Vehicle line-following ability testing method, device, vehicle and storage medium

Abstract

The present application relates to the field of vehicle technology, and in particular to a method, device, vehicle and storage medium for testing the line-following ability of a vehicle. The method includes: in a preset traffic test scenario, controlling the vehicle to be tested to travel according to the control strategy corresponding to each test item; collecting the GPS speed, deviation speed, distance from the lane edge, lateral acceleration and longitudinal deceleration of the vehicle to be tested during the test of the current test item, and generating the line-following ability test result of the vehicle to be tested based on the above parameter results tested in one or more test items. Thus, the problem of the need to add additional test equipment and instruments when testing the line-following ability of the vehicle is solved, resulting in a more cumbersome process and increased testing fees and costs, and the working performance of the line-following ability of the intelligent driving assistance system is effectively evaluated, and there is no need to add additional special test equipment and instruments, thereby reducing the testing costs.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a method, device, vehicle and storage medium for testing the route-following ability of a vehicle. Background Art

[0002] With the rapid development of the "new four modernizations" of vehicle technologies, the sales of smart electric vehicles have gradually increased, and "intelligence" and "electrification" have increasingly become important demands of vehicle consumers in the process of purchasing vehicles. Among them, lane keeping assist systems and lane centering control systems are the more familiar intelligent driving assistance systems.

[0003] In the related art, the route-following ability of a vehicle is generally tested by using special testing equipment and instruments.

[0004] However, this method is relatively cumbersome in the testing process and requires additional testing equipment and instruments, which increases the testing fees and costs and needs to be solved urgently.

[0005] Application Contents

[0006] The present application provides a method, device, vehicle and storage medium for testing the route-following ability of a vehicle, so as to solve the problems that in the process of testing the route-following ability of a vehicle, the steps are complicated, additional testing equipment and instruments are required, and the testing fees and costs are increased.

[0007] The first aspect of the present application provides a method for testing the route-following ability of a vehicle, comprising the following steps:

[0008] Under the preset traffic test scenario, the vehicle to be tested is controlled to travel according to the control strategy corresponding to each test item;

[0009] Collecting the GPS (Global Positioning System) speed of the vehicle to be tested, the deviation speed of the vehicle to be tested, the distance between the vehicle to be tested and the lane edge, the lateral acceleration of the vehicle to be tested, and the longitudinal deceleration of the vehicle to be tested during the test of the current test item; and

[0010] A line-following ability test result of the vehicle to be tested is generated according to the GPS speed, the deviation speed, the distance, the lateral acceleration and the longitudinal deceleration in one or more test items.

[0011] According to an embodiment of the present invention, generating a line-following ability test result of the vehicle to be tested according to the GPS speed, the deviation speed, the distance, the lateral acceleration and the longitudinal deceleration in one or more test items includes:

[0012] Calculating a lateral acceleration change rate of the vehicle to be tested based on the lateral acceleration;

[0013] Calculating a longitudinal deceleration change rate of the vehicle to be tested based on the longitudinal deceleration;

[0014] A line-following ability test result of the vehicle to be tested is generated according to the distance between the vehicle to be tested and the lane edge, the lateral acceleration, the lateral acceleration change rate, the longitudinal deceleration and the longitudinal deceleration change rate.

[0015] According to one embodiment of the present invention, controlling the vehicle to be tested to travel according to the control strategy corresponding to each test item includes:

[0016] Get the current test project;

[0017] The vehicle to be tested is controlled to enter a corresponding driving condition according to a current test item, wherein the driving condition includes: a long straight road deviation driving condition, a first curve driving condition and a second curve driving condition.

[0018] According to one embodiment of the present invention, the method for testing the route-following ability of a vehicle further includes:

[0019] Obtaining a test termination condition corresponding to the current test item;

[0020] Detecting whether the current test item meets the test termination condition;

[0021] If the current test item meets the test termination condition, the current test item is stopped.

[0022] According to an embodiment of the present invention, the preset traffic test scenario includes a long straight road with one lane, a long straight road connected to a curve with a preset curvature, and a long straight road connected to a curve with a preset radius.

[0023] According to the vehicle's line-following ability test method of the embodiment of the present application, in a preset traffic test scenario, the vehicle to be tested is controlled to travel according to the control strategy corresponding to each test item; the GPS speed, deviation speed, distance from the lane edge, lateral acceleration and longitudinal deceleration of the vehicle to be tested during the test of the current test item are collected, and the line-following ability test results of the vehicle to be tested are generated according to the above parameter results tested in one or more test items. In this way, the problem of the need to add additional test equipment and instruments when testing the vehicle's line-following ability, which leads to a more cumbersome process and increases the test fees and costs, is solved, and the working performance of the intelligent driving assistance system's line-following ability is effectively evaluated, and no additional special test equipment and instruments are required, which effectively reduces the test fees and costs.

[0024] A second aspect of the present application provides a vehicle line-following ability testing device, comprising:

[0025] A control module is used to control the vehicle to be tested to travel according to the control strategy corresponding to each test item under a preset traffic test scenario;

[0026] a collection module, used for collecting the GPS speed of the vehicle to be tested, the deviation speed of the vehicle to be tested, the distance between the vehicle to be tested and the lane edge, the lateral acceleration of the vehicle to be tested and the longitudinal deceleration of the vehicle to be tested during the test of the current test item; and

[0027] The generating module is used to generate the line-following ability test result of the vehicle to be tested according to the GPS speed, the deviation speed, the distance, the lateral acceleration and the longitudinal deceleration in one or more test items.

[0028] According to one embodiment of the present invention, the generating module is specifically used for:

[0029] Calculating a lateral acceleration change rate of the vehicle to be tested based on the lateral acceleration;

[0030] Calculating a longitudinal deceleration change rate of the vehicle to be tested based on the longitudinal deceleration;

[0031] A line-following ability test result of the vehicle to be tested is generated according to the distance between the vehicle to be tested and the lane edge, the lateral acceleration, the lateral acceleration change rate, the longitudinal deceleration and the longitudinal deceleration change rate.

[0032] According to one embodiment of the present invention, the control module is specifically used for:

[0033] Get the current test project;

[0034] The vehicle to be tested is controlled to enter a corresponding driving condition according to a current test item, wherein the driving condition includes: a long straight road deviation driving condition, a first curve driving condition and a second curve driving condition.

[0035] According to one embodiment of the present invention, the vehicle's route-following ability testing device further includes:

[0036] Obtaining a test termination condition corresponding to the current test item;

[0037] Detecting whether the current test item meets the test termination condition;

[0038] If the current test item meets the test termination condition, the current test item is stopped.

[0039] According to an embodiment of the present invention, the preset traffic test scenario includes a long straight road with one lane, a long straight road connected to a curve with a preset curvature, and a long straight road connected to a curve with a preset radius.

[0040] According to the vehicle's line-following ability testing device of the embodiment of the present application, in a preset traffic test scenario, the vehicle to be tested is controlled to travel according to the control strategy corresponding to each test item; the GPS speed, deviation speed, distance from the lane edge, lateral acceleration and longitudinal deceleration of the vehicle to be tested during the test of the current test item are collected, and the line-following ability test results of the vehicle to be tested are generated according to the above parameter results tested in one or more test items. In this way, the problem of the need to add additional test equipment and instruments when testing the vehicle's line-following ability, which leads to a more cumbersome process and increases the test fees and costs, is solved, and the working performance of the intelligent driving assistance system's line-following ability is effectively evaluated without the need to add additional special test equipment and instruments, effectively reducing the test fees and costs.

[0041] The third aspect of the present application provides a vehicle, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle's route-following ability testing method as described in the above embodiment.

[0042] The fourth aspect of the present application provides a computer-readable storage medium having a computer program stored thereon, which is executed by a processor to implement the method for testing the route-following ability of a vehicle as described in the above embodiment.

[0043] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0045] Figure 1 A flowchart of a method for testing the route-following ability of a vehicle provided according to an embodiment of the present application;

[0046] Figure 2 A schematic diagram of a lane keeping assist capability test of a vehicle's line following capability test method provided according to an embodiment of the present application;

[0047] Figure 3 A schematic diagram of a vehicle left side deviation from a real lane line test in a vehicle line-following ability testing method provided according to an embodiment of the present application;

[0048] Figure 4A schematic diagram of a vehicle right side deviation from a real lane line test in a vehicle line-following ability testing method provided according to an embodiment of the present application;

[0049] Figure 5 A schematic diagram of a curve curvature change in a method for testing a vehicle's line-following ability according to an embodiment of the present application;

[0050] Figure 6 A schematic diagram of a lane departure suppression test when a vehicle turns right according to a method for testing the lane following ability of a vehicle provided in accordance with an embodiment of the present application;

[0051] Figure 7 A schematic diagram of a lane departure suppression test when a vehicle turns left according to a method for testing the line-following ability of a vehicle provided in accordance with an embodiment of the present application;

[0052] Figure 8 A schematic diagram of a lane centering control test road for a vehicle's line-following ability test method provided according to an embodiment of the present application;

[0053] Fig. 9 A block diagram of a vehicle's route-following ability testing device provided according to an embodiment of the present application;

[0054] Fig.10 It is a schematic diagram of the structure of a vehicle provided according to an embodiment of the present application. DETAILED DESCRIPTION

[0055] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0056] The following describes the vehicle's line-following ability testing method, device, vehicle and storage medium of the embodiment of the present application with reference to the accompanying drawings. In view of the problem mentioned in the above background technology center that when testing the line-following ability of the vehicle, additional testing equipment and instruments are required, which makes the process more cumbersome and increases the testing fees and costs, the present application provides a vehicle's line-following ability testing method, in which, under a preset traffic test scenario, the vehicle to be tested is controlled to travel according to the control strategy corresponding to each test item; the global positioning system GPS speed, deviation speed, distance from the lane edge, lateral acceleration and longitudinal deceleration of the vehicle to be tested during the test of the current test item are collected, and the line-following ability test results of the vehicle to be tested are generated according to the above parameter results tested in one or more test items. As a result, the problem that when testing the line-following ability of the vehicle, additional testing equipment and instruments are required, which makes the process more cumbersome and increases the testing fees and costs is solved, and the working performance of the line-following ability of the intelligent driving assistance system is effectively evaluated, and there is no need to add additional special testing equipment and instruments, which effectively reduces the testing costs.

[0057] Specifically, Figure 1 A flowchart of a method for testing the route-following ability of a vehicle provided in an embodiment of the present application.

[0058] In this embodiment, the following test requirements must be met before the vehicle's line-following ability test is performed:

[0059] (1) Requirements for vehicles to be tested:

[0060] 1) Electric vehicles with lane keeping assist and lane centering control systems, with at least one autonomous driving system including longitudinal and lateral control;

[0061] 2) The system should operate normally within the vehicle speed range between 0 and Vmax, where Vmax is the larger value between 150km / h and the maximum design vehicle speed.

[0062] 3) The minimum curve radius allowed by the system is 250m.

[0063] 4) The vehicle to be tested should be a new vehicle with a mileage not exceeding 5000km.

[0064] 5) The relevant components must be installed in place, and the specifications and specific parameters of the relevant components are required.

[0065] 6) Ensure that the system is fault-free and functions can work normally.

[0066] 7) To ensure the vehicle's range, it is recommended to fully charge the vehicle.

[0067] 8) Make sure the vehicle to be tested is equipped with a spare tire (if equipped) and on-board tools, and there should be no other items in the vehicle.

[0068] 9) The mass of the vehicle to be tested should be between the total mass of the vehicle's curb weight plus the total mass of the driver and test equipment (the total mass of the driver and test equipment shall not exceed 150kg) and the maximum permissible total mass. The conditions of the test vehicle are not allowed to be changed after the test begins.

[0069] (2) Test site conditions:

[0070] 1) The test road surface must be dry, with no visible moisture on the surface, flat, solid, with a single slope between horizontal and 1%, and a peak braking force coefficient greater than 0.9;

[0071] 2) The test road surface must be compacted and free of irregularities that may cause the sensor to work abnormally (such as large inclinations, cracks, manhole covers, or bolts with reflective capabilities, etc.);

[0072] 3) The lane width is 3.75m, and the lane line is a solid white line or a dashed white line. If it is a dashed white line, the ratio of solid to dashed is 6 / 9;

[0073] 4) The test road is a long straight road or a combination of a long straight road and a curve. The length of the curve should be sufficient to ensure that the vehicle travel time is greater than 5 seconds. The lane lines on both sides should be white dotted lines or solid lines. There should be no other traffic participants. The curve radius is divided into two types: 250m / 500m.

[0074] (3) Test weather conditions requirements:

[0075] 1) The weather is dry, with no precipitation, snow, etc.;

[0076] 2) Horizontal visibility is not less than 1 km;

[0077] 3) Wind speed is not more than 10m / s;

[0078] 4) For tests conducted under natural light conditions, the lighting conditions in the entire test area are consistent and the light intensity is not less than 2000 Lux.

[0079] like Figure 1 As shown, the vehicle's line-following ability testing method includes the following steps:

[0080] In step S101, in a preset traffic test scenario, the vehicle to be tested is controlled to travel according to a control strategy corresponding to each test item.

[0081] In some embodiments, the preset traffic test scenarios include a long straight road with one lane, a long straight road connected to a curve with a preset curvature, and a long straight road connected to a curve with a preset radius.

[0082] Furthermore, in some embodiments, controlling the vehicle to be tested to drive with a control strategy corresponding to each test item includes: obtaining the current test item; controlling the vehicle to be tested to enter a corresponding driving condition according to the current test item, wherein the driving conditions include: a long straight road deviation driving condition, a first curve driving condition, and a second curve driving condition.

[0083] Specifically, in a preset traffic test scenario, the vehicle test items may include a lane keeping assist straight road test, a lane keeping assist curve test, and a lane centering control test. If the test lane is a long straight road, which should be long enough to meet the test vehicle speed requirements, and one side of the lane is a white dotted line, the current test item is determined to be a lane keeping assist straight road test; if the test road is a straight road connected to a curve, where the long straight road is connected to a curve with a preset curvature, i.e., the first curve, the current test item is determined to be a lane keeping assist curve test; if the test road is a straight road connected to a curve with a preset radius, i.e., the second curve, the current test item is determined to be a lane centering control test.

[0084] As a feasible approach, Figure 2 As shown, the test scenario is a long straight road with one lane. The long straight road should be long enough to meet the test vehicle speed requirements. One side of the lane is a white dotted line. When the vehicle performs a lane keeping assist straight road test in this test scenario, the embodiment of the present application can control the vehicle to be tested to enter the corresponding driving condition according to the current test item, that is, control the vehicle to be tested to enter the long straight road deviation driving condition. Among them, when the vehicle enters the long straight road deviation driving, it can deviate from the actual lane to the left or deviate from the actual lane to the right. For example, during the test, the vehicle to be tested needs to reach and drive at a constant speed of (72±2) km / h, and then the test vehicle deviates to the left dotted line at a deviation speed of (0.4±0.1) m / s. Among them, the deviation test to the left dotted line can be as follows. Figure 3 As shown, or after the vehicle to be tested reaches and travels at a constant speed of (72±2) km / h, the test vehicle is caused to deviate from the right dashed line at a deviation speed of (0.4±0.1) m / s, wherein the deviation test from the right dashed line can be performed as follows Figure 4 shown.

[0085] As another possible way to achieve this, Figure 5 (a) and Figure 5 As shown in (b), the test scenario is a long straight road connected to a curve with a preset curvature. The length of the curve must ensure that the vehicle can travel for more than 5 seconds. The curve can be divided into a constant curvature part S1 and a variable curvature part S2. The curvature of the constant curvature part is 2x10 -3 m -1 (radius ≤ 250m), the variable curvature part is the connecting section of the straight road and the constant curvature part, and its curvature changes linearly with the length of the curve, from 0m-1 Gradually increase to 0.002m -1 , the curvature change rate dc / ds does not exceed 4x10 -5 m -2 When the vehicle is tested for lane keeping assist curves in this test scenario, the embodiment of the present application can control the vehicle to be tested to enter the corresponding driving condition according to the current test item, that is, control the vehicle to be tested to enter the first curve driving condition. During the test, the vehicle travels in a straight line in the center area of ​​the lane at a speed of (72±2) km / h. When the speed stabilizes, the driver does not intervene in the steering of the vehicle. The vehicle enters the right curve from the straight road and travels in the curve for at least 5 seconds, that is, right turn-left deviation. The test schematic diagram can be as follows Figure 6 Similarly, when the vehicle speed is stable, if the driver does not intervene in the vehicle's steering, the vehicle can also enter the left curve from the straight road and drive in the curve for at least 5 seconds, that is, turn left and deviate to the right. The test diagram can be as follows Figure 7 shown.

[0086] As another feasible method, the test scenario is a long straight road connected with a curve with a preset radius, such as Figure 8 As shown, the test road is a straight road connected to a curve with a radius of ≤250m, wherein the length of the curve must ensure that the vehicle can travel for more than 5s. When the vehicle performs lane centering control in this test scenario, the embodiment of the present application can control the vehicle to be tested to enter the corresponding driving condition according to the current test item, that is, control the vehicle to be tested to enter the second curve driving condition (including a left curve test and a right curve test). During the test, the vehicle travels in a straight line in the center area of ​​the lane at a speed of (60±2)km / h. When the vehicle speed is stable, the driver does not intervene in the steering of the vehicle. The vehicle enters the curve from the straight road and travels in the curve for at least 5s. When the steering wheel angle of the vehicle changes, the test vehicle deviates from the center of the lane. It should be noted that the curve radius can be of various specifications, and the curve radii of different specifications need to be set with corresponding test vehicle speeds, as shown in Table 1: When the curve radius is 250m, the test vehicle is set to a speed of 60km / h; when the curve radius is 500m, the test vehicle is set to a speed of 80km / h.

[0087] Table 1

[0088] Turning radius(m) 250 500 Test vehicle set speed (km / h) 60 80

[0089] This can further ensure the accuracy of the vehicle's route-following ability test.

[0090] In step S102, the GPS speed of the vehicle under test, the deviation speed of the vehicle under test, the distance between the vehicle under test and the lane edge, the lateral acceleration of the vehicle under test and the longitudinal deceleration of the vehicle under test are collected during the test of the current test item.

[0091] Specifically, when the vehicle is undergoing lane keeping assist straight road test, lane keeping assist curve test and lane centering control test, the test equipment needs to record the relevant test parameters of the vehicle in real time, such as: GPS speed, deviation speed, distance between the vehicle to be tested and the lane edge, lateral acceleration and longitudinal deceleration.

[0092] It should be noted that the method for collecting the global positioning system GPS speed of the vehicle to be tested, the deviation speed of the vehicle to be tested, the distance between the vehicle to be tested and the lane edge, the lateral acceleration of the vehicle to be tested and the longitudinal deceleration of the vehicle to be tested during the test of the current test item can adopt the collection method in the relevant technology. To avoid redundancy, it will not be described in detail here.

[0093] In step S103, a test result of the route-following ability of the vehicle to be tested is generated according to one or more test items including GPS speed, deviation speed, distance, lateral acceleration and longitudinal deceleration.

[0094] Further, in some embodiments, a line-following ability test result of the vehicle to be tested is generated based on the GPS speed, deviation speed, distance, lateral acceleration and longitudinal deceleration in one or more test items, including: calculating the lateral acceleration change rate of the vehicle to be tested based on the lateral acceleration; calculating the longitudinal deceleration change rate of the vehicle to be tested based on the longitudinal deceleration; generating the line-following ability test result of the vehicle to be tested based on the distance between the vehicle to be tested and the lane edge, the lateral acceleration, the lateral acceleration change rate, the longitudinal deceleration and the longitudinal deceleration change rate.

[0095] Specifically, when the vehicle is conducting a lane keeping assist straight road test or / and a lane keeping assist curve test or / and a lane centering control test, the test equipment needs to calculate the lateral acceleration change rate of the vehicle to be tested based on the lateral acceleration by testing the distance between the vehicle and the lane edge line, and calculate the longitudinal deceleration change rate of the vehicle to be tested based on the longitudinal deceleration, thereby generating a line following ability test result of the vehicle to be tested based on the distance between the vehicle to be tested and the lane edge line, the lateral acceleration, the lateral acceleration change rate, the longitudinal deceleration and the longitudinal deceleration change rate.

[0096] Furthermore, in some embodiments, the vehicle's route-following ability testing method further includes: obtaining a test termination condition corresponding to the current test item; detecting whether the current test item satisfies the test termination condition; and stopping the current test item if the current test item satisfies the test termination condition.

[0097] Specifically, when the vehicle is subjected to a lane keeping assist straight road test or / and a lane keeping assist curve test or / and a lane centering control test, the test equipment verifies whether the distance between the test vehicle (front wheel outer edge) and the outside of the lane boundary during deviation meets the technical requirements by testing the distance between the vehicle and the lane edge line; the lateral acceleration change rate of the vehicle to be tested is calculated based on the lateral acceleration to verify whether the lateral acceleration and the lateral acceleration change rate meet the technical requirements; the longitudinal deceleration change rate of the vehicle to be tested is calculated based on the longitudinal deceleration to verify whether the reduction in longitudinal deceleration and longitudinal vehicle speed meet the technical requirements; thereby, a corresponding lane departure suppression test verification is performed according to the distance between the vehicle to be tested and the lane edge line, the lateral acceleration, the lateral acceleration change rate, the longitudinal deceleration and the longitudinal deceleration change rate. If the lane keeping assist system fails to keep the test vehicle within the allowable lane departure distance and the lane keeping assist system intervenes to keep the test vehicle within the allowable lane departure distance (the test vehicle will produce the maximum lateral displacement in this process, and then the displacement decreases to return the test vehicle to the lane), the current test item meets the test termination condition, and the current test item is stopped.

[0098] It should be noted that if any abnormal situation occurs during the test, after the test project is completed, it is necessary to conduct a comprehensive analysis and inspection of each set of data, record the abnormal situation, and then retest and record each test parameter until the test is completed.

[0099] According to the vehicle's line-following ability test method of the embodiment of the present application, in a preset traffic test scenario, the vehicle to be tested is controlled to travel according to the control strategy corresponding to each test item; the GPS speed, deviation speed, distance from the lane edge, lateral acceleration and longitudinal deceleration of the vehicle to be tested during the test of the current test item are collected, and the line-following ability test results of the vehicle to be tested are generated according to the above parameter results tested in one or more test items. In this way, the problem of the need to add additional test equipment and instruments when testing the vehicle's line-following ability, which leads to a more cumbersome process and increases the test fees and costs, is solved, and the working performance of the intelligent driving assistance system's line-following ability is effectively evaluated, and no additional special test equipment and instruments are required, which effectively reduces the test fees and costs.

[0100] Next, a vehicle's route-following ability testing device proposed in an embodiment of the present application will be described with reference to the accompanying drawings.

[0101] Fig. 9 It is a block diagram of a vehicle's route-following ability testing device according to an embodiment of the present application.

[0102] like Fig. 9 As shown, the vehicle's route-following ability testing device 10 includes: a control module 100 , a collection module 200 , and a generation module 300 .

[0103] The control module 100 is used to control the vehicle to be tested to travel according to the control strategy corresponding to each test item under the preset traffic test scenario;

[0104] The acquisition module 200 is used to collect the GPS speed of the vehicle to be tested, the deviation speed of the vehicle to be tested, the distance between the vehicle to be tested and the lane edge, the lateral acceleration of the vehicle to be tested and the longitudinal deceleration of the vehicle to be tested during the test of the current test item;

[0105] The generation module 300 is used to generate a line-following ability test result of the vehicle to be tested according to one or more test items including GPS speed, deviation speed, distance, lateral acceleration and longitudinal deceleration.

[0106] Furthermore, in some embodiments, the generating module 300 is specifically configured to:

[0107] The lateral acceleration change rate of the vehicle to be tested is obtained based on the lateral acceleration calculation;

[0108] The longitudinal deceleration change rate of the vehicle to be tested is calculated based on the longitudinal deceleration;

[0109] The line-following ability test result of the vehicle to be tested is generated according to the distance between the vehicle to be tested and the lane edge line, the lateral acceleration, the lateral acceleration change rate, the longitudinal deceleration and the longitudinal deceleration change rate.

[0110] Furthermore, in some embodiments, the control module 100 is specifically configured to:

[0111] Get the current test project;

[0112] The vehicle to be tested is controlled to enter a corresponding driving condition according to a current test item, wherein the driving condition includes: a long straight road deviation driving condition, a first curve driving condition and a second curve driving condition.

[0113] Furthermore, in some embodiments, the vehicle route-following ability testing device 10 further includes:

[0114] Get the test termination condition corresponding to the current test item;

[0115] Check whether the current test item meets the test termination conditions;

[0116] If the current test item meets the test termination condition, the current test item is stopped.

[0117] Further, in some embodiments, according to an embodiment of the present invention, the preset traffic test scenario includes a long straight road with one lane, a long straight road connected to a curve with a preset curvature, and a long straight road connected to a curve with a preset radius.

[0118] According to the vehicle's line-following ability testing device of the embodiment of the present application, in a preset traffic test scenario, the vehicle to be tested is controlled to travel according to the control strategy corresponding to each test item; the GPS speed, deviation speed, distance from the lane edge, lateral acceleration and longitudinal deceleration of the vehicle to be tested during the test of the current test item are collected, and the line-following ability test results of the vehicle to be tested are generated according to the above parameter results tested in one or more test items. In this way, the problem of the need to add additional test equipment and instruments when testing the vehicle's line-following ability, which leads to a more cumbersome process and increases the test fees and costs, is solved, and the working performance of the intelligent driving assistance system's line-following ability is effectively evaluated without the need to add additional special test equipment and instruments, effectively reducing the test fees and costs.

[0119] Fig.10 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. The vehicle may include:

[0120] A memory 1001 , a processor 1002 , and a computer program stored in the memory 1001 and executable on the processor 1002 .

[0121] When the processor 1002 executes the program, the vehicle's route-following ability testing method provided in the above embodiment is implemented.

[0122] Furthermore, the vehicle also includes:

[0123] The communication interface 1003 is used for communication between the memory 1001 and the processor 1002 .

[0124] The memory 1001 is used to store computer programs that can be executed on the processor 1002 .

[0125] The memory 1001 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0126] If the memory 1001, the processor 1002 and the communication interface 1003 are implemented independently, the communication interface 1003, the memory 1001 and the processor 1002 can be connected to each other through a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Fig.10 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0127] Optionally, in a specific implementation, if the memory 1001, the processor 1002 and the communication interface 1003 are integrated on a chip, the memory 1001, the processor 1002 and the communication interface 1003 can communicate with each other through an internal interface.

[0128] The processor 1002 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0129] This embodiment also provides a computer-readable storage medium having a computer program stored thereon, wherein the program, when executed by a processor, implements the above-mentioned method for testing the route-following ability of a vehicle.

[0130] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. 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 application. In this specification, the schematic representations of the above terms do 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 N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0131] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0132] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0133] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiment, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0134] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

Claims

1. A method for testing the line-following ability of a vehicle, characterized in that: The following steps are involved: Under the preset traffic test scenario, the vehicle to be tested is controlled to travel according to the control strategy corresponding to each test item; Collecting the GPS speed of the vehicle to be tested, the deviation speed of the vehicle to be tested, the distance between the vehicle to be tested and the lane edge, the lateral acceleration of the vehicle to be tested, and the longitudinal deceleration of the vehicle to be tested during the test of the current test item; as well as Generate a line-following ability test result of the vehicle to be tested according to the GPS speed, the deviation speed, the distance, the lateral acceleration and the longitudinal deceleration in one or more test items; Wherein, the generating of the line-following ability test result of the vehicle to be tested according to the GPS speed, the deviation speed, the distance, the lateral acceleration and the longitudinal deceleration in one or more test items includes: calculating the lateral acceleration change rate of the vehicle to be tested based on the lateral acceleration; calculating the longitudinal deceleration change rate of the vehicle to be tested based on the longitudinal deceleration; generating the line-following ability test result of the vehicle to be tested according to the distance between the vehicle to be tested and the lane edge, the lateral acceleration, the lateral acceleration change rate, the longitudinal deceleration and the longitudinal deceleration change rate; The controlling the vehicle to be tested to drive according to the control strategy corresponding to each test item includes: obtaining the current test item; controlling the vehicle to be tested to enter the corresponding driving condition according to the current test item, wherein the driving condition includes: a long straight road deviation driving condition, a first curve driving condition and a second curve driving condition; The preset traffic test scenarios include a long straight road with one lane, a long straight road connected to a curve with a preset curvature, and a long straight road connected to a curve with a preset radius; the length of the curve should meet the requirement that the vehicle driving time is greater than 5 seconds, the lane lines on both sides should be white dotted lines or solid lines, there should be no other traffic participants, and the curve radius is divided into two types: 250m / 500m; After the vehicle to be tested enters the long straight road deviation driving condition, the vehicle to be tested needs to reach and drive at a constant speed, so that the vehicle to be tested deviates to the left or right dotted line at the deviation speed; After the vehicle to be tested enters the first curve driving condition, the vehicle to be tested drives in a straight line in the center area of ​​the lane. When the vehicle speed stabilizes, the driver does not intervene in the steering of the vehicle. The vehicle enters a right curve or a left curve from the straight road and drives in the curve for at least 5 seconds. After the vehicle to be tested enters the second curve driving condition, the vehicle to be tested drives in a straight line in the center area of ​​the lane. When the vehicle speed stabilizes, the driver does not intervene in the steering of the vehicle. The vehicle enters the curve from the straight road and drives in the curve for at least 5 seconds. The method further includes: obtaining a test termination condition corresponding to the current test item; detecting whether the current test item satisfies the test termination condition; and stopping the current test item if the current test item satisfies the test termination condition. In the preset traffic test scenario, the vehicle test items include lane keeping assist straight test, lane keeping assist curve test and lane centering control test. If the test lane is a long straight road with sufficient length to meet the test vehicle speed, and one side of the lane is a white dotted line, then the current test item is determined to be a lane keeping assist straight test; if the test road is a straight road connected to a curve, wherein the long straight road is connected to a curve with a preset curvature, namely the first curve, then the current test item is determined to be a lane keeping assist curve test; if the test road is a straight road connected to a curve with a preset radius, namely the second curve, then the current test item is determined to be a lane centering control test; the test scenario is a long straight road with one lane, which is long enough to meet the test vehicle speed, and one side of the lane is a white dotted line. The dashed line indicates that when the vehicle is conducting a lane keeping assist straight road test in this test scenario, the vehicle to be tested is controlled to enter the corresponding driving condition according to the current test item, wherein the vehicle deviates from the real lane to the left or to the right when entering the long straight road. The vehicle to be tested needs to travel at a constant speed of 72 km / h, and then deviate to the left dashed line at a deviation speed of 0.4 m / s, or after the vehicle to be tested reaches and travels at a constant speed of 72 km / h, the vehicle to be tested deviates to the right dashed line at a deviation speed of 0.4 m / s; the test scenario is a long straight road connected to a curve with a preset curvature, wherein the length of the curve must ensure that the vehicle can travel for more than 5 seconds, and the curve is divided into a fixed curvature part S1 and a variable curvature part S2, and the curvature of the fixed curvature part is 2x10 -3 m -1 The variable curvature part is the connecting section of the straight road and the constant curvature part. Its curvature changes linearly with the length of the curve, from 0m -1 Gradually increase to 0.002m -1 , the curvature change rate dc / ds does not exceed 4x10 -5 m -2 , when the vehicle performs the lane keeping assist curve test in this test scenario, the vehicle to be tested is controlled to enter the corresponding driving condition according to the current test item; the vehicle travels in a straight line in the center area of ​​the lane at a speed of 72km / h. When the speed is stable, the driver does not intervene in the steering of the vehicle. The vehicle enters the right curve from the straight road and drives in the curve for at least 5 seconds, or the vehicle enters the left curve from the straight road and drives in the curve for at least 5 seconds; the test scenario is a long straight road connected to a curve with a preset radius, and the test road is a straight road connected to a curve with a radius of ≤250m, where the length of the curve ensures that the vehicle can drive for more than 5s. When the vehicle performs lane centering control in this test scenario, the vehicle to be tested is controlled to enter the corresponding driving condition according to the current test item; the vehicle travels in a straight line in the center area of ​​the lane at a speed of 60km / h. When the vehicle speed is stable, the driver does not intervene in the steering of the vehicle. The vehicle enters the curve from the straight road and drives in the curve for at least 5s. When the steering wheel angle of the vehicle changes, the vehicle to be tested deviates from the center of the lane.

2. A vehicle's line-following ability testing device, characterized in that: include: A control module is used to control the vehicle to be tested to travel according to the control strategy corresponding to each test item under a preset traffic test scenario; A collection module, used for collecting the GPS speed of the vehicle to be tested, the deviation speed of the vehicle to be tested, the distance between the vehicle to be tested and the lane edge, the lateral acceleration of the vehicle to be tested and the longitudinal deceleration of the vehicle to be tested during the test of the current test item; as well as A generating module, configured to generate a line-following ability test result of the vehicle to be tested according to the GPS speed, the deviation speed, the distance, the lateral acceleration and the longitudinal deceleration in one or more test items; The generating module is specifically used to: calculate the lateral acceleration change rate of the vehicle to be tested based on the lateral acceleration; calculate the longitudinal deceleration change rate of the vehicle to be tested based on the longitudinal deceleration; generate the line-following ability test result of the vehicle to be tested according to the distance between the vehicle to be tested and the lane edge, the lateral acceleration, the lateral acceleration change rate, the longitudinal deceleration and the longitudinal deceleration change rate; The control module is specifically used to: obtain the current test item; control the vehicle to be tested to enter the corresponding driving condition according to the current test item, wherein the driving condition includes: a long straight road deviation driving condition, a first curve driving condition and a second curve driving condition; The preset traffic test scenarios include a long straight road with one lane, a long straight road connected to a curve with a preset curvature, and a long straight road connected to a curve with a preset radius; the length of the curve should meet the requirement that the vehicle driving time is greater than 5 seconds, the lane lines on both sides should be white dotted lines or solid lines, there should be no other traffic participants, and the curve radius is divided into two types: 250m / 500m; After the vehicle to be tested enters the long straight road deviation driving condition, the vehicle to be tested needs to reach and drive at a constant speed, so that the vehicle to be tested deviates to the left or right dotted line at the deviation speed; After the vehicle to be tested enters the first curve driving condition, the vehicle to be tested drives in a straight line in the center area of ​​the lane. When the vehicle speed stabilizes, the driver does not intervene in the steering of the vehicle. The vehicle enters a right curve or a left curve from the straight road and drives in the curve for at least 5 seconds. After the vehicle to be tested enters the second curve driving condition, the vehicle to be tested drives in a straight line in the center area of ​​the lane. When the vehicle speed stabilizes, the driver does not intervene in the steering of the vehicle. The vehicle enters the curve from the straight road and drives in the curve for at least 5 seconds. The vehicle's route-following ability testing device further includes: obtaining a test termination condition corresponding to the current test item; detecting whether the current test item satisfies the test termination condition; and stopping the current test item if the current test item satisfies the test termination condition; In the preset traffic test scenario, the vehicle test items include lane keeping assist straight test, lane keeping assist curve test and lane centering control test. If the test lane is a long straight road with sufficient length to meet the test vehicle speed, and one side of the lane is a white dotted line, then the current test item is determined to be a lane keeping assist straight test; if the test road is a straight road connected to a curve, wherein the long straight road is connected to a curve with a preset curvature, namely the first curve, then the current test item is determined to be a lane keeping assist curve test; if the test road is a straight road connected to a curve with a preset radius, namely the second curve, then the current test item is determined to be a lane centering control test; the test scenario is a long straight road with one lane, which is long enough to meet the test vehicle speed, and one side of the lane is a white dotted line. The dashed line indicates that when the vehicle is conducting a lane keeping assist straight road test in this test scenario, the vehicle to be tested is controlled to enter the corresponding driving condition according to the current test item, wherein the vehicle deviates from the real lane to the left or to the right when entering the long straight road. The vehicle to be tested needs to travel at a constant speed of 72 km / h, and then deviate to the left dashed line at a deviation speed of 0.4 m / s, or after the vehicle to be tested reaches and travels at a constant speed of 72 km / h, the vehicle to be tested deviates to the right dashed line at a deviation speed of 0.4 m / s; the test scenario is a long straight road connected to a curve with a preset curvature, wherein the length of the curve must ensure that the vehicle can travel for more than 5 seconds, and the curve is divided into a fixed curvature part S1 and a variable curvature part S2, and the curvature of the fixed curvature part is 2x10 -3 m -1 The variable curvature part is the connecting section of the straight road and the constant curvature part. Its curvature changes linearly with the length of the curve, from 0m -1 Gradually increase to 0.002m -1 , the curvature change rate dc / ds does not exceed 4x10 -5 m -2 , when the vehicle performs the lane keeping assist curve test in this test scenario, the vehicle to be tested is controlled to enter the corresponding driving condition according to the current test item; the vehicle travels in a straight line in the center area of ​​the lane at a speed of 72km / h. When the speed is stable, the driver does not intervene in the steering of the vehicle. The vehicle enters the right curve from the straight road and drives in the curve for at least 5 seconds, or the vehicle enters the left curve from the straight road and drives in the curve for at least 5 seconds; the test scenario is a long straight road connected to a curve with a preset radius, and the test road is a straight road connected to a curve with a radius of ≤250m, where the length of the curve ensures that the vehicle can drive for more than 5s. When the vehicle performs lane centering control in this test scenario, the vehicle to be tested is controlled to enter the corresponding driving condition according to the current test item; the vehicle travels in a straight line in the center area of ​​the lane at a speed of 60km / h. When the vehicle speed is stable, the driver does not intervene in the steering of the vehicle. The vehicle enters the curve from the straight road and drives in the curve for at least 5s. When the steering wheel angle of the vehicle changes, the vehicle to be tested deviates from the center of the lane.

3. A vehicle, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle's line-following ability testing method as claimed in claim 1.

4. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the vehicle's route-following ability testing method as claimed in claim 1.

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