Lane change test method, device and vehicle

Abstract

The present invention discloses a lane change test method, device and vehicle, the method comprising: starting a test program after the first test main vehicle and the second test main vehicle trigger preset scenario test conditions, the first test main vehicle travels relative to the second test main vehicle according to preset scenario driving parameters; the first test main vehicle records first driving data of the vehicle, the second test main vehicle records second driving data of the vehicle and third driving data of the first test main vehicle; and forming test data according to the first driving data, the second driving data and the third driving data.

Description

Technical Field

[0001] The present invention relates to the field of intelligent driving technology, and in particular to a lane change test method, device and vehicle. Background Art

[0002] With the improvement of China's expressway network and the construction of urban expressways, car travel has become the first choice for people to go out. However, with the continuous growth of car ownership, there are more and more vehicles on the road, which makes it more difficult for vehicles to pass. In addition, the boredom of long-distance driving increases the fatigue of drivers, resulting in frequent road traffic accidents. In order to reduce road traffic accidents, the research and development of high-speed intelligent driving has been launched. High-speed intelligent driving vehicles need to face complex road traffic, but there are currently no relevant effective test scenarios in the industry. There are currently two main methods for testing intelligent driving functions. The first method is to test the intelligent driving vehicle in an open public road area under a real driving environment. During the test, it will be disturbed by social vehicles, and the test efficiency and safety are difficult to guarantee; the second method is to form an intelligent driving test scenario based on the scenario classification theory, and then test each scenario in a closed venue, but there is currently no test scenario library, and it takes a lot of time to establish it.

[0003] Therefore the prior art needs further development. Summary of the invention

[0004] In response to the above technical problems, the present invention provides a lane change test method, device and vehicle, which can meet the needs of vehicle testing in specific scenarios.

[0005] A first aspect of the present invention provides a lane change test method, which is applied to a first test vehicle and a second test vehicle; the method comprises:

[0006] The first test vehicle and the second test vehicle trigger a preset scenario test condition and then start a test program, wherein the first test vehicle drives relative to the second test vehicle according to preset scenario driving parameters;

[0007] The first test main vehicle records first driving data of the vehicle, the second test main vehicle records second driving data of the vehicle and third driving data of the first test main vehicle;

[0008] Test data is formed according to the first driving data, the second driving data, and the third driving data.

[0009] Optionally, the first test vehicle and the second test vehicle trigger a preset scenario test condition and then start a test program, including: the first test vehicle and the second test vehicle are located in a lane of a preset scenario and each reaches a test driving speed; the first test vehicle and the second test vehicle send test start information to each other and each starts a test program. Optionally, the first test vehicle and the second test vehicle send test start information to each other and each starts a test program, including:

[0010] The first test vehicle sends a control instruction to the second test vehicle to control the second test vehicle to start a test program; and / or the second test vehicle sends a control instruction to the first test vehicle to control the first test vehicle to start a test program;

[0011] The first test main vehicle and the second test main vehicle both start the test program and record the start time, and record the test data with the start time as the starting point.

[0012] Optionally, the first driving data includes: a relative distance, a relative speed, and a steering angle to a second test main vehicle;

[0013] The second driving data includes: the relative distance to the first test main vehicle, the speed, the relative time interval between the two vehicles, and the distance to the collision point; the third driving data includes: the position, speed and the distance of the first test main vehicle to the collision point.

[0014] Optionally, the first test vehicle drives relative to the second test vehicle according to preset scenario driving parameters, including:

[0015] The first test vehicle cuts into the driving lane where the second test vehicle is located from the left side or right side of the second test vehicle at a speed higher than, equal to, or lower than that of the second test vehicle;

[0016] And / or the first test main vehicle cuts out to the left or right from the second test main vehicle in the same lane.

[0017] Optionally, forming test data according to the first driving data, the second driving data, and the third driving data includes:

[0018] The vehicle test scenarios of the first test vehicle and the second test vehicle are determined according to the first driving data, the second driving data and the third driving data; scene parameter data related to the vehicle test scenario in the first driving data, the second driving data and the third driving data are recorded based on the vehicle test scenario association; and test data of the test report is formed based on the scene parameter data.

[0019] Optionally, the lane change test method further includes:

[0020] The first driving data, the second driving data, and the third driving data are uploaded to the cloud, and the first driving data, the second driving data, and the third driving data are processed into standard test data using the cloud, and the standard test data is test data of a corresponding vehicle model.

[0021] A second aspect of the present invention provides a lane change test device, which is applied to a first test vehicle and a second test vehicle; the device comprises:

[0022] A control module, configured to start a test program after the first test vehicle and the second test vehicle trigger a preset scenario test condition, and the first test vehicle drives relative to the second test vehicle according to the preset scenario driving parameters;

[0023] A recording module, used for the first test main vehicle to record first driving data of the vehicle, the second test main vehicle to record second driving data of the vehicle, and the third driving data of the first test main vehicle;

[0024] An output module is used to generate test data according to the first driving data, the second driving data, and the third driving data.

[0025] Optionally, the control module includes:

[0026] The control subunit is used for, when the first test vehicle and the second test vehicle are located in the lane of the preset scene and each reaches the test driving speed, the first test vehicle and the second test vehicle send test start information to each other and start the test program respectively. Optionally, the control subunit is also used to control the first test vehicle to send a control instruction to the second test vehicle to control the second test vehicle to start the test program; and / or the second test vehicle to send a control instruction to the first test vehicle to control the first test vehicle to start the test program; wherein, after both the first test vehicle and the second test vehicle start the test program, the start time is recorded, and the test data is recorded with the start time as the starting point.

[0027] Optionally, the output module includes:

[0028] An output subunit is used to determine the vehicle test scenarios of the first test vehicle and the second test vehicle based on the first driving data, the second driving data, and the third driving data, and to record the scene parameter data related to the vehicle test scenario in the first driving data, the second driving data, and the third driving data based on the vehicle test scenario association, and to form test data for a test report based on the scene parameter data.

[0029] A third aspect of an embodiment of the present invention provides a lane change test method, which is applied to a first test vehicle and a second test vehicle; the method comprises:

[0030] The first test vehicle and the second test vehicle control each other to start a test program, and the first test vehicle drives in a lane cut-in or cut-out manner relative to the second test vehicle according to a preset scenario;

[0031] The first test main vehicle records first driving data of the vehicle, the second test main vehicle records second driving data of the vehicle and third driving data of the first test main vehicle;

[0032] Test data is generated according to the first driving data, the second driving data, and the third driving data, and a test result is recorded.

[0033] According to a fourth aspect of an embodiment of the present invention, a vehicle is provided, comprising a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program implements the steps of the lane change test method as described above when executed by the processor.

[0034] According to a fifth aspect of an embodiment of the present invention, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the lane change test method as described above are implemented.

[0035] In the technical solution provided by the present invention, a large amount of actual driving flow data can be collected through the mutual driving status between the first test main vehicle and the second test main vehicle, and the data of the vehicle driving scene during driving can be statistically analyzed. During the process, there is no need for human participation in controlling the test vehicle. The test vehicle can control the test driving of the vehicle by itself, which is also conducive to forming a test database of the test scene. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 A schematic flow chart of a lane change test method according to an embodiment of the present invention;

[0037] Figure 2 for Figure 1 A schematic diagram of the specific process of the lane change test method steps;

[0038] Figure 3 A schematic diagram of a first test vehicle as a target vehicle cutting in from the left side of a second test vehicle;

[0039] Figure 4 A schematic diagram of a first test vehicle as a target vehicle cutting in from the right side of a second test vehicle;

[0040] Figure 5 A schematic diagram of a first test vehicle as a target vehicle cutting out from the left side of a second test vehicle;

[0041] Figure 6 A schematic diagram of a first test vehicle as a target vehicle cutting out from the right side of a second test vehicle;

[0042] Figure 7 A schematic flow chart of a lane change test method in another embodiment of the present invention;

[0043] Figure 8 A schematic flow chart of a lane change test method in another embodiment of the present invention;

[0044] Fig. 9 The present invention is a block diagram of a lane change test device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0045] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0046] There is a lack of test scenarios for autonomous driving in the existing technology, and there is no complete test scenario. Specific driving scenarios require targeted testing. A lot of manual participation is required in the test process, and the test data cannot be well statistically analyzed and output, resulting in unsatisfactory test results and long test time. Therefore, it is possible to consider using the relevant driving data between the vehicles to be tested for testing, that is, testing the driving data and the data of the relative vehicles at the same time; this can greatly improve the test efficiency; using two test vehicles can control each other to realize data recording during the test without manual participation. This can be achieved in the following ways.

[0047] See also Figure 1 , Figure 1 The flowchart of a lane change test method in an embodiment of the present invention is shown in FIG. The lane change test method is applied to a software control system, and the software is applied to a first test vehicle and a second test vehicle, and the first test vehicle and the second test vehicle can communicate with each other.

[0048] The lane change test method comprises the following steps:

[0049] Step S100: The first test vehicle and the second test vehicle trigger preset scenario test conditions and start a test program. The first test vehicle drives relative to the second test vehicle according to preset scenario driving parameters.

[0050] The preset scenarios include a variety of test scenarios, such as: dangerous scenarios, main vehicle lane change scenarios, following vehicle driving scenarios, adjacent vehicle cut-in scenarios, front vehicle cut-out scenarios and line patrol driving scenarios, etc. Test and evaluation of the functions and performance of the Advanced Driving Assistant System (ADAS) for intelligent driving, including but not limited to the responses of automatic emergency braking, lane departure warning, adaptive cruise control system, lane keeping assist, traffic congestion assist system, automatic parking and other systems. Of course, in some test environments, the vehicle startup or driving status can also be used as a penalty preset scenario test condition.

[0051] Each test scenario has a corresponding test environment and driving requirements for the driving vehicle to simulate the corresponding environmental scenario. For example, two vehicles driving in or out of the lane, one vehicle driving in the main lane and the other vehicle driving in the adjacent lane, and there are corresponding speed limits or other traffic regulations during the driving process.

[0052] Since it is a driving test between two vehicles, the driving records of the main vehicle and the target vehicle need to be divided. In the present invention, the second test main vehicle is used as the main vehicle, and the first test main vehicle is used as the target vehicle. For example, the first test main vehicle is a soft target vehicle of the GST autonomous mobile platform. Of course, in other embodiment test scenarios, the test properties of the two can be adjusted according to needs during the test. The first test main vehicle can also be the main vehicle, and the second test main vehicle can also be the target vehicle. For example, in the cut-in and cut-out scenario, the first test main vehicle and the second test main vehicle complete the test of the scenario, and then adjust the test properties of the two vehicles (i.e., role swap) to test the cut-in and cut-out scenario again; this can make the test data richer and more dimensional, and also facilitate subsequent test analysis.

[0053] In the present invention, when the first test vehicle and the second test vehicle start the automatic driving, the test trigger of the automatic driving scene is automatically completed without manual control. Specifically, the test sequence of the test scene can be set, and the test and corresponding test records are performed in sequence according to the sequence of the test scene. For example, the first test vehicle and the second test vehicle drive according to the preset driving parameters, and then the first test vehicle cuts in front of the second test vehicle at a speed higher than, equal to, or lower than the speed of the second test vehicle; after the scene is completed, the first test vehicle performs the test of cutting out the scene.

[0054] Step S200: the first test main vehicle records first driving data of the vehicle, the second test main vehicle records second driving data of the vehicle and third driving data of the first test main vehicle.

[0055] In the present invention, since the first test vehicle is defined as the main moving target vehicle, it can be understood as an interfering vehicle during the driving process of the second test vehicle. The first driving data recorded by the first test vehicle itself can be directly recorded from the automatic driving control system, and the recording process is accompanied by the time for subsequent test data comparison.

[0056] The second test vehicle is the main test object. It needs to record its own driving data and analyze the driving data of the first test vehicle in order to control its own vehicle driving. It is also used to determine whether the vehicle control ability of the second test vehicle during driving meets the requirements. The third driving data recorded by the first test vehicle can be compared with the first driving data to determine the difference between the recorded third driving data and the actual first driving data. It can also be determined whether the data of the interfering vehicle recorded during the driving of the second test vehicle is accurate, which is convenient for analyzing the cause.

[0057] Step S300: forming test data according to the first driving data, the second driving data, and the third driving data.

[0058] In one embodiment, exemplarily, the first driving data includes: the relative distance, relative speed, and steering angle to the second test main vehicle; the second driving data includes: the relative distance, speed, relative time distance between the two vehicles, and distance to the collision point to the first test main vehicle; the third driving data includes: the position, speed, and distance of the first test main vehicle to the collision point.

[0059] Specifically, a test data template can be set, and the test data can be filled into the template to form the test data. The test data can be presented in a variety of driving forms such as data tables, charts, test interfaces, animations, etc. In addition to recording the formal data during the test process, the driving results of the test scene should also be recorded, such as whether the first test main vehicle and the second test main vehicle collide in the test scene; if a collision occurs, it should be marked and the driving process should be analyzed in detail. The test data includes data of multiple dimensions, including the mechanical braking effect, steering, honking, warning, response of the automatic driving control program, etc. of the vehicle, and the data generated in the process are no longer listed one by one. However, in the scenario test, only the data related to the scene can be recorded, without recording all vehicle data, status data, etc. during the driving process.

[0060] The present invention collects a large amount of actual driving flow data through the mutual driving status between the first test main vehicle and the second test main vehicle, and collects statistics on the data of the vehicle driving scene during driving. During the process, there is no need for human participation in controlling the test vehicle, and the test vehicle can control the test driving of the vehicle by itself. Forming a test database for the test scene is conducive to simulation testing of other vehicles of the same type. For example, the standard template of the open scenario (OpenScenario) is used, and the standard template of OpenScenario is used to nest the vehicle driving status information, thereby obtaining a vehicle test scenario use case. After the vehicle scenario use case is generated, the self-driving car is subjected to automated vehicle testing based on the vehicle scenario use case.

[0061] like Figure 2 As shown, the above step S100 also includes the following process steps:

[0062] Step S110: The first test vehicle and the second test vehicle are located in a lane of a preset scenario and each reaches a test driving speed.

[0063] For example, if a vehicle driving test is set at different speeds, there can be multiple test scenarios at different speeds in a certain test scenario. As a reference, the vehicle speeds are designed to be: 40 km / h, 60 km / h, 80 km / h, and 100 km / h. The test scenario classification is shown in Table 1.

[0064]

[0065] Combined with Figure 3 and Figure 4 As shown, it is a schematic diagram of the scene of the target vehicle cutting into the test; Figure 3 The first test vehicle, which is the target vehicle, cuts in from the left side of the second test vehicle. Figure 4 The first test vehicle, which is the target vehicle, cuts in from the right side of the second test vehicle. Where: T is the first test vehicle, H is the second test vehicle, DP0 is the distance from the second test vehicle to the collision point; DP1 is the distance from the first test vehicle to the collision point, and THW is the relative time distance between the two vehicles at the beginning of the test scene.

[0066] In the cut-in scenario, the first test vehicle cuts into the driving lane where the second test vehicle is located from the left or right side of the second test vehicle at a speed higher than, equal to, or lower than that of the second test vehicle. The speed of the second test vehicle can be set to a constant speed. For example, when the second test vehicle reaches the current road speed limit and is in a stable driving stage, only the speed of the first test vehicle is changed for testing, so as to achieve high and low speed cut-in scenarios. When the first test vehicle cuts in, the test of the current scenario ends when the second test vehicle adjusts its speed to start following the vehicle (within the road speed limit) or a collision occurs. The first test vehicle can be understood from the preset scenario that the second test vehicle is located in adjacent lanes and meets the conditions for the first test vehicle to overtake, such as the second test vehicle has a stable speed or is slightly accelerated.

[0067] In the cut-out scenario, the first test vehicle cuts out to the left or right from the second test vehicle in the same lane. Figure 5 and Figure 6 As shown, Figure 5 The first test vehicle, which is the target vehicle, cuts out from the left side of the second test vehicle. Figure 6 The first test vehicle, which is the target vehicle, cuts out from the right side of the second test vehicle. Where: T is the first test vehicle, H is the second test vehicle, DP0 is the distance from the second test vehicle to the collision point; DP1 is the distance from the first test vehicle to the collision point, and THW is the relative time distance between the two vehicles at the beginning of the test scene.

[0068] Step S120: the first test main vehicle and the second test main vehicle send test start information to each other and start the test program respectively.

[0069] Specifically, the first test main vehicle approaches the second test main vehicle, and the second test main vehicle sends a control instruction to the first test main vehicle to control the first test main vehicle to start the test mode. The first test main vehicle can feedback the start test mode to the second test main vehicle. The second test main vehicle controls the vehicle speed to be stable and controls the second test main vehicle to start the test program. The second test main vehicle has a test environment (for example, it is located in a set lane and has been driving stably) and has started the test program. The second test main vehicle sends a control instruction to the first test main vehicle to control the first test main vehicle to start the test program. The first test main vehicle performs a cut-in driving at a speed higher than, equal to, or lower than the speed of the second test main vehicle according to the test scenario requirements.

[0070] Of course, in some other test scenarios, the first test vehicle and the second test vehicle can control each other, not limited to the order, and can also be controlled simultaneously, such as when the two vehicles start to drive after starting. The control instruction can be understood as an enable signal, or it can be a specific instruction to start the test program.

[0071] In addition, the first test vehicle and the second test vehicle both start the test program and record the start time, and record the test data with the start time as the starting point. During the process, the first test vehicle and the second test vehicle should have a time calibration process to ensure that the data time recorded during the test of the two vehicles is consistent. Both can be achieved by sending time calibration information.

[0072] like Figure 7 As shown, the present invention provides another embodiment, the lane change test method includes the following steps:

[0073] Step 710: The first test vehicle and the second test vehicle trigger preset scenario test conditions and start a test program. The first test vehicle drives relative to the second test vehicle according to preset scenario driving parameters.

[0074] Step 720: The first test main vehicle records first driving data of the vehicle, and the second test main vehicle records second driving data of the vehicle and third driving data of the first test main vehicle.

[0075] The above two steps can refer to the description of steps S100 to S200 above, which will not be described in detail.

[0076] Step 730: Determine the vehicle test scenarios of the first test vehicle and the second test vehicle based on the first driving data, the second driving data, and the third driving data; record the scene parameter data related to the vehicle test scenario in the first driving data, the second driving data, and the third driving data based on the vehicle test scenario association; and form test data for the test report based on the scene parameter data.

[0077] In this embodiment, the first test vehicle and the second test vehicle are not in the form of a preset test scenario, but the corresponding test scenario is determined based on the specific driving data of the two vehicles. For example, if the first driving data recorded is cut-in acceleration, the second driving data is constant speed driving, and the third driving data is vehicle cut-in driving, it can be determined that the current scenario is a vehicle cut-in test scenario. When the first driving data is leaving the current lane and the third driving data is the front vehicle leaving, it can be determined that the current scenario is a cut-out test scenario.

[0078] Then, when recording the test data, the data recorded by the two vehicles are associated with the scene information to form a test data report. The relevant descriptions of the first driving data, the second driving data, and the third driving data can refer to the explanations in other embodiments of the present invention.

[0079] Further, Figures 1 to 7 In the embodiment shown, the following steps are also included:

[0080] The first driving data, the second driving data, and the third driving data are uploaded to the cloud, and the first driving data, the second driving data, and the third driving data are processed into standard test data using the cloud, and the standard test data is test data of a corresponding vehicle model.

[0081] For example, the standard template of OpenScenario is used to nest the vehicle driving status information, thereby obtaining a vehicle test scenario use case. After the vehicle scenario use case is generated, the self-driving car is automatically tested based on the vehicle scenario use case.

[0082] Then, when making standard test data, you need to consider the vehicle model issue and record the vehicle type or model of the test vehicle. Vehicles are divided into commercial vehicles, passenger vehicles, etc.; they can also be express delivery vehicles, warehouse transportation vehicles, etc. Specific classification of vehicle models can further optimize the accuracy and applicability of test data.

[0083] like Figure 8 As shown, the present invention also provides a lane change test method, which is applied to a first test main vehicle and a second test main vehicle; specifically, it includes the following steps:

[0084] Step 810: The first test vehicle and the second test vehicle control each other to start a test program, and the first test vehicle drives in a lane cut-in or cut-out manner relative to the second test vehicle;

[0085] Step 820: the first test main vehicle records first driving data of the vehicle, the second test main vehicle records second driving data of the vehicle and third driving data of the first test main vehicle;

[0086] Step 830: Generate test data according to the first driving data, the second driving data, and the third driving data, and record the test results.

[0087] In this embodiment, the first test main vehicle and the second test main vehicle can control each other to start the test program, for example, it can be started when the preset scene conditions mentioned above are met, such as the vehicle speed and the relative position of the two vehicles meet the conditions. The test is mainly carried out by driving in and out of the test scenes, and the two vehicles record driving data during driving. There are many types of driving data, which can be all data collected during driving, or partial data can be collected. Then, the driving test data is collected according to the recorded test data, and it is recorded whether there is a collision result. If a collision occurs, it means that the test function does not meet the requirements and needs to be modulated. The content not described in steps S810 to 830 can be understood in conjunction with the content provided in the above embodiments.

[0088] like Fig. 9 As shown, the method provided by the present invention provides a lane change test device, which is applied to a first test main vehicle and a second test main vehicle; and comprises:

[0089] The control module 910 is used to start the test program after the first test vehicle and the second test vehicle trigger the preset scenario test conditions, and the first test vehicle drives relative to the second test vehicle according to the preset scenario driving parameters.

[0090] For example, the first test vehicle cuts into the driving lane where the second test vehicle is located from the left side or right side of the second test vehicle at a speed higher than, equal to, or lower than that of the second test vehicle;

[0091] and / or the first test vehicle cuts out to the left or right from the second test vehicle in the same lane;

[0092] Recording module 920, used for the first test main vehicle to record first driving data of the vehicle, the second test main vehicle to record second driving data of the vehicle, and the third driving data of the first test main vehicle;

[0093] The output module 930 is used to generate test data according to the first driving data, the second driving data, and the third driving data.

[0094] Among them, the first driving data includes: the relative distance, relative speed, and steering angle from the second test main vehicle; the second driving data includes: the relative distance, speed, relative time distance between the two vehicles, and distance to the collision point from the first test main vehicle; the third driving data includes: the position, speed, and distance of the first test main vehicle to the collision point.

[0095] Furthermore, the control module 910 includes:

[0096] The control subunit is used for, when the first test vehicle and the second test vehicle are located in the lane of the preset scene and each reaches the test driving speed, the first test vehicle and the second test vehicle send test start information to each other and start the test program respectively. The control subunit is also used to control the first test vehicle to send a control instruction to the second test vehicle to control the second test vehicle to start the test program; and / or the second test vehicle to send a control instruction to the first test vehicle to control the first test vehicle to start the test program; wherein, after both the first test vehicle and the second test vehicle start the test program, the start time is recorded, and the test data is recorded with the start time as the starting point.

[0097] The output module 930 includes:

[0098] An output subunit is used to determine the vehicle test scenarios of the first test vehicle and the second test vehicle based on the first driving data, the second driving data, and the third driving data, and to record the scene parameter data related to the vehicle test scenario in the first driving data, the second driving data, and the third driving data based on the vehicle test scenario association, and to form test data for a test report based on the scene parameter data.

[0099] The output module 930 is also included, which is used to upload the first driving data, the second driving data, and the third driving data to the cloud, and use the cloud to process the first driving data, the second driving data, and the third driving data into standard test data, and the standard test data is test data of a corresponding vehicle model.

[0100] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0101] The present invention also provides a vehicle, which includes a processor, a memory, and a computer program stored in the memory and capable of running on the processor, and when the computer program is executed by the processor, the steps of the lane change test method as described above are implemented.

[0102] The present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the lane change test method as described above are implemented.

[0103] It can be understood that computer-readable storage media may include: any entity or device capable of carrying a computer program, recording media, USB flash drives, mobile hard disks, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), and software distribution media, etc. A computer program includes computer program code. The computer program code may be in source code form, object code form, executable file, or some intermediate form, etc. A computer-readable storage medium may include: any entity or device capable of carrying a computer program code, recording media, USB flash drives, mobile hard disks, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), and software distribution media, etc.

[0104] In certain embodiments of the present invention, the automatic parking device may include a controller, which is a single-chip microcomputer chip that integrates a processor, a memory, a communication module, etc. The processor may refer to the processor included in the controller. The processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc.

[0105] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present invention 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 the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present invention belong.

[0106] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, apparatus or device (such as a computer-based system, a system including a processing module, or other system that can fetch instructions from an instruction execution system, apparatus or device and execute instructions), or used in combination with these instruction execution systems, apparatuses or devices.

[0107] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A lane change test method, applied to a first test vehicle and a second test vehicle; characterized in that: include: The first test vehicle and the second test vehicle trigger a preset scenario test condition and then start a test program, wherein the first test vehicle drives relative to the second test vehicle according to preset scenario driving parameters; The first test main vehicle records first driving data of the vehicle, the second test main vehicle records second driving data of the vehicle and third driving data of the first test main vehicle; The test data is formed according to the first driving data, the second driving data, and the third driving data; wherein, the first test vehicle and the second test vehicle are not driven according to a preset test scenario, the vehicle test scenarios of the first test vehicle and the second test vehicle are determined according to the first driving data, the second driving data, and the third driving data, and the scenario parameter data related to the vehicle test scenario in the first driving data, the second driving data, and the third driving data are recorded based on the vehicle test scenario association, and the test data of the test report is formed based on the scenario parameter data; The first driving data includes: relative distance, relative speed, and steering angle to the second test vehicle; The second driving data includes: relative distance to the first test main vehicle, speed, relative time distance between the two vehicles, and distance to the collision point; The third driving data includes: the position and speed of the first test main vehicle and the distance the first test main vehicle reaches the collision point.

2. The lane change test method according to claim 1, characterized in that: The first test main vehicle and the second test main vehicle start the test program after triggering the preset scene test conditions, including: the first test main vehicle and the second test main vehicle are located in the lane of the preset scene and each reaches the test driving speed; the first test main vehicle and the second test main vehicle send test start information to each other and each starts the test program.

3. The lane change test method according to claim 2, characterized in that: The first test main vehicle and the second test main vehicle send test start information to each other and respectively start a test program, including: The first test vehicle sends a control instruction to the second test vehicle to control the second test vehicle to start a test program; and / or the second test vehicle sends a control instruction to the first test vehicle to control the first test vehicle to start a test program; The first test main vehicle and the second test main vehicle both start the test program and record the start time, and record the test data with the start time as the starting point.

4. The lane change test method according to claim 1, characterized in that: The first test main vehicle drives relative to the second test main vehicle according to preset scenario driving parameters, including: The first test vehicle cuts into the driving lane where the second test vehicle is located from the left side or right side of the second test vehicle at a speed higher than, equal to, or lower than that of the second test vehicle; And / or the first test main vehicle cuts out to the left or right from the second test main vehicle in the same lane.

5. The lane change test method according to claim 1, characterized in that: Also includes: The first driving data, the second driving data, and the third driving data are uploaded to the cloud, and the first driving data, the second driving data, and the third driving data are processed into standard test data using the cloud, and the standard test data is test data of a corresponding vehicle model.

6. A lane change test device, applied to a first test vehicle and a second test vehicle; characterized in that: include: A control module, configured to start a test program after the first test vehicle and the second test vehicle trigger a preset scenario test condition, and the first test vehicle drives relative to the second test vehicle according to the preset scenario driving parameters; A recording module, used for the first test main vehicle to record first driving data of the vehicle, the second test main vehicle to record second driving data of the vehicle, and the third driving data of the first test main vehicle; an output module, configured to form test data according to the first driving data, the second driving data, and the third driving data; wherein, the first test vehicle and the second test vehicle do not drive according to a preset test scenario, and a vehicle test scenario of the first test vehicle and the second test vehicle is determined according to the first driving data, the second driving data, and the third driving data; scene parameter data related to the vehicle test scenario in the first driving data, the second driving data, and the third driving data is recorded based on the vehicle test scenario association, and test data of a test report is formed based on the scene parameter data; The first driving data includes: relative distance, relative speed, and steering angle to the second test vehicle; The second driving data includes: relative distance to the first test vehicle, speed, relative time interval between the two vehicles, and distance to the collision point; The third driving data includes: the position and speed of the first test main vehicle and the distance the first test main vehicle reaches the collision point.

7. The lane change test device according to claim 6, characterized in that: The control module comprises: The control subunit is used to send test start information to each other and start the test program respectively when the first test main vehicle and the second test main vehicle are located in the lane of the preset scene and each reaches the test driving speed.

8. The lane change test device according to claim 7, characterized in that: The control subunit is also used to control the first test main vehicle to send a control instruction to the second test main vehicle, so as to control the second test main vehicle to start a test program; and / or the second test main vehicle to send a control instruction to the first test main vehicle, so as to control the first test main vehicle to start a test program; wherein, the first test main vehicle and the second test main vehicle record the start time after both start the test program, and record the test data with the start time as the starting point.

9. A lane change test method, applied to a first test vehicle and a second test vehicle; characterized in that: include: The first test vehicle and the second test vehicle control each other to start a test procedure, and the first test vehicle drives in a lane cutting-in or lane cutting-out manner relative to the second test vehicle; The first test main vehicle records first driving data of the vehicle, the second test main vehicle records second driving data of the vehicle and third driving data of the first test main vehicle; Forming test data according to the first driving data, the second driving data, and the third driving data, and recording test results; wherein, the first test vehicle and the second test vehicle did not drive according to a preset test scenario, judging the vehicle test scenarios of the first test vehicle and the second test vehicle according to the first driving data, the second driving data, and the third driving data, recording scenario parameter data related to the vehicle test scenario in the first driving data, the second driving data, and the third driving data based on the vehicle test scenario association, and forming test data of a test report based on the scenario parameter data; The first driving data includes: relative distance, relative speed, and steering angle to the second test vehicle; The second driving data includes: relative distance to the first test main vehicle, speed, relative time distance between the two vehicles, and distance to the collision point; The third driving data includes: the position and speed of the first test main vehicle and the distance the first test main vehicle reaches the collision point.

10. A vehicle, characterized in that: The method comprises a processor, a memory and a computer program stored in the memory and capable of running on the processor, wherein the computer program implements the steps of the lane change test method according to any one of claims 1 to 5 when executed by the processor.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the lane change test method according to any one of claims 1 to 5 are implemented.

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