-road cooperative system according to claim 1, characterized in that: The control component is also used to obtain and store the interaction data.

3. The test equipment for the intelligent vehicle-road cooperative system according to claim 1, characterized in that: The control assembly includes a first controller and a second controller; The first controller is connected to the simulation component and the second controller respectively; The second controller is connected to the environment node.

4. The test equipment for an intelligent vehicle-road cooperative system according to claim 1, characterized in that: The environment node is a communication module.

5. The test equipment for the intelligent vehicle-road cooperative system according to claim 4, characterized in that: Also included is a communications antenna; The communication antenna is arranged on the roof of the test vehicle and is connected to the communication module.

6. The test equipment for the intelligent vehicle-road cooperative system according to claim 1, characterized in that: The scene information includes video data, electromagnetic intensity data, status data of the intelligent vehicle-road cooperative system and status data of the test vehicle body; The image acquisition component is used to acquire the video data; The electromagnetic environment detection component is used to detect the electromagnetic intensity data; The laser radar component is used to detect the status data of the intelligent vehicle-road cooperative system; The positioning component is used to detect the status data of the test vehicle body.

7. A test vehicle, characterized in that: A test device comprising a test vehicle body and an intelligent vehicle-road cooperative system according to any one of claims 1 to 6; The test equipment of the intelligent vehicle-road cooperative system is arranged on the test vehicle body.

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