Field lane line recognition test method, device, equipment and storage medium

Abstract

The present invention discloses a field lane line recognition test method, device, equipment and storage medium. The method obtains a current test scene by installing a conveyor belt retracting device below the ground, determines the lane line form required to be laid out according to the current test scene; adjusts the conveyor belt of the conveyor belt retracting device according to the lane line form to obtain a laid-out test lane line; controls the motor of the conveyor belt retracting device to drive the test lane line to a target position for vehicle testing, controls the test vehicle to drive to the test lane line, obtains a lane line recognition test result based on an advanced driving assistance system (ADAS), can simulate different lane line types on the same road section, and realizes testing of different lane line-related scenes, thereby improving the accuracy of lane line testing, saving the time of lane line testing, thereby reducing the construction cost of a closed field, and improving the speed and efficiency of lane line testing.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle deviation warning testing, and in particular to a field lane line recognition testing method, device, equipment and storage medium. Background Art

[0002] With the development of global urbanization and the widespread popularity of automobiles, transportation issues have received more and more attention and concern from people. After analyzing the causes of a large number of fatal traffic accidents, it was found that a large proportion of casualties were caused by lane deviation caused by subjective factors such as driver fatigue and negligence. Therefore, a stable intelligent assisted driving system with correct warning function has been developed for drivers, namely the lane departure warning system, which obtains the road data ahead through visual sensors, and combines the vehicle's own driving status such as speed and related parameters such as the warning time set by the driver to determine whether the car has a tendency to deviate from the driving lane; when there is a potential tendency of deviation, a lane departure warning is issued to the driver through image display, sound or vibration, etc., to assist the driver in avoiding or reducing lane departure accidents.

[0003] However, to ensure the reliability of the lane departure warning system, the lane departure warning system needs to be tested and performance evaluated before use, so that it can promptly and accurately warn the driver when the vehicle deviates and have the lowest possible false alarm rate.

[0004] In the field of smart car testing, the current methods for testing lane departure for smart cars are field testing on real roads or pure virtual simulation testing. Field testing on real roads is limited by road complexity and weather, and often does not meet site testing conditions, while pure virtual simulation technology cannot fully simulate the vehicle's own conditions. Summary of the invention

[0005] The main purpose of the present invention is to provide a field lane line recognition test method, device, equipment and storage medium, aiming to solve the technical problems in the prior art that the actual vehicle road field test in the lane departure test is often limited by the complexity of the road and the weather and does not meet the test conditions, the pure virtual simulation cannot fully simulate the vehicle itself, and the lane line test accuracy and efficiency are low.

[0006] In a first aspect, the present invention provides a method for testing lane line recognition on a field, the method comprising the following steps:

[0007] Installing a conveyor belt retracting device below the ground, obtaining a current test scene, and determining a lane line form to be arranged according to the current test scene;

[0008] The conveyor belt of the conveyor belt retracting device is adjusted according to the lane line form to obtain a test lane line that has been laid out;

[0009] The motor of the conveyor belt retracting device is controlled to drive the test lane line to the target position of the vehicle test, the test vehicle is controlled to drive to the test lane line, and the lane line recognition test result is obtained based on the advanced driving assistance system ADAS.

[0010] Optionally, the conveyor belt retracting device is installed below the road surface, a current test scene is acquired, and a lane line form to be arranged is determined according to the current test scene, including:

[0011] Installing the conveyor belt retracting device in a preset groove below the ground of the target site, and determining a corresponding current test scenario in response to current test requirements;

[0012] The required lane line layout form is determined according to the current test scenario.

[0013] Optionally, determining the lane line form required to be arranged according to the current test scenario includes:

[0014] The lane line layout information mapped to the current test scenario is obtained from a preset database, and a lane line layout pattern is constructed according to the lane line layout information.

[0015] Optionally, adjusting the conveyor belt of the conveyor belt retracting device according to the lane line form to obtain a laid-out test lane line includes:

[0016] Determine the lane line shape, lane line size parameters and lane line color according to the lane line form;

[0017] The current lane line layout material is obtained, and the conveyor belt of the conveyor belt winding device is adjusted using the current lane line layout material according to the lane line shape, lane line size parameters and lane line color to obtain the test lane line that has been laid out.

[0018] Optionally, the obtaining of the current lane line layout material, adjusting the conveyor belt of the conveyor belt winding device using the current lane line layout material according to the lane line shape, lane line size parameters and lane line color, to obtain the laid-out test lane line, includes:

[0019] The layout time requirement of the current test scenario, and selecting corresponding layout materials as the current lane line layout materials according to the layout time requirement;

[0020] The current lane line layout material is used to adjust the lane line shape, lane line size parameters and lane line color on the conveyor belt of the conveyor belt winding device to obtain a laid-out test lane line.

[0021] Optionally, the method of using the current lane line layout material to adjust the lane line shape, lane line size parameters and lane line color on the conveyor belt of the conveyor belt retracting device to obtain the laid-out test lane line includes:

[0022] When the current lane line layout material is lane line paint, a spraying mechanism is used to spray lane line paint on the conveyor belt of the conveyor belt reel according to the lane line shape, the lane line size parameter and the lane line color to obtain a test lane line that has been sprayed;

[0023] When the current lane line layout material is a sticker, a sticker is pasted on the conveyor belt of the conveyor belt winding device according to the lane line shape, the lane line size parameters and the lane line color by using a pasting mechanism to obtain a pasted test lane line.

[0024] Optionally, the motor controlling the conveyor belt retracting device drives the test lane line to move to a target position for vehicle testing, controls the test vehicle to drive to the test lane line, and obtains a lane line recognition test result based on an advanced driving assistance system ADAS, including:

[0025] Controlling the motor of the conveyor belt retracting device to drive the test lane line to retract and release, so that the test lane line moves to the target position of the vehicle test;

[0026] The test vehicle is controlled to drive to the test lane line, and the automatic driving lane line recognition function of the test vehicle is turned on, the driving data of the test vehicle is obtained based on the advanced driving assistance system ADAS, and the lane line recognition test result is generated according to the driving data.

[0027] In a second aspect, in order to achieve the above-mentioned object, the present invention further proposes a field lane line recognition test device, the field lane line recognition test device comprising:

[0028] An installation module is used to install the conveyor belt retracting device below the ground, obtain the current test scene, and determine the lane line form required to be arranged according to the current test scene;

[0029] A layout module, used for adjusting the conveyor belt of the conveyor belt winding device according to the lane line form to obtain a test lane line that has been laid out;

[0030] The test module is used to control the motor of the conveyor belt winding device to drive the test lane line to the target position of the vehicle test, control the test vehicle to drive to the test lane line, and obtain the lane line recognition test result based on the advanced driving assistance system ADAS.

[0031] In the third aspect, in order to achieve the above-mentioned purpose, the present invention also proposes a field lane line recognition test device, which includes: a memory, a processor, and a field lane line recognition test program stored in the memory and executable on the processor, and the field lane line recognition test program is configured to implement the steps of the field lane line recognition test method described above.

[0032] In a fourth aspect, in order to achieve the above-mentioned purpose, the present invention also proposes a storage medium, on which a field lane line recognition test program is stored, and when the field lane line recognition test program is executed by a processor, the steps of the field lane line recognition test method described above are implemented.

[0033] The field lane line recognition test method proposed by the present invention obtains the current test scene by installing a conveyor belt retracting device below the ground, determines the lane line form to be arranged according to the current test scene; adjusts the conveyor belt of the conveyor belt retracting device according to the lane line form to obtain the laid-out test lane line; controls the motor of the conveyor belt retracting device to drive the test lane line to the target position of the vehicle test, controls the test vehicle to drive to the test lane line, obtains the lane line recognition test result based on the advanced driving assistance system ADAS, can realize the simulation of different lane line types on the same road section, realizes the testing of different lane line-related scenarios, improves the accuracy of lane line testing, saves the time of lane line testing, thereby reducing the construction cost of closed sites, and improves the speed and efficiency of lane line testing. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 A schematic diagram of the device structure of the hardware operating environment involved in the embodiment of the present invention;

[0035] Figure 2 It is a flow chart of the first embodiment of the on-site lane line recognition test method of the present invention;

[0036] Figure 3 This is a flow chart of a second embodiment of a field lane line recognition test method of the present invention;

[0037] Figure 4 It is a flow chart of a third embodiment of a field lane line recognition test method of the present invention;

[0038] Figure 5This is a flow chart of a fourth embodiment of a field lane recognition test method according to the present invention;

[0039] Figure 6 It is a flowchart of a fifth embodiment of a field lane line recognition test method of the present invention;

[0040] Figure 7 This is a functional module diagram of the first embodiment of the field lane line recognition test device of the present invention.

[0041] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0042] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0043] The solution of the embodiment of the present invention is mainly as follows: by installing a conveyor belt winding device below the ground, the current test scene is obtained, and the lane line form to be laid out is determined according to the current test scene; the conveyor belt of the conveyor belt winding device is adjusted according to the lane line form to obtain the laid-out test lane line; the motor of the conveyor belt winding device is controlled to drive the test lane line to the target position of the vehicle test, and the test vehicle is controlled to drive to the test lane line, and the lane line recognition test result is obtained based on the advanced driving assistance system ADAS, so that different lane line types can be simulated on the same road section, and different lane line related scenes can be tested, thereby improving the accuracy of the lane line test, saving the time of the lane line test, thereby reducing the construction cost of the closed site, and improving the speed and efficiency of the lane line test, and solving the technical problems in the prior art that the actual vehicle road field test in the lane departure test is often limited by the complexity of the road and the weather and does not meet the test conditions, the pure virtual simulation cannot fully simulate the vehicle itself, and the lane line test accuracy and efficiency are low.

[0044] Reference Figure 1 , Figure 1 The figure is a schematic diagram of the device structure of the hardware operating environment involved in the embodiment of the present invention.

[0045] like Figure 1As shown, the device may include: a processor 1001, such as a CPU, a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a Wi-Fi interface). The memory 1005 may be a high-speed RAM memory, or it may be a stable memory (Non-Volatile Memory), such as a disk memory. The memory 1005 may optionally be a storage device independent of the aforementioned processor 1001.

[0046] Those skilled in the art will understand that Figure 1 The device structure shown in the figure does not constitute a limitation of the device, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0047] like Figure 1 As shown, the memory 1005 as a storage medium may include an operating device, a network communication module, a user interface module, and a field lane line recognition test program.

[0048] The device of the present invention calls the field lane line recognition test program stored in the memory 1005 through the processor 1001, and performs the following operations:

[0049] Installing a conveyor belt retracting device below the ground, obtaining a current test scene, and determining a lane line form to be arranged according to the current test scene;

[0050] The conveyor belt of the conveyor belt retracting device is adjusted according to the lane line form to obtain a test lane line that has been laid out;

[0051] The motor of the conveyor belt retracting device is controlled to drive the test lane line to the target position of the vehicle test, the test vehicle is controlled to drive to the test lane line, and the lane line recognition test result is obtained based on the advanced driving assistance system ADAS.

[0052] The device of the present invention calls the field lane line recognition test program stored in the memory 1005 through the processor 1001, and also performs the following operations:

[0053] Installing the conveyor belt retracting device in a preset groove below the ground of the target site, and determining a corresponding current test scenario in response to current test requirements;

[0054] The required lane line layout form is determined according to the current test scenario.

[0055] The device of the present invention calls the field lane line recognition test program stored in the memory 1005 through the processor 1001, and also performs the following operations:

[0056] The lane line layout information mapped to the current test scenario is obtained from a preset database, and a lane line layout pattern is constructed according to the lane line layout information.

[0057] The device of the present invention calls the field lane line recognition test program stored in the memory 1005 through the processor 1001, and also performs the following operations:

[0058] Determine the lane line shape, lane line size parameters and lane line color according to the lane line form;

[0059] The current lane line layout material is obtained, and the conveyor belt of the conveyor belt winding device is adjusted using the current lane line layout material according to the lane line shape, lane line size parameters and lane line color to obtain the test lane line that has been laid out.

[0060] The device of the present invention calls the field lane line recognition test program stored in the memory 1005 through the processor 1001, and also performs the following operations:

[0061] The layout time requirement of the current test scenario, and selecting corresponding layout materials as the current lane line layout materials according to the layout time requirement;

[0062] The current lane line layout material is used to adjust the lane line shape, lane line size parameters and lane line color on the conveyor belt of the conveyor belt winding device to obtain a laid-out test lane line.

[0063] The device of the present invention calls the field lane line recognition test program stored in the memory 1005 through the processor 1001, and also performs the following operations:

[0064] When the current lane line layout material is lane line paint, a spraying mechanism is used to spray lane line paint on the conveyor belt of the conveyor belt reel according to the lane line shape, the lane line size parameter and the lane line color to obtain a test lane line that has been sprayed;

[0065] When the current lane line layout material is a sticker, a sticker is pasted on the conveyor belt of the conveyor belt winding device according to the lane line shape, the lane line size parameters and the lane line color by using a pasting mechanism to obtain a pasted test lane line.

[0066] The device of the present invention calls the field lane line recognition test program stored in the memory 1005 through the processor 1001, and also performs the following operations:

[0067] Controlling the motor of the conveyor belt retracting device to drive the test lane line to retract and release, so that the test lane line moves to the target position of the vehicle test;

[0068] The test vehicle is controlled to drive to the test lane line, and the automatic driving lane line recognition function of the test vehicle is turned on, the driving data of the test vehicle is obtained based on the advanced driving assistance system ADAS, and the lane line recognition test result is generated according to the driving data.

[0069] Through the above scheme, this embodiment obtains the current test scene by installing the conveyor belt retracting device below the ground, determines the lane line form to be laid out according to the current test scene; adjusts the conveyor belt of the conveyor belt retracting device according to the lane line form to obtain the laid-out test lane line; controls the motor of the conveyor belt retracting device to drive the test lane line to the target position of the vehicle test, controls the test vehicle to drive to the test lane line, obtains the lane line recognition test result based on the advanced driving assistance system ADAS, can realize the simulation of different lane line types on the same road section, realizes the testing of different lane line-related scenarios, improves the accuracy of lane line testing, saves the time of lane line testing, thereby reducing the construction cost of closed venues, and improves the speed and efficiency of lane line testing.

[0070] Based on the above hardware structure, an embodiment of a field lane line recognition test method of the present invention is proposed.

[0071] Reference Figure 2 , Figure 2 Schematic diagram of the flow of the first embodiment of the on-site lane line recognition test method of the present invention.

[0072] In a first embodiment, the field lane line recognition test method comprises the following steps:

[0073] Step S10: Install the conveyor belt retracting device below the ground, obtain the current test scene, and determine the lane line form required to be arranged according to the current test scene.

[0074] It should be noted that installing the conveyor belt winding device below the ground can facilitate the layout of the conveyor belt. There is no need to build a tall and complex lane winding structure on the ground, which avoids a large amount of resource waste and improves the speed of lane line recognition test. After the conveyor belt winding device is installed underground, the current scenario that needs to be tested can be obtained, and the relevant form of lane line layout can be determined according to the current test scenario. The conveyor belt winding device can generally include a control system, a motor and a conveyor belt, and of course it can also include other more or fewer winding function modules, which is not limited in this embodiment.

[0075] Step S20: adjusting the conveyor belt of the conveyor belt retracting device according to the lane line form to obtain a test lane line that has been laid out.

[0076] It can be understood that the conveyor belt on the conveyor belt retracting device can be adjusted according to the lane line form, so that the laid conveyor belt can be used as a test lane line.

[0077] Step S30, controlling the motor of the conveyor belt retracting device to drive the test lane line to the target position of the vehicle test, controlling the test vehicle to drive to the test lane line, and obtaining a lane line recognition test result based on an advanced driving assistance system ADAS.

[0078] It should be understood that the motor that controls the conveyor belt winding device can realize the reciprocating motion of the test lane line, thereby driving the test lane line to the target position where vehicle testing is required, and then controlling the experimental vehicle to drive to the test lane line. The vehicle can be driven automatically or manually. The vehicle can be driven to the test lane line, so that the lane line recognition test result can be obtained based on the Advanced Driving Assistance System (ADAS).

[0079] It is understandable that ADAS uses a variety of sensors installed on the car (such as millimeter-wave radar, lidar, monocular / binocular cameras, and satellite navigation, etc.) to sense the surrounding environment at any time during the car's driving, collect data, and identify, detect, and track static and dynamic objects. It also combines navigation map data to perform systematic calculations and analysis, thereby allowing the driver to be aware of possible dangers in advance and effectively increasing the comfort and safety of car driving.

[0080] Through the above scheme, this embodiment obtains the current test scene by installing the conveyor belt retracting device below the ground, determines the lane line form to be laid out according to the current test scene; adjusts the conveyor belt of the conveyor belt retracting device according to the lane line form to obtain the laid-out test lane line; controls the motor of the conveyor belt retracting device to drive the test lane line to the target position of the vehicle test, controls the test vehicle to drive to the test lane line, obtains the lane line recognition test result based on the advanced driving assistance system ADAS, can realize the simulation of different lane line types on the same road section, realizes the testing of different lane line-related scenarios, improves the accuracy of lane line testing, saves the time of lane line testing, thereby reducing the construction cost of closed venues, and improves the speed and efficiency of lane line testing.

[0081] Further, Figure 3 FIG. 1 is a flow chart of a second embodiment of a method for testing lane line recognition on a site according to the present invention. Figure 3 As shown, a second embodiment of the on-site lane line recognition test method of the present invention is proposed based on the first embodiment. In this embodiment, step S10 specifically includes the following steps:

[0082] Step S11: Install the conveyor belt retracting device in a preset groove below the ground of the target site, and determine the corresponding current test scene in response to the current test requirements.

[0083] It should be noted that installing the conveyor belt winding device in a groove pre-dug below the ground of the target site can avoid the problem of space occupied by the winding device laid on the ground and waste of resources, facilitate rapid driving to the conveyor belt during subsequent vehicle testing, avoid vehicle climbing operations, and further improve the efficiency of lane line recognition testing. After the conveyor belt winding device is installed, it can respond to current test needs in a timely manner, thereby determining the corresponding current test scenario.

[0084] Step S12: Determine the lane line form required to be arranged according to the current test scenario.

[0085] It can be understood that the corresponding lane line layout mode can be determined according to the current test scenario, and different test scenarios correspond to different lane line layout modes.

[0086] Furthermore, the step S12 specifically includes the following steps:

[0087] The lane line layout information mapped to the current test scenario is obtained from a preset database, and a lane line layout pattern is constructed according to the lane line layout information.

[0088] It should be noted that the preset database is a pre-set database that stores the mapping relationship between different test scenarios and different lane line layout information. The preset database can be used to obtain the lane line layout information mapped to the current test scenario, and then construct a lane line layout pattern based on the lane line layout information; for example, when the current test scenario is straight driving, the corresponding lane line layout information can be a white long solid line or a yellow long solid line; when the current test scenario is changing lanes, the corresponding lane line layout information can be a white dotted line or a yellow dotted line. Of course, there can also be other test scenarios, such as different lane line layout angles corresponding to different curves when turning, etc. This embodiment does not limit this. In actual operation, the lane line layout specification length can also be determined in combination with the length of the conveyor belt, thereby determining the corresponding lane line layout pattern.

[0089] Through the above scheme, this embodiment installs the conveyor belt winding device in a preset groove below the ground of the target site, determines the corresponding current test scene in response to the current test requirements; determines the required lane line form according to the current test scene; can simulate different lane line types on the same road section, and realize the testing of different lane line-related scenes, thereby improving the comprehensiveness of different scene tests and saving testing costs.

[0090] Further, Figure 4 FIG. 1 is a flow chart of a third embodiment of a method for testing lane line recognition on a site according to the present invention. Figure 4 As shown, a third embodiment of the on-site lane line recognition test method of the present invention is proposed based on the first embodiment. In this embodiment, step S20 specifically includes the following steps:

[0091] Step S21, determining the lane line shape, lane line size parameters and lane line color according to the lane line form.

[0092] It should be noted that the lane line form can determine the shape of the lane line in the current mode, the size parameters corresponding to the length and width of the lane line, and the different colors of the lane line.

[0093] Step S22, obtaining the current lane line layout material, and adjusting the conveyor belt of the conveyor belt winding device using the current lane line layout material according to the lane line shape, lane line size parameters and lane line color to obtain a laid-out test lane line.

[0094] It can be understood that the lane line laying material is the relevant laying material for laying lane lines on the conveyor belt. According to the lane line shape, lane line size parameters and lane line color, the conveyor belt of the conveyor belt winding device can be adjusted using the current lane line laying material to obtain the laid test lane line.

[0095] Through the above scheme, this embodiment determines the lane line shape, lane line size parameters and lane line color according to the lane line form; obtains the current lane line layout material, and adjusts the conveyor belt of the conveyor belt winding device according to the lane line shape, lane line size parameters and lane line color using the current lane line layout material to obtain the laid-out test lane line; different lane lines can be arranged on the conveyor belt, and different lane line types can be simulated on the same road section, and different lane line-related scenarios can be tested, thereby improving the accuracy of the lane line test.

[0096] Further, Figure 5 FIG. 4 is a flow chart of a fourth embodiment of a method for testing lane line recognition on a site according to the present invention. Figure 5 As shown, a fourth embodiment of the on-site lane line recognition test method of the present invention is proposed based on the third embodiment. In this embodiment, the step S22 specifically includes the following steps:

[0097] Step S221 , the layout time requirement of the current test scenario, and selecting corresponding layout materials as the current lane line layout materials according to the layout time requirement.

[0098] It should be noted that the layout time requirement of the current test scene is the pre-set limit time required for the layout of the current test scene, and then the layout material corresponding to the layout time can be selected as the current lane line layout material according to the layout time requirement. Different layout materials require different layout times.

[0099] Step S222: using the current lane line layout material to adjust the lane line shape, lane line size parameters and lane line color on the conveyor belt of the conveyor belt winding device to obtain a laid-out test lane line.

[0100] It can be understood that by adjusting the current lane line layout material on the conveyor belt according to the lane line shape, lane line size parameters and lane line color, a laid-out test lane line can be obtained.

[0101] Furthermore, the step S222 specifically includes the following steps:

[0102] When the current lane line layout material is lane line paint, a spraying mechanism is used to spray lane line paint on the conveyor belt of the conveyor belt reel according to the lane line shape, the lane line size parameter and the lane line color to obtain a test lane line that has been sprayed;

[0103] When the current lane line layout material is a sticker, a sticker is pasted on the conveyor belt of the conveyor belt winding device according to the lane line shape, the lane line size parameters and the lane line color by using a pasting mechanism to obtain a pasted test lane line.

[0104] It should be understood that when the current lane line laying material is lane line paint, a spraying mechanism can be used to spray lane line paint on the conveyor belt of the conveyor belt winding device according to the lane line shape, the lane line size parameters and the lane line color. Generally, a number of robotic arms with a spraying function can be used to spray the conveyor belt with lane lines corresponding to the current scene. When the current lane line laying material is stickers, a number of robotic arms with a sticker pasting function can be used to mechanically paste the cut stickers that meet the lane line shape, the lane line size parameters and the lane line color on the conveyor belt to obtain a pasted test lane line.

[0105] Through the above scheme, this embodiment obtains a test lane line after spraying by using a spraying mechanism to spray lane line paint on the conveyor belt of the conveyor belt winding device according to the lane line shape, the lane line size parameters and the lane line color when the current lane line laying material is lane line paint; and obtains a test lane line after pasting by using a pasting mechanism to paste stickers on the conveyor belt of the conveyor belt winding device according to the lane line shape, the lane line size parameters and the lane line color when the current lane line laying material is stickers; and different lane lines can be arranged on the conveyor belt, so as to realize the simulation of different lane line types on the same road section, realize the testing of different lane line-related scenarios, and improve the accuracy of lane line testing.

[0106] Further, Figure 6 FIG. 5 is a flow chart of a fifth embodiment of a method for testing lane line recognition on a site according to the present invention. Figure 6 As shown, a fifth embodiment of the on-site lane line recognition test method of the present invention is proposed based on the first embodiment. In this embodiment, step S30 specifically includes the following steps:

[0107] Step S31, controlling the motor of the conveyor belt retracting device to drive the test lane line to retract and release, so that the test lane line moves to a target position for vehicle testing.

[0108] It should be noted that the motor controlling the conveyor belt retracting device drives the test lane line to be retracted and released, so that the conveyor belt can roll to the target position where the vehicle test is required through reciprocating motion.

[0109] Step S32: Control the test vehicle to drive to the test lane line, and turn on the automatic driving lane line recognition function of the test vehicle, obtain the driving data of the test vehicle based on the advanced driving assistance system ADAS, and generate a lane line recognition test result according to the driving data.

[0110] It should be understood that by controlling the test vehicle to drive to the test lane line and turning on the automatic driving lane line recognition function of the test vehicle, the driving data of the test vehicle can be obtained based on ADAS, and then the relative distance between the vehicle wheels and the lane line can be determined according to the driving data, thereby generating a lane line recognition test result.

[0111] Through the above scheme, this embodiment controls the motor of the conveyor belt winding device to drive the test lane line to be wound and released, so that the test lane line moves to the target position of the vehicle test; controls the test vehicle to drive to the test lane line, and turns on the automatic driving lane line recognition function of the test vehicle, obtains the driving data of the test vehicle based on the advanced driving assistance system ADAS, and generates a lane line recognition test result according to the driving data; it can improve the accuracy of the lane line test, save the time of the lane line test, thereby reducing the construction cost of the closed site, and at the same time improve the speed and efficiency of the lane line test.

[0112] Accordingly, the present invention further provides a field lane line recognition test device.

[0113] Reference Figure 7 , Figure 7 This is a functional module diagram of the first embodiment of the field lane line recognition test device of the present invention.

[0114] In a first embodiment of the field lane line recognition test device of the present invention, the field lane line recognition test device comprises:

[0115] The installation module 10 is used to install the conveyor belt retracting device below the ground, obtain the current test scene, and determine the lane line form required to be arranged according to the current test scene.

[0116] The layout module 20 is used to adjust the conveyor belt of the conveyor belt winding device according to the lane line form to obtain a laid-out test lane line.

[0117] The test module 30 is used to control the motor of the conveyor belt winding device to drive the test lane line to the target position of the vehicle test, control the test vehicle to drive to the test lane line, and obtain the lane line recognition test result based on the advanced driving assistance system ADAS.

[0118] The installation module 10 is also used to install the conveyor belt winding device in a preset groove below the ground of the target site, determine the corresponding current test scene in response to the current test requirements; and determine the lane line form required to be arranged according to the current test scene.

[0119] The installation module 10 is further used to obtain lane line layout information mapped to the current test scene from a preset database, and construct a lane line layout mode according to the lane line layout information.

[0120] The layout module 20 is also used to determine the lane line shape, lane line size parameters and lane line color according to the lane line form; obtain the current lane line layout material, and use the current lane line layout material to adjust the conveyor belt of the conveyor belt winding device according to the lane line shape, lane line size parameters and lane line color to obtain a laid-out test lane line.

[0121] The layout module 20 is also used for the layout time requirement of the current test scene, and selects the corresponding layout material as the current lane line layout material according to the layout time requirement; uses the current lane line layout material to adjust the lane line shape, lane line size parameters and lane line color on the conveyor belt of the conveyor belt winding device to obtain a laid-out test lane line.

[0122] The laying module 20 is also used for, when the current lane line laying material is lane line paint, using a spraying mechanism to spray lane line paint on the conveyor belt of the conveyor belt winding device according to the lane line shape, the lane line size parameters and the lane line color, so as to obtain a test lane line that has been sprayed; when the current lane line laying material is a sticker, using a pasting mechanism to paste the sticker on the conveyor belt of the conveyor belt winding device according to the lane line shape, the lane line size parameters and the lane line color, so as to obtain a test lane line that has been pasted.

[0123] The test module 30 is also used to control the motor of the conveyor belt winding device to drive the test lane line to be wound and released, so that the test lane line moves to the target position of the vehicle test; control the test vehicle to drive to the test lane line, and turn on the automatic driving lane line recognition function of the test vehicle, obtain the driving data of the test vehicle based on the advanced driving assistance system ADAS, and generate a lane line recognition test result according to the driving data.

[0124] Among them, the steps implemented by each functional module of the field lane line recognition test device can refer to the various embodiments of the field lane line recognition test method of the present invention, and will not be repeated here.

[0125] In addition, an embodiment of the present invention further provides a storage medium, on which a field lane line recognition test program is stored. When the field lane line recognition test program is executed by a processor, the following operations are implemented:

[0126] Installing a conveyor belt retracting device below the ground, obtaining a current test scene, and determining a lane line form to be arranged according to the current test scene;

[0127] The conveyor belt of the conveyor belt retracting device is adjusted according to the lane line form to obtain a test lane line that has been laid out;

[0128] The motor of the conveyor belt retracting device is controlled to drive the test lane line to the target position of the vehicle test, the test vehicle is controlled to drive to the test lane line, and the lane line recognition test result is obtained based on the advanced driving assistance system ADAS.

[0129] Furthermore, when the field lane recognition test program is executed by the processor, the following operations are also implemented:

[0130] Installing the conveyor belt retracting device in a preset groove below the ground of the target site, and determining a corresponding current test scenario in response to current test requirements;

[0131] The required lane line layout form is determined according to the current test scenario.

[0132] Furthermore, when the field lane recognition test program is executed by the processor, the following operations are also implemented:

[0133] The lane line layout information mapped to the current test scenario is obtained from a preset database, and a lane line layout pattern is constructed according to the lane line layout information.

[0134] Furthermore, when the field lane recognition test program is executed by the processor, the following operations are also implemented:

[0135] Determine the lane line shape, lane line size parameters and lane line color according to the lane line form;

[0136] The current lane line layout material is obtained, and the conveyor belt of the conveyor belt winding device is adjusted using the current lane line layout material according to the lane line shape, lane line size parameters and lane line color to obtain the test lane line that has been laid out.

[0137] Furthermore, when the field lane recognition test program is executed by the processor, the following operations are also implemented:

[0138] The layout time requirement of the current test scenario, and selecting corresponding layout materials as the current lane line layout materials according to the layout time requirement;

[0139] The current lane line layout material is used to adjust the lane line shape, lane line size parameters and lane line color on the conveyor belt of the conveyor belt winding device to obtain a laid-out test lane line.

[0140] Furthermore, when the field lane recognition test program is executed by the processor, the following operations are also implemented:

[0141] When the current lane line layout material is lane line paint, a spraying mechanism is used to spray lane line paint on the conveyor belt of the conveyor belt reel according to the lane line shape, the lane line size parameter and the lane line color to obtain a test lane line that has been sprayed;

[0142] When the current lane line layout material is a sticker, a sticker is pasted on the conveyor belt of the conveyor belt winding device according to the lane line shape, the lane line size parameters and the lane line color by using a pasting mechanism to obtain a pasted test lane line.

[0143] Furthermore, when the field lane recognition test program is executed by the processor, the following operations are also implemented:

[0144] Controlling the motor of the conveyor belt retracting device to drive the test lane line to retract and release, so that the test lane line moves to the target position of the vehicle test;

[0145] The test vehicle is controlled to drive to the test lane line, and the automatic driving lane line recognition function of the test vehicle is turned on, the driving data of the test vehicle is obtained based on the advanced driving assistance system ADAS, and the lane line recognition test result is generated according to the driving data.

[0146] Through the above scheme, this embodiment obtains the current test scene by installing the conveyor belt retracting device below the ground, determines the lane line form to be laid out according to the current test scene; adjusts the conveyor belt of the conveyor belt retracting device according to the lane line form to obtain the laid-out test lane line; controls the motor of the conveyor belt retracting device to drive the test lane line to the target position of the vehicle test, controls the test vehicle to drive to the test lane line, obtains the lane line recognition test result based on the advanced driving assistance system ADAS, can realize the simulation of different lane line types on the same road section, realizes the testing of different lane line-related scenarios, improves the accuracy of lane line testing, saves the time of lane line testing, thereby reducing the construction cost of closed venues, and improves the speed and efficiency of lane line testing.

[0147] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0148] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0149] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A field lane line recognition test method, characterized in that: The field lane line recognition test method comprises: Installing a conveyor belt retracting device below the ground, obtaining a current test scene, and determining a lane line form to be arranged according to the current test scene; The conveyor belt of the conveyor belt retracting device is adjusted according to the lane line form to obtain a test lane line that has been laid out; Control the motor of the conveyor belt retracting device to drive the test lane line to the target position of the vehicle test, control the test vehicle to drive to the test lane line, and obtain the lane line recognition test result based on the advanced driving assistance system ADAS; The step of adjusting the conveyor belt of the conveyor belt retracting device according to the lane line form to obtain a test lane line that has been laid out includes: Determine the lane line shape, lane line size parameters and lane line color according to the lane line form; Acquire the current lane line layout material, and adjust the conveyor belt of the conveyor belt winding device using the current lane line layout material according to the lane line shape, lane line size parameters and lane line color, to obtain the laid-out test lane line; The method of obtaining the current lane line layout material, adjusting the conveyor belt of the conveyor belt winding device using the current lane line layout material according to the lane line shape, lane line size parameters and lane line color, and obtaining the laid-out test lane line includes: The layout time requirement of the current test scenario, and selecting corresponding layout materials as the current lane line layout materials according to the layout time requirement; The current lane line layout material is used to adjust the lane line shape, lane line size parameters and lane line color on the conveyor belt of the conveyor belt winding device to obtain a laid-out test lane line.

2. The field lane line recognition test method according to claim 1, characterized in that: The conveyor belt retracting device is installed below the road surface, a current test scene is obtained, and a lane line form required to be arranged is determined according to the current test scene, including: Installing the conveyor belt retracting device in a preset groove below the ground of the target site, and determining a corresponding current test scenario in response to current test requirements; The required lane line layout form is determined according to the current test scenario.

3. The field lane line recognition test method according to claim 2, characterized in that: The determining of the lane line form required to be arranged according to the current test scenario includes: The lane line layout information mapped to the current test scenario is obtained from a preset database, and a lane line layout pattern is constructed according to the lane line layout information.

4. The field lane line recognition test method according to claim 1, characterized in that: The method of using the current lane line layout material to adjust the lane line shape, lane line size parameters and lane line color on the conveyor belt of the conveyor belt winding device to obtain the laid-out test lane line includes: When the current lane line layout material is lane line paint, a spraying mechanism is used to spray lane line paint on the conveyor belt of the conveyor belt retracting device according to the lane line shape, the lane line size parameter and the lane line color to obtain a test lane line that has been sprayed; When the current lane line layout material is a sticker, a pasting mechanism is used to paste the sticker on the conveyor belt of the conveyor belt winding device according to the lane line shape, the lane line size parameters and the lane line color to obtain a pasted test lane line.

5. The field lane line recognition test method according to claim 1, characterized in that: The motor controlling the conveyor belt retracting device drives the test lane line to move to a target position of a vehicle test, controls the test vehicle to drive to the test lane line, and obtains a lane line recognition test result based on an advanced driving assistance system ADAS, including: Controlling the motor of the conveyor belt retracting device to drive the test lane line to retract and release, so that the test lane line moves to the target position of the vehicle test; The test vehicle is controlled to drive to the test lane line, and the automatic driving lane line recognition function of the test vehicle is turned on, the driving data of the test vehicle is obtained based on the advanced driving assistance system ADAS, and the lane line recognition test result is generated according to the driving data.

6. A field lane line recognition test device, characterized in that: The field lane line recognition test device comprises: An installation module is used to install the conveyor belt retracting device below the ground, obtain the current test scene, and determine the lane line form required to be arranged according to the current test scene; A layout module, used for adjusting the conveyor belt of the conveyor belt winding device according to the lane line form to obtain a test lane line that has been laid out; A test module, used to control the motor of the conveyor belt retracting device to drive the test lane line to the target position of the vehicle test, control the test vehicle to drive to the test lane line, and obtain the lane line recognition test result based on the advanced driving assistance system ADAS; The layout module is further used to determine the lane line shape, lane line size parameters and lane line color according to the lane line form; obtain the current lane line layout material, and adjust the conveyor belt of the conveyor belt winding device according to the lane line shape, lane line size parameters and lane line color using the current lane line layout material to obtain the laid-out test lane line; The layout module is also used for the layout time requirement of the current test scene, and selects the corresponding layout material as the current lane line layout material according to the layout time requirement; uses the current lane line layout material to adjust the lane line shape, lane line size parameters and lane line color on the conveyor belt of the conveyor belt winding device to obtain the laid-out test lane line.

7. A field lane recognition test device, characterized in that: The field lane line recognition test equipment includes: a memory, a processor, and a field lane line recognition test program stored in the memory and executable on the processor, wherein the field lane line recognition test program is configured to implement the steps of the field lane line recognition test method as described in any one of claims 1 to 5.

8. A storage medium, characterized in that: The storage medium stores a field lane line recognition test program, and when the field lane line recognition test program is executed by the processor, the steps of the field lane line recognition test method as described in any one of claims 1 to 5 are implemented.

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