LKS system hardware-in-the-loop test calibration method, system, storage medium and equipment

Abstract

The present invention provides a method, system, storage medium and device for hardware-in-the-loop test calibration of an LKS system, which relates to the field of automobile calibration technology. The method comprises: playing a simulated scene video through a preset display device; collecting vehicle information and road information in the simulated scene video through a preset camera device; processing the vehicle information and the road information based on the vehicle information and the road information to output a steering signal for controlling the vehicle in the simulated scene video; sending the steering signal to a preset, physical steering mechanism, and controlling the steering mechanism to move through an electric power assist system in the steering mechanism, so as to at least calibrate the steering function in the LKS system. The present invention aims to solve the technical deficiencies in the prior art that the road test of the LKS system is high in cost and is prone to cause harm to vehicles and pedestrians on the road when the function fails.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile calibration, and in particular to a method, system, storage medium and device for hardware-in-the-loop testing and calibration of an LKS system. Background Art

[0002] With the development of society and the advancement of technology, lane assist systems (LKS) have been used in vehicles. The main functions of lane assist systems include lane departure warning and lane keeping.

[0003] Among them, the lane departure warning function is used to provide a warning to the driver when the vehicle deviates from the lane unconsciously. Unintentional lane departure includes two situations: the vehicle has deviated from the lane, and the lane is about to deviate from the lane. Unintentional lane deviation behavior is generally caused by driver fatigue or distraction. The lane departure system can distinguish between unconscious lane deviation and active lane change behavior. The lane keeping function is an active intervention vehicle lateral control function. When there are no suppression conditions and working conditions are met, the lane keeping function can automatically give the vehicle a torque to correct the lane when the driver deviates from the lane line or is about to deviate from the lane line, thereby preventing the vehicle from deviating from the lane and ensuring driving safety.

[0004] However, if the lane assist system is to be fully developed, it will require actual testing and data collection on real roads using test vehicles, which will consume a great deal of manpower, material and financial resources. At the same time, if the lane assist system fails in a test vehicle, it may cause harm to vehicles and pedestrians on the road. Summary of the invention

[0005] Based on this, the purpose of the present invention is to provide a LKS system hardware-in-the-loop test calibration method, system, storage medium and equipment, aiming to solve the technical deficiencies in the prior art that the cost of LKS system road testing is high and it is easy to cause harm to vehicles and pedestrians on the road when the system function fails.

[0006] A first aspect of the present invention is to provide a LKS system hardware-in-the-loop test calibration method, the method comprising:

[0007] Playing the simulated scene video through a preset display device;

[0008] Collecting vehicle information and road information in the simulated scene video through a preset camera device;

[0009] Based on the vehicle information and the road information, the vehicle information and the road information are processed to output a steering signal for controlling a vehicle in the simulated scene video;

[0010] The steering signal is sent to a preset, physical steering mechanism, and the steering mechanism is controlled to move by an electric power assist system in the steering mechanism, so as to at least calibrate the steering function in the LKS system.

[0011] According to one aspect of the above technical solution, the step of processing the vehicle information and the road information to output a turning signal for controlling the vehicle in the simulated scene video specifically includes:

[0012] Based on the vehicle information and the road information, processing the vehicle information and the road information by an advanced driver assistance system;

[0013] The output is used to control a turning signal of the vehicle in the simulated scene video, wherein the turning signal at least includes a turning time, a turning angle and a turning duration.

[0014] According to one aspect of the above technical solution, the step of sending the steering signal to a preset, physical steering mechanism, and controlling the steering mechanism to move by an electric power assist system in the steering mechanism, so as to at least calibrate the steering function in the LKS system, specifically includes:

[0015] After generating the steering signal, sending the steering signal to a preset, physical steering mechanism, the steering mechanism including an electric power assist system;

[0016] Based on the steering time, steering angle and steering duration, controlling the steering mechanism to perform corresponding movement through the electric power assist system;

[0017] After the steering mechanism is controlled to move by the electric power-assist system, calibration parameters corresponding to the steering mechanism are generated, so as to calibrate the steering function in the LKS system according to the calibration parameters.

[0018] According to one aspect of the above technical solution, the method further includes:

[0019] Building a simulation model for testing and calibrating auxiliary function modules in the LKS system except for the steering function;

[0020] The analog signal sent by the auxiliary function module is acquired, and the auxiliary function module is debugged based on the simulation model to generate a test file for testing the auxiliary function module.

[0021] According to one aspect of the above technical solution, the auxiliary function module includes an airbag module, an image processing module, an instrument module, a steering switch module and a braking system module.

[0022] According to one aspect of the above technical solution, the method further includes:

[0023] Acquiring analog signals respectively fed back by the airbag module, the image processing module, the instrument module, the steering switch module and the brake system module through an advanced driver assistance system;

[0024] Based on the simulation signal, generating, by the advanced driver assistance system, an auxiliary calibration parameter corresponding to the electric power assist system;

[0025] Based on the auxiliary calibration parameters, the steering function in the LKS system is calibrated again.

[0026] According to one aspect of the above technical solution, the method further includes:

[0027] When a calibration fault occurs during the calibration of the LKS system, obtaining fault code information in the LKS system;

[0028] According to the fault code information, a fault diagnosis device is used to diagnose the fault of the LKS system.

[0029] A second aspect of the present invention is to provide a LKS system hardware-in-the-loop test and calibration system, the system comprising:

[0030] An information providing unit, used for playing a simulated scene video through a preset display device;

[0031] An information collection unit, used to collect vehicle information and road information in the simulated scene video through a preset camera device;

[0032] an information processing unit, configured to process the vehicle information and the road information based on the vehicle information and the road information to output a steering signal for controlling a vehicle in the simulated scene video;

[0033] The function calibration unit is used to send the steering signal to a preset, physical steering mechanism, and control the steering mechanism to move through the electric power assist system in the steering mechanism, so as to at least calibrate the steering function in the LKS system.

[0034] The third aspect of the present invention is to provide a storage medium on which computer instructions are stored, and when the instructions are executed by a processor, the steps of the method described in the above technical solution are implemented.

[0035] The fourth aspect of the present invention is to provide a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method described in the above technical solution when executing the program.

[0036] Compared with the prior art, the LKS system hardware-in-the-loop test calibration method, system, storage medium and device shown in the present invention have the following beneficial effects:

[0037] The present invention plays a simulated scene video through a preset display device, in which a vehicle is driving on a road, and there are other vehicles or pedestrians participating on the road. The vehicle information and road information in the simulated scene video are collected through a preset camera device, and based on the vehicle information and road information, the vehicle information and road information are analyzed and processed, so as to output a steering signal for controlling the vehicle in the simulated scene video, so as to control the steering mechanism of the entity to move based on the electric power steering system according to the steering signal, so as to calibrate the steering function in the LKS system; such a design can test and calibrate the LKS system of the vehicle in a laboratory scenario, and there is no need to drive the vehicle to the road for testing to collect data for calibration, thereby reducing the testing cost and avoiding harm to vehicles and pedestrians on the road. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a flow chart of the LKS system hardware-in-the-loop test calibration method in the first embodiment of the present invention;

[0039] Figure 2 It is a structural block diagram of the LKS system hardware-in-the-loop test and calibration system in the third embodiment of the present invention;

[0040] The following specific implementations will further illustrate the present invention in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0041] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. Several embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

[0042] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0043] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0044] Embodiment 1

[0045] See also Figure 1 The first embodiment of the present invention provides a method for hardware-in-the-loop testing and calibration of a LKS system, the method comprising steps S10-S40:

[0046] Step S10, playing the simulated scene video through a preset display device;

[0047] Among them, the preset display devices include but are not limited to televisions, computer monitors and other displays that can be used to play videos, and the simulated scene video has at least one vehicle driving on the road, and there may be other road participants on the road, such as same-direction vehicles, oncoming vehicles and pedestrians.

[0048] In the simulated scene video, the participation mode of road participants has a certain degree of randomness, such as emergency braking of the same-direction vehicle in front of the vehicle, oncoming vehicles crossing the line and affecting normal driving, or pedestrians crossing the road. In short, by controlling and adjusting the participation mode of road participants, more test scenarios equal to the real environment are provided.

[0049] Step S20, collecting vehicle information and road information in the simulated scene video through a preset camera device;

[0050] Among them, the camera device includes but is not limited to the camera in the LKS system pre-installed on the vehicle and the camera provided separately. By pointing the camera device directly at the display device, when the display device is controlled to play the simulated scene video, the camera device can collect the vehicle information and road information in the simulated scene video in real time, which is equivalent to the camera in the LKS system collecting vehicle information and road information during actual vehicle testing, so as to make corresponding control strategies based on the analyzed vehicle information and road information.

[0051] The control strategies based on vehicle information and road information include but are not limited to braking, acceleration, and avoidance. For example, in the simulated scene video, when the vehicle reaches the road traffic light, the normal braking control strategy is output. If the vehicle encounters an emergency during driving, such as the emergency braking of the vehicle in front or pedestrians crossing the road, the emergency braking or emergency avoidance control strategies can be output accordingly.

[0052] Step S30, based on the vehicle information and the road information, processing the vehicle information and the road information to output a turning signal for controlling the vehicle in the simulation scene video;

[0053] It should be noted here that the LKS system is a lane assist system, whose main functions include lane departure warning and lane keeping, both of which involve the vehicle's steering function. Therefore, how to calibrate the vehicle's steering mechanism is particularly important.

[0054] Specifically, based on the vehicle information and road information, an advanced driver assistance system (ADAS) performs data analysis on the lane information and road information to output a steering signal for controlling the vehicle in the simulated scene video. The steering signal includes but is not limited to steering time, steering angle, and steering time, etc.

[0055] Step S40, sending the steering signal to a preset, physical steering mechanism, and controlling the steering mechanism to move through the electric power assist system in the steering mechanism, so as to at least calibrate the steering function in the LKS system.

[0056] It should be noted here that the preset, physical steering mechanism is a physical steering mechanism pre-installed on the vehicle. Based on the above-mentioned steering signal, the steering mechanism is controlled by the electric power steering system in the steering mechanism to perform steering movements, such as controlling when the steering mechanism turns, the steering angle, and how long the steering lasts, etc., thereby converting the above-mentioned steering signal into electrical data corresponding to the steering function, and calibrating the steering function in the LKS system based on the electrical data.

[0057] For example, when a vehicle in the same direction in front of the vehicle in the simulated driving video emergency brakes, the emergency braking signal of the vehicle in the same direction is acquired through the camera device, and the actual distance between the vehicle and the vehicle in front, the real-time speeds of the two vehicles, and the real-time relative speeds of the two vehicles are calculated based on the advanced driver assistance system (ADAS), and a corresponding steering signal for controlling the vehicle is output, such as emergency braking without steering or emergency steering for emergency avoidance when a collision cannot be avoided under emergency braking.

[0058] Compared with the prior art, the LKS system hardware-in-the-loop test calibration method shown in this embodiment has at least the following beneficial effects:

[0059] The present invention plays a simulated scene video through a preset display device, in which a vehicle is driving on a road, and there are other vehicles or pedestrians participating on the road. The vehicle information and road information in the simulated scene video are collected through a preset camera device, and based on the vehicle information and road information, the vehicle information and road information are analyzed and processed, so as to output a steering signal for controlling the vehicle in the simulated scene video, so as to control the steering mechanism of the entity to move based on the electric power steering system according to the steering signal, so as to calibrate the steering function in the LKS system; such a design can test and calibrate the LKS system of the vehicle in a laboratory scenario, and there is no need to drive the vehicle to the road for testing to collect data for calibration, thereby reducing the testing cost and avoiding harm to vehicles and pedestrians on the road.

[0060] Embodiment 2

[0061] The second embodiment of the present invention provides a method for hardware-in-the-loop test calibration of an LKS system. In the method shown in this embodiment, the step of processing the vehicle information and the road information to output a steering signal for controlling the vehicle in the simulation scene video specifically includes:

[0062] Based on the vehicle information and the road information, processing the vehicle information and the road information by an advanced driver assistance system;

[0063] The output is used to control a turning signal of the vehicle in the simulated scene video, wherein the turning signal at least includes a turning time, a turning angle and a turning duration.

[0064] The step of sending the steering signal to a preset, physical steering mechanism and controlling the steering mechanism to move by an electric power assist system in the steering mechanism to at least calibrate the steering function in the LKS system specifically includes:

[0065] After generating the steering signal, sending the steering signal to a preset, physical steering mechanism, the steering mechanism including an electric power assist system;

[0066] Based on the steering time, steering angle and steering duration, controlling the steering mechanism to perform corresponding movement through the electric power assist system;

[0067] After the steering mechanism is controlled to move by the electric power-assist system, calibration parameters corresponding to the steering mechanism are generated, so as to calibrate the steering function in the LKS system according to the calibration parameters.

[0068] In this embodiment, the method further includes:

[0069] Building a simulation model for testing and calibrating auxiliary function modules in the LKS system except for the steering function;

[0070] The analog signal sent by the auxiliary function module is acquired, and the auxiliary function module is debugged based on the simulation model to generate a test file for testing the auxiliary function module.

[0071] Specifically, the auxiliary function module includes an airbag module, an image processing module, an instrument module, a steering switch module and a braking system module.

[0072] Furthermore, the method further comprises:

[0073] Acquiring analog signals respectively fed back by the airbag module, the image processing module, the instrument module, the steering switch module and the brake system module through an advanced driver assistance system;

[0074] Based on the simulation signal, generating, by the advanced driver assistance system, an auxiliary calibration parameter corresponding to the electric power assist system;

[0075] Based on the auxiliary calibration parameters, the steering function in the LKS system is calibrated again.

[0076] In this embodiment, the method further includes:

[0077] When a calibration fault occurs during the calibration of the LKS system, obtaining fault code information in the LKS system;

[0078] According to the fault code information, a fault diagnosis device is used to diagnose the fault of the LKS system.

[0079] Compared with the prior art, the LKS system hardware-in-the-loop test calibration method shown in this embodiment has at least the following beneficial effects:

[0080] The present invention plays a simulated scene video through a preset display device, in which a vehicle is driving on a road, and there are other vehicles or pedestrians participating on the road. The vehicle information and road information in the simulated scene video are collected through a preset camera device, and based on the vehicle information and road information, the vehicle information and road information are analyzed and processed, so as to output a steering signal for controlling the vehicle in the simulated scene video, so as to control the steering mechanism of the entity to move based on the electric power steering system according to the steering signal, so as to calibrate the steering function in the LKS system; such a design can test and calibrate the LKS system of the vehicle in a laboratory scenario, and there is no need to drive the vehicle to the road for testing to collect data for calibration, thereby reducing the testing cost and avoiding harm to vehicles and pedestrians on the road.

[0081] Embodiment 3

[0082] See also Figure 2 The third embodiment of the present invention provides a LKS system hardware-in-the-loop test and calibration system, the system comprising:

[0083] The information providing unit 10 is used to play the simulated scene video through a preset display device;

[0084] Among them, the preset display devices include but are not limited to televisions, computer monitors and other displays that can be used to play videos, and the simulated scene video has at least one vehicle driving on the road, and there may be other road participants on the road, such as same-direction vehicles, oncoming vehicles and pedestrians.

[0085] In the simulated scene video, the participation mode of road participants has a certain degree of randomness, such as emergency braking of the same-direction vehicle in front of the vehicle, oncoming vehicles crossing the line and affecting normal driving, or pedestrians crossing the road. In short, by controlling and adjusting the participation mode of road participants, more test scenarios equal to the real environment are provided.

[0086] An information collection unit 20, used to collect vehicle information and road information in the simulated scene video through a preset camera device;

[0087] Among them, the camera device includes but is not limited to the camera in the LKS system pre-installed on the vehicle and the camera provided separately. By pointing the camera device directly at the display device, when the display device is controlled to play the simulated scene video, the camera device can collect the vehicle information and road information in the simulated scene video in real time, which is equivalent to the camera in the LKS system collecting vehicle information and road information during actual vehicle testing, so as to make corresponding control strategies based on the analyzed vehicle information and road information.

[0088] The control strategies based on vehicle information and road information include but are not limited to braking, acceleration, and avoidance. For example, in the simulated scene video, when the vehicle reaches the road traffic light, the normal braking control strategy is output. If the vehicle encounters an emergency during driving, such as the emergency braking of the vehicle in front or pedestrians crossing the road, the emergency braking or emergency avoidance control strategies can be output accordingly.

[0089] An information processing unit 30, configured to process the vehicle information and the road information based on the vehicle information and the road information to output a steering signal for controlling the vehicle in the simulated scene video;

[0090] It should be noted here that the LKS system is a lane assist system, whose main functions include lane departure warning and lane keeping, both of which involve the vehicle's steering function. Therefore, how to calibrate the vehicle's steering mechanism is particularly important.

[0091] Specifically, based on the vehicle information and road information, an advanced driver assistance system (ADAS) performs data analysis on the lane information and road information to output a steering signal for controlling the vehicle in the simulated scene video. The steering signal includes but is not limited to steering time, steering angle, and steering time, etc.

[0092] The information processing unit 30 is specifically used to process the vehicle information and the road information through an advanced driver assistance system based on the vehicle information and the road information;

[0093] The output is used to control a turning signal of the vehicle in the simulated scene video, wherein the turning signal at least includes a turning time, a turning angle and a turning duration.

[0094] The function calibration unit 40 is used to send the steering signal to a preset, physical steering mechanism, and control the steering mechanism to move through the electric power assist system in the steering mechanism, so as to at least calibrate the steering function in the LKS system.

[0095] It should be noted here that the preset, physical steering mechanism is a physical steering mechanism pre-installed on the vehicle. Based on the above-mentioned steering signal, the steering mechanism is controlled by the electric power steering system in the steering mechanism to perform steering movements, such as controlling when the steering mechanism turns, the steering angle, and how long the steering lasts, etc., thereby converting the above-mentioned steering signal into electrical data corresponding to the steering function, and calibrating the steering function in the LKS system based on the electrical data.

[0096] For example, when a vehicle in the same direction in front of the vehicle in the simulated driving video emergency brakes, the emergency braking signal of the vehicle in the same direction is acquired through the camera device, and the actual distance between the vehicle and the vehicle in front, the real-time speeds of the two vehicles, and the real-time relative speeds of the two vehicles are calculated based on the advanced driver assistance system (ADAS), and a corresponding steering signal for controlling the vehicle is output, such as emergency braking without steering or emergency steering for emergency avoidance when a collision cannot be avoided under emergency braking.

[0097] Compared with the prior art, the LKS system hardware-in-the-loop test and calibration system shown in this embodiment has at least the following beneficial effects:

[0098] The present invention plays a simulated scene video through a preset display device, in which a vehicle is driving on a road, and there are other vehicles or pedestrians participating on the road. The vehicle information and road information in the simulated scene video are collected through a preset camera device, and based on the vehicle information and road information, the vehicle information and road information are analyzed and processed, so as to output a steering signal for controlling the vehicle in the simulated scene video, so as to control the steering mechanism of the entity to move based on the electric power steering system according to the steering signal, so as to calibrate the steering function in the LKS system; such a design can test and calibrate the LKS system of the vehicle in a laboratory scenario, and there is no need to drive the vehicle to the road for testing to collect data for calibration, thereby reducing the testing cost and avoiding harm to vehicles and pedestrians on the road.

[0099] Embodiment 4

[0100] A fourth embodiment of the present invention provides a storage medium on which computer instructions are stored. When the instructions are executed by a processor, the steps of the method described in the above embodiment are implemented.

[0101] Those skilled in the art will appreciate that the logic and / or steps represented in the flowchart or otherwise described herein, for example, may be considered as an ordered list of executable instructions for implementing logical functions, and may be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in conjunction with such instruction execution systems, devices or apparatuses. For purposes of this specification, a "computer-readable medium" may be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in conjunction with such instruction execution systems, devices or apparatuses.

[0102] More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk case (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be a paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, deciphering or, if necessary, processing in another suitable manner, and then stored in a computer memory.

[0103] Embodiment 5

[0104] A fifth embodiment of the present invention provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method described in the above embodiment when executing the program.

[0105] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of 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 a combination thereof: 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.

[0106] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0107] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A LKS system hardware-in-the-loop test calibration method, characterized in that: The method comprises: Playing the simulated scene video through a preset display device; Collecting vehicle information and road information in the simulated scene video through a preset camera device; Based on the vehicle information and the road information, the vehicle information and the road information are processed to output a steering signal for controlling a vehicle in the simulated scene video; Sending the steering signal to a preset, physical steering mechanism, and controlling the steering mechanism to move through an electric power assist system in the steering mechanism, so as to at least calibrate the steering function in the LKS system; The step of processing the vehicle information and the road information to output a turning signal for controlling the vehicle in the simulated scene video according to the vehicle information and the road information specifically includes: Based on the vehicle information and the road information, processing the vehicle information and the road information by an advanced driver assistance system; Outputting a steering signal for controlling the vehicle in the simulated scene video, wherein the steering signal at least includes a steering time, a steering angle, and a steering duration; The step of sending the steering signal to a preset, physical steering mechanism and controlling the steering mechanism to move by an electric power assist system in the steering mechanism to at least calibrate the steering function in the LKS system specifically includes: After generating the turning signal, sending the turning signal to a preset, physical steering mechanism, the steering mechanism including an electric power assist system; Based on the steering time, steering angle and steering duration, controlling the steering mechanism to perform corresponding movement through the electric power assist system; After the steering mechanism is controlled to move by the electric power-assist system, calibration parameters corresponding to the steering mechanism are generated, so as to calibrate the steering function in the LKS system according to the calibration parameters.

2. The LKS system hardware-in-the-loop test calibration method according to claim 1, characterized in that: The method further comprises: Building a simulation model for testing and calibrating auxiliary function modules in the LKS system except for the steering function; The analog signal sent by the auxiliary function module is acquired, and the auxiliary function module is debugged based on the simulation model to generate a test file for testing the auxiliary function module.

3. The LKS system hardware-in-the-loop test calibration method according to claim 2, characterized in that: The auxiliary function module includes an airbag module, an image processing module, an instrument module, a steering switch module and a braking system module.

4. The LKS system hardware-in-the-loop test calibration method according to claim 3, characterized in that: The method further comprises: Acquiring analog signals respectively fed back by the airbag module, the image processing module, the instrument module, the steering switch module and the brake system module through an advanced driver assistance system; Based on the simulation signal, generating, by the advanced driver assistance system, an auxiliary calibration parameter corresponding to the electric power assist system; Based on the auxiliary calibration parameters, the steering function in the LKS system is calibrated again.

5. The LKS system hardware-in-the-loop test calibration method according to any one of claims 1 to 4, characterized in that: The method further comprises: When a calibration fault occurs during the calibration of the LKS system, obtaining fault code information in the LKS system; According to the fault code information, a fault diagnosis device is used to diagnose the fault of the LKS system.

6. A LKS system hardware-in-the-loop test and calibration system, characterized in that: The method applied to any one of claims 1 to 5, wherein the system comprises: An information providing unit, used for playing a simulated scene video through a preset display device; An information collection unit, used to collect vehicle information and road information in the simulated scene video through a preset camera device; an information processing unit, configured to process the vehicle information and the road information based on the vehicle information and the road information to output a steering signal for controlling a vehicle in the simulated scene video; The function calibration unit is used to send the steering signal to a preset, physical steering mechanism, and control the steering mechanism to move through the electric power assist system in the steering mechanism, so as to at least calibrate the steering function in the LKS system.

7. A storage medium having computer instructions stored thereon, characterized in that: When the instruction is executed by a processor, the steps of the method described in any one of claims 1 to 5 are implemented.

8. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the steps of the method according to any one of claims 1 to 5 are implemented.

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