Vehicle control system and vehicle testing method

Abstract

The embodiment of the application discloses a kind of vehicle control system and vehicle test method, belong to automobile electronic technical field.The vehicle control system includes vehicle test module, lane departure warning LDW module and whole vehicle controller, vehicle test module and whole vehicle controller are connected with LDW module respectively.LDW module is used to collect the road environment data of vehicle, and generates early warning information based on road environment data.Whole vehicle controller is used to control vehicle to send early warning signal based on early warning information, and the early warning signal is used to prompt vehicle to deviate lane line.Vehicle test module is used to test the performance of LDW module based on the time that vehicle sends early warning signal.The vehicle test module of the embodiment of the application can test the performance of LDW module quickly by the linkage with other equipment on vehicle, so that developer can optimize and improve LDW module in time.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of automotive electronics, and in particular, to a vehicle control system and a vehicle testing method. BACKGROUND

[0002] With the support of Internet of Vehicles technology, an LDW (Lane Departure Warning) module configured on a vehicle can implement a lane departure warning function. Specifically, the LDW module can determine whether the vehicle has a lane departure behavior according to lane lines of a road in front and a current driving state of the vehicle, and timely sends a warning signal to remind the driver, so as to avoid lane departure accidents caused by the driver's negligence. In the process of project development, the performance of the LDW module needs to be tested to improve the reliability of the LDW module. SUMMARY

[0003] Embodiments of the present application provide a vehicle control system and a vehicle testing method, which can test the performance of the LDW module to improve the reliability of the LDW module. The technical solution is as follows:

[0004] In one aspect, a vehicle testing module is provided, and the vehicle control system includes the vehicle testing module, an LDW module, and a vehicle controller, wherein the vehicle testing module and the vehicle controller are connected with the LDW module respectively.

[0005] The LDW module is configured to collect road environment data of the vehicle, and generate warning information based on the road environment data.

[0006] The vehicle controller is configured to control the vehicle to send a warning signal based on the warning information, and the warning signal is used to prompt the vehicle to deviate from a lane line.

[0007] The vehicle testing module is configured to test the performance of the LDW module based on a time at which the vehicle sends the warning signal.

[0008] Optionally, the vehicle testing module is configured to:

[0009] determine a distance at which the vehicle deviates from the lane line when the vehicle sends the warning signal based on the time at which the vehicle sends the warning signal.

[0010] test the performance of the LDW module based on the distance at which the vehicle deviates from the lane line when the vehicle sends the warning signal and a target distance.

[0011] Optionally, the vehicle testing module is configured to:

[0012] if a difference between the distance of the vehicle from the lane line when the vehicle sends the warning signal and the target distance is lower than a reference difference, determining that the performance of the LDW module is a first level performance;

[0013] if the difference between the distance of the vehicle from the lane line when the vehicle sends the warning signal and the target distance exceeds the reference difference, determining that the performance of the LDW module is a second level performance, which is lower than the first level performance.

[0014] Optionally, the vehicle testing module is configured to:

[0015] determine the distance of the vehicle from the lane line when the vehicle sends the warning signal based on a time when the vehicle sends the warning signal and the road environment data collected by the LDW module.

[0016] Optionally, the vehicle testing module comprises an LDW testing component, a camera component and a positioning component, and the camera component and the positioning component are connected to the LDW testing component respectively.

[0017] the LDW testing component is configured to acquire the road environment data collected by the camera component and the positioning component.

[0018] the LDW testing component is further configured to determine the distance of the vehicle from the lane line when the vehicle sends the warning signal based on a time when the vehicle sends the warning signal and the road environment data collected by the camera component and the positioning component.

[0019] Optionally, the vehicle further comprises an on-board diagnostic (OBD) module.

[0020] the vehicle testing module is further configured to acquire the time when the vehicle sends the warning signal collected by the OBD module.

[0021] Optionally, the vehicle testing module is configured to:

[0022] determine a vehicle speed of the vehicle when the vehicle sends the warning signal based on the time when the vehicle sends the warning signal.

[0023] test the performance of the LDW module based on the vehicle speed of the vehicle when the vehicle sends the warning signal and a target vehicle speed.

[0024] Optionally, the vehicle testing module is configured to:

[0025] if the vehicle speed of the vehicle when the vehicle sends the warning signal is lower than the target vehicle speed, determining that the performance of the LDW module is a third level performance.

[0026] If the vehicle speed of the vehicle when the vehicle sends the warning signal exceeds the target vehicle speed, the vehicle test module determines that the performance of the LDW module is fourth-level performance, which is higher than the third-level performance.

[0027] In another aspect, a vehicle test method is provided, which is applied to a vehicle control system including a vehicle test module, a lane departure warning (LDW) module, and a vehicle controller;

[0028] The method includes:

[0029] The LDW module collects road environment data of the vehicle and generates warning information based on the road environment data;

[0030] The vehicle controller controls the vehicle to send a warning signal based on the warning information, the warning signal being used to prompt the vehicle to deviate from a lane line;

[0031] The vehicle test module tests the performance of the LDW module based on the time when the vehicle sends the warning signal.

[0032] Optionally, the vehicle test module tests the performance of the LDW module based on the time when the vehicle sends the warning signal, including:

[0033] The vehicle test module determines the distance of the vehicle from the lane line when the vehicle sends the warning signal based on the time when the vehicle sends the warning signal.

[0034] The vehicle test module tests the performance of the LDW module based on the distance of the vehicle from the lane line when the vehicle sends the warning signal and a target distance.

[0035] Optionally, the vehicle test module tests the performance of the LDW module based on the distance of the vehicle from the lane line when the vehicle sends the warning signal and the target distance, including:

[0036] If the difference between the distance of the vehicle from the lane line when the vehicle sends the warning signal and the target distance is lower than a reference difference, the vehicle test module determines that the performance of the LDW module is first-level performance.

[0037] If the difference between the distance of the vehicle from the lane line when the vehicle sends the warning signal and the target distance exceeds the reference difference, the vehicle test module determines that the performance of the LDW module is second-level performance, which is lower than the first-level performance.

[0038] Optionally, the vehicle testing module determines the distance of the vehicle from the lane line when the vehicle issues the warning signal based on the time when the vehicle issues the warning signal.

[0039] The vehicle testing module determines the distance of the vehicle from the lane line when the vehicle issues the warning signal based on the time when the vehicle issues the warning signal and the road environment data collected by the LDW module.

[0040] Optionally, the vehicle testing module comprises an LDW testing component, a camera component and a positioning component, and the camera component and the positioning component are connected to the LDW testing component respectively.

[0041] The method further comprises:

[0042] The LDW testing component acquires the road environment data collected by the camera component and the positioning component.

[0043] The LDW testing component determines the distance of the vehicle from the lane line when the vehicle issues the warning signal based on the time when the vehicle issues the warning signal and the road environment data collected by the camera component and the positioning component.

[0044] Optionally, the vehicle further comprises an on-board diagnostic (OBD) module.

[0045] The method further comprises:

[0046] The vehicle testing module acquires the time when the vehicle issues the warning signal collected by the OBD module.

[0047] Optionally, the method further comprises:

[0048] The vehicle testing module determines the speed of the vehicle when the vehicle issues the warning signal based on the time when the vehicle issues the warning signal.

[0049] The vehicle testing module tests the performance of the LDW module based on the speed of the vehicle when the vehicle issues the warning signal and a target speed.

[0050] Optionally, the vehicle testing module tests the performance of the LDW module based on the speed of the vehicle when the vehicle issues the warning signal and a target speed, comprising:

[0051] If the speed of the vehicle when the vehicle issues the warning signal is lower than the target speed, the vehicle testing module determines that the performance of the LDW module is a third level performance.

[0052] If the vehicle speed of the vehicle when the vehicle sends the warning signal exceeds the target vehicle speed, the vehicle test module determines that the performance of the LDW module is fourth level performance, which is higher than the third level performance.

[0053] In another aspect, a computer device is provided, which includes a memory for storing a computer program and a processor for executing the computer program stored on the memory to implement the steps of the vehicle test method.

[0054] In another aspect, a computer readable storage medium is provided, which stores a computer program, and the computer program, when executed by a processor, implements the steps of the vehicle test method.

[0055] In another aspect, a computer program product containing instructions is provided, which, when executed on a computer, causes the computer to perform the steps of the vehicle test method.

[0056] The technical solutions provided by the embodiments of the present application can bring at least the following beneficial effects:

[0057] The vehicle control system provided by the embodiments of the present application includes a vehicle test module, an LDW module and a vehicle controller. When the LDW module generates warning information to make the vehicle controller control the vehicle to send a warning signal, the vehicle test module can test the performance of the LDW module according to the process of the vehicle sending the warning signal. Therefore, the vehicle test module in the embodiments of the present application can evaluate the performance of the LDW module through the linkage with other devices on the vehicle, so as to optimize and improve the LDW module in time. BRIEF DESCRIPTION OF DRAWINGS

[0058] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort.

[0059] Figure 1 is a structural schematic diagram of a vehicle control system provided by the embodiments of the present application;

[0060] Figure 2 is a structural schematic diagram of a vehicle control system provided by the embodiments of the present application;

[0061] Figure 3 is a structural schematic diagram of a vehicle control system in a project development scenario provided by the embodiments of the present application;

[0062] Figure 4 is a structural schematic diagram of a vehicle control system in a vehicle acceptance scene provided by an embodiment of the present application.

[0063] Figure 5 is a flowchart of a vehicle testing method provided by an embodiment of the present application. DETAILED DESCRIPTION

[0064] To make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the embodiments of the present application will be further described in detail below with reference to the drawings.

[0065] Before the embodiments of the present application are explained in detail, the application scenarios provided by the embodiments of the present application are introduced.

[0066] In recent years, more and more vehicles are configured with LDW modules. The LDW module can remind the driver of the behavior of not realizing that the vehicle is pressing the line during the driving of the vehicle, so as to reduce the occurrence of lane deviation accidents and help driving safety. In the development process of the LDW module, the performance of the LDW module needs to be tested to improve the reliability of the LDW module.

[0067] Therefore, the embodiments of the present application provide a vehicle control system based on which the performance of the LDW module can be tested.

[0068] The vehicle control system in the embodiments of the present application is described below.

[0069] The embodiments of the present application provide a vehicle control system, as shown in the figure, the vehicle control system comprises a vehicle testing module 101, an LDW module 102 and a vehicle controller 103, wherein the vehicle testing module 101 and the vehicle controller 103 are connected with the LDW module 102 respectively. Figure 1

[0070] Among them, the LDW module 102 is used to collect road environment data of the vehicle, and generate early warning information based on the road environment data. The vehicle controller 103 is used to control the vehicle to send a warning signal based on the early warning information, and the warning signal is used to prompt the vehicle to deviate from the lane line. The vehicle testing module 101 is used to test the performance of the LDW module 102 based on the time when the vehicle sends the warning signal.

[0071] Among them, the vehicle is a traffic tool driven by an engine, and the type of the vehicle is not limited in the embodiments of the present application. The LDW module 102 is a module capable of realizing vehicle deviation warning function. The vehicle controller 103 is an electronic computer controlled by the central control system of the vehicle.

[0072] ​For example, the LDW module 102 can include a camera and an LDW controller. The camera is configured to collect road environment data of the vehicle and send the collected road environment data to the LDW controller in real time. The LDW controller is configured to process the road environment data to obtain a distance between the vehicle and a lane line. Based on the distance between the vehicle and the lane line, the LDW controller generates a warning information and sends the warning information to the vehicle controller 103. The warning information can be information that the vehicle deviates from the lane line. The vehicle controller 103 generates a warning signal based on the warning information to remind the driver that the vehicle deviates from the lane line.

[0073] The road environment data can be a video stream of a road on which the vehicle travels. The LDW controller can determine a distance between the vehicle and the lane line in each frame of the video stream (the distance between the vehicle and the lane line). Since each frame of the video stream corresponds to different times, the LDW controller can obtain a first correspondence relationship, which includes a plurality of times and a plurality of distances between the vehicle and the lane line corresponding to the plurality of times. The distance between the vehicle and the lane line can be determined by a distance between a position of the vehicle and a position of the lane line. The position of the vehicle can be a position of a center line of the vehicle or a position of a wheel of the vehicle, which is not limited in the embodiments of the present application.

[0074] After obtaining the first correspondence relationship, the LDW controller can compare the distances between the vehicle and the lane line with a preset distance to determine whether the vehicle deviates from the lane line. The preset distance is a relatively close distance between the vehicle and the lane line. The preset distance can be set in advance, for example, the preset distance can be set to 0.3 meters, which is not limited in the embodiments of the present application.

[0075] When the distance between a certain vehicle and the lane line is less than the preset distance, the LDW controller can determine a time corresponding to the distance between the vehicle and the lane line from the first correspondence relationship, and determine that the vehicle deviates from the lane line at the time. At this time, the driver on the vehicle needs to be reminded in time to pay attention to traffic safety.

[0076] Therefore, the LDW controller can generate a warning information and send the warning information to the vehicle controller 103. When the vehicle controller 103 receives the warning information, the vehicle controller 103 can control the vehicle to generate a warning signal to prompt the vehicle to deviate from the lane line, and the driver needs to adjust the vehicle in time.

[0077] The vehicle controller 103 can send a warning signal in the form of a vibration reminder, a sound reminder, an animation reminder, etc. The vibration reminder can be a vibration of the steering wheel and / or a vibration of the driver's seat belt controlled by the vehicle controller 103 to remind the driver. The sound reminder can be a reminder sound emitted by the vehicle controlled by the vehicle controller 103 to remind the driver, which can be recorded in advance. The animation reminder can be a reminder animation played on the vehicle instrument panel controlled by the vehicle controller 103 to remind the driver, which can also be recorded in advance.

[0078] After the vehicle sends the warning signal, the vehicle test module 101 can test the performance of the LDW module 102 based on the time when the vehicle sends the warning signal.

[0079] In some embodiments, the implementation process of the vehicle test module 101 for testing the performance of the LDW module 102 based on the time when the vehicle sends the warning signal can be: determining the distance of the vehicle from the lane line when the vehicle sends the warning signal based on the time when the vehicle sends the warning signal, and testing the performance of the LDW module based on the distance of the vehicle from the lane line when the vehicle sends the warning signal and the target distance.

[0080] The target distance is the closer distance between the vehicle and the lane line, which can be set in advance. The target distance can be the same as the preset distance or less than the preset distance, which is not limited in the embodiments of the present application.

[0081] Optionally, the vehicle control system can further include an OBD (On Board Diagnostics) module. The OBD module is configured to collect the time when the vehicle sends the warning signal and send the time when the vehicle sends the warning signal to the vehicle test module 101. The vehicle test module 101 obtains the time when the vehicle sends the warning signal.

[0082] After obtaining the time when the vehicle sends the warning signal, the vehicle test module 101 can determine the distance of the vehicle from the lane line when the vehicle sends the warning signal. The vehicle test module 101 can determine the distance of the vehicle from the lane line when the vehicle sends the warning signal in the following two ways.

[0083] In one possible implementation, the vehicle test module 101 can determine the distance of the vehicle from the lane line when the vehicle sends the warning signal based on the time when the vehicle sends the warning signal and the road environment data collected by the LDW module 102.

[0084] Specifically, after acquiring the vehicle's road environment data, the LDW102 module can send this data to the vehicle testing module 101. The vehicle testing module 101 then obtains a first correspondence based on this road environment data. When the vehicle testing module 101 receives the time when the vehicle issued a warning signal, it can determine the distance the vehicle deviates from the lane line corresponding to that time from the first correspondence. The process by which the vehicle testing module 101 obtains the first correspondence based on the road environment data can be referenced from the aforementioned content regarding the LDW controller obtaining the first correspondence based on road environment data, and will not be repeated here.

[0085] In another possible implementation, such as Figure 2 As shown, the vehicle testing module 101 includes an LDW (Lane Departure Warning) testing component, a camera component, and a positioning component, with the camera component and positioning component connected to the LDW testing component. The camera component and positioning component collect road environment data and send the collected data to the LDW testing component. Based on the time the vehicle issues a warning signal and the road environment data, the LDW testing component determines the distance the vehicle deviates from the lane line when the warning signal is issued.

[0086] The camera component can be, for example, a camera, and the positioning component can be, for example, a locator. The camera component captures video streams of the vehicle's path and sends the captured video streams to the LDW test component. The positioning component determines the vehicle's position and sends the captured vehicle position to the LDW test component. Thus, the LDW test component can determine the distance the vehicle deviates from the lane lines based on the lane lines in the video stream and the vehicle's position, thereby obtaining a first correspondence. The first correspondence includes multiple time points and multiple vehicle distances from the lane lines corresponding one-to-one with each of these time points.

[0087] When the LDW test component obtains the time when the vehicle issues a warning signal, it can determine the distance of the vehicle deviating from the lane line corresponding to the time when the vehicle issues a warning signal from the first correspondence.

[0088] Therefore, the difference between the two implementation methods lies in the different sources of road environment data. Corresponding to the different sources of road environment data, the two implementation methods in this application embodiment can be applied to different scenarios.

[0089] The first implementation method can be applied in project development and testing scenarios. During project development, the vehicle testing module can directly evaluate the performance of the LDW module based on the road environment data collected by the LDW module. The vehicle control system no longer needs to deploy other equipment to obtain road environment data, which can effectively reduce costs.

[0090] The second implementation manner can be applied in a scenario of a whole vehicle acceptance test. The vehicle test module additionally deploys a camera component, a positioning component and an LDW test component. The LDW test component evaluates the performance of the LDW module based on the road environment data collected by the camera component and the positioning component. That is, the vehicle test module can evaluate the performance of the LDW module based on the road environment data collected by the components of the vehicle test module.

[0091] After obtaining the distance of the vehicle from the lane line when the vehicle sends the warning signal, the vehicle test module 101 tests the performance of the LDW module 102 based on the distance of the vehicle from the lane line when the vehicle sends the warning signal and the target distance.

[0092] In some embodiments, the implementation process of the vehicle test module 101 testing the performance of the LDW module 102 based on the distance of the vehicle from the lane line when the vehicle sends the warning signal and the target distance can be as follows: if the difference between the distance of the vehicle from the lane line when the vehicle sends the warning signal and the target distance is lower than a reference difference, it is determined that the performance of the LDW module 102 is a first level performance. If the difference between the distance of the vehicle from the lane line when the vehicle sends the warning signal and the target distance exceeds the reference difference, it is determined that the performance of the LDW module 102 is a second level performance, which is lower than the first level performance.

[0093] The reference difference is a very small value, which can be set in advance, and the embodiments of the present application are not limited in this regard.

[0094] If the difference between the distance of the vehicle from the lane line when the vehicle sends the warning signal and the target distance is lower than the reference difference, it indicates that the lane deviation warning performance of the LDW module 102 is good. If the difference between the distance of the vehicle from the lane line when the vehicle sends the warning signal and the target distance exceeds the reference difference, it indicates that the lane deviation warning performance of the LDW module 102 is insufficient. In this way, the subsequent developers can optimize and improve the LDW module 102 in time.

[0095] For example, the reference difference is set to 0.1. The target distance is set to 0.2 meters, that is, the LDW module 102 can generate the warning information only when the distance of the vehicle from the lane line is 0.2 meters, so that the whole vehicle controller 103 controls the vehicle to send the warning signal. If the distance of the vehicle from the lane line when the vehicle sends the warning signal is also 0.2 meters, which is the same as the target distance, it indicates that the lane deviation warning performance of the LDW module is very good. If the distance of the vehicle from the lane line when the vehicle sends the warning signal is 0.5 meters, which exceeds the reference difference, it indicates that the time of the LDW module 102 generating the warning information is not correct, and the lane deviation warning performance needs to be optimized and improved.

[0096] In addition, when the vehicle deviates from the lane line, if the vehicle speed of the vehicle is low, a traffic accident will not occur in a short time, and the driver has enough reaction time to adjust the vehicle by himself. In this way, it is not necessary to generate a warning information by the LDW module, and the vehicle controller controls the vehicle to issue a warning signal to remind the driver based on the warning information.

[0097] Therefore, in the embodiments of the present application, a higher vehicle speed can be set as the target vehicle speed, and the vehicle test module 101 determines the performance of the LDW module 102 based on the comparison between the vehicle speed of the vehicle when the vehicle issues a warning signal and the target vehicle speed.

[0098] Based on this, in some embodiments, the vehicle test module 101 can determine the vehicle speed of the vehicle when the vehicle issues a warning signal based on the time when the vehicle issues a warning signal, and test the performance of the LDW module 102 based on the vehicle speed of the vehicle when the vehicle issues a warning signal and the target vehicle speed.

[0099] The target vehicle speed is a higher vehicle speed value, which can be set in advance, and the embodiments of the present application do not limit it.

[0100] For example, the OBD module can collect the vehicle speed of the vehicle and send the vehicle speed of the vehicle to the vehicle test module 101. The vehicle test module 101 can determine the vehicle speed of the vehicle when the vehicle issues a warning signal based on the time when the vehicle issues a warning signal.

[0101] Specifically, the OBD module collects the vehicle speed of the vehicle in real time and sends the vehicle speed of the vehicle to the vehicle test module 101 in real time. The vehicle test module 101 determines the vehicle speed of the vehicle when the vehicle issues a warning signal from the received multiple vehicle speeds. So as to subsequently test the performance of the LDW module based on the vehicle speed of the vehicle when the vehicle issues a warning signal and the target vehicle speed.

[0102] For example, the implementation process of the vehicle test module 101 testing the performance of the LDW module 102 based on the vehicle speed of the vehicle when the vehicle issues a warning signal and the target vehicle speed can be: if the vehicle speed of the vehicle when the vehicle issues a warning signal is lower than the target vehicle speed, it is determined that the performance of the LDW module is the third level performance. If the vehicle speed of the vehicle when the vehicle issues a warning signal exceeds the target vehicle speed, it is determined that the performance of the LDW module is the fourth level performance, and the fourth level performance is higher than the third level performance.

[0103] For example, the target vehicle speed is set to 50 km / h. If the vehicle speed of the vehicle when the vehicle issues a warning signal is 70 km / h, it indicates that the lane deviation warning performance of the LDW module is good. If the vehicle speed of the vehicle when the vehicle issues a warning signal is 30 km / h, it indicates that the lane deviation warning performance of the LDW module 102 needs to be optimized and improved.

[0104] In addition, the LDW module 102 can generate the warning information when the vehicle is still far away from the lane line, so that the vehicle controller controls the vehicle to generate the warning signal. The LDW module 102 can also not generate the warning information when the vehicle is close to the lane line, so that the vehicle controller does not control the vehicle to generate the warning signal. These two abnormal working states can reduce the performance of the LDW module 102. Therefore, the embodiments of the present application can also determine the performance of the LDW module 102 based on the time when the vehicle controller controls the vehicle to generate the warning signal and the warning time. The warning time is the time when the vehicle test module 101 determines that the vehicle needs to generate the warning signal.

[0105] Specifically, the OBD module can collect the time when the vehicle generates the warning signal each time to obtain the time when the vehicle generates the warning signal multiple times, and send the time when the vehicle generates the warning signal multiple times to the vehicle test module 101.

[0106] Based on the above description, the vehicle test module 101 can obtain a first correspondence relationship according to the road environment data. The first correspondence relationship includes a plurality of times and a plurality of distances of the vehicle deviating from the lane line corresponding to the plurality of times. Therefore, the vehicle test module 101 can determine the distances between the target distance and the distances whose difference is lower than the reference difference from the plurality of distances of the vehicle deviating from the lane line, and these distances are called warning distances. The vehicle test module 101 can obtain a plurality of warning times corresponding to the warning distances from the first correspondence relationship.

[0107] In addition, the OBD module sends the collected time when the vehicle generates the warning signal multiple times to the vehicle test module 101. The vehicle test module 101 can pair the plurality of warning times with the plurality of times when the vehicle generates the warning signal. If a time in the plurality of warning times does not exist in the plurality of times when the vehicle generates the warning signal, it is considered that the LDW module 102 has a missing report behavior. If a time when the vehicle generates the warning signal in the plurality of times when the vehicle generates the warning signal does not exist in the plurality of warning times, it is considered that the LDW module 102 has a false report behavior. In this way, the vehicle test module 101 can count the number of times of the missing report and the false report of the LDW module 102, and determine the performance of the LDW module 102 according to the number of times of the missing report and the false report of the LDW module 102.

[0108] For example, if the number of times of the missing report of the LDW module 102 is less than a first reference number, it is determined that the performance of the LDW module is a fifth level performance. If the number of times of the missing report of the LDW module 102 exceeds the first reference number, it is determined that the performance of the LDW module is a sixth level performance, and the sixth level performance is lower than the fifth level performance.

[0109] The first reference number is a very small value, and the first reference number can be preset.

[0110] For example, if the number of false positives of the LDW module 102 is less than a second reference number, it is determined that the performance of the LDW module is a seventh level of performance, and if the number of false positives of the LDW module 102 exceeds the second reference number, it is determined that the performance of the LDW module is an eighth level of performance, and the eighth level of performance is lower than the seventh level of performance.

[0111] The second reference number is a very small value, and the second reference number can be preset. The second reference number can be the same as the first reference number, or different from the first reference number. The embodiments of the present application do not limit this.

[0112] For example, the vehicle test module 101 can also count the number of false positives and false negatives of the LDW module 102, and determine the performance of the LDW module 102 based on the number of false positives and false negatives of the LDW module 102 and a third reference number.

[0113] If the number of false positives and false negatives of the LDW module 102 is less than the third reference number, it is determined that the performance of the LDW module is a ninth level of performance, and if the number of false positives and false negatives of the LDW module 102 exceeds the third reference number, it is determined that the performance of the LDW module is a tenth level of performance, and the tenth level of performance is lower than the ninth level of performance.

[0114] The third reference number is a very small value, and the third reference number can be preset. The third reference number can be the same as the first reference number or the second reference number, or different from the first reference number and the second reference number. The embodiments of the present application do not limit this.

[0115] The vehicle control system will be further described in two scenarios.

[0116] Figure 3 is a structural schematic diagram of a vehicle control system in a project development scenario provided by the embodiments of the present application. As shown in Figure 3 The vehicle control system includes a vehicle test module, an LDW module, an OBD module, a bypass acquisition module, and a vehicle controller.

[0117] The LDW module is configured to acquire road environment data of the vehicle, and generate a warning information based on the road environment data. The bypass acquisition module is configured to send the warning information generated by the LDW module to the vehicle controller. The vehicle controller is configured to control the vehicle to send a warning signal based on the warning information, and the warning signal is configured to prompt the vehicle to deviate from the lane line.

[0118] The OBD module is configured to collect a time when the vehicle sends the warning signal, and send the time when the vehicle sends the warning signal to the vehicle test module. The bypass collection module is further configured to send the road environment data collected by the LDW module to the vehicle test module, so that the vehicle test module tests the performance of the LDW module based on the time when the vehicle sends the warning signal and the road environment data collected by the LDW module.

[0119] Figure 4 is a structural schematic diagram of a vehicle control system in a vehicle acceptance scene provided by the embodiment of the present application. As shown in the figure, Figure 4 The vehicle control system includes a vehicle test module, an LDW module, an OBD module, and a vehicle controller. The vehicle test module includes an LDW test component, a camera component, and a positioning component.

[0120] The camera component and the positioning component are configured to collect road environment data and send the road environment data to the LDW test component. The OBD module is configured to collect a time when the vehicle sends the warning signal, and send the time when the vehicle sends the warning signal to the vehicle test component. So that the vehicle test component tests the performance of the LDW module based on the time when the vehicle sends the warning signal and the road environment data collected by the LDW module.

[0121] In the embodiment of the present application, the LDW module collects road environment data of the vehicle, and generates warning information based on the road environment data. The vehicle controller controls the vehicle to send a warning signal based on the warning information, and the vehicle test module tests the performance of the LDW module based on the time when the vehicle sends the warning signal. Therefore, the vehicle test module in the embodiment of the present application can quickly test the performance of the LDW module through the linkage with other devices on the vehicle, so that the developer can optimize and improve the LDW module in time.

[0122] The embodiment of the present application further provides a vehicle test method, Figure 5 is a flowchart of a vehicle test method provided by the embodiment of the present application. The vehicle test method is applied to a vehicle control system, and the vehicle control system includes a vehicle test module, an LDW module, and a vehicle controller. The method includes the following steps:

[0123] Step 501: The LDW module collects road environment data of the vehicle, and generates warning information based on the road environment data;

[0124] Step 502: The vehicle controller controls the vehicle to send a warning signal based on the warning information, and the warning signal is used to prompt the vehicle to deviate from the lane line;

[0125] Step 503: The vehicle test module tests the performance of the LDW module based on the time when the vehicle sends the warning signal.

[0126] Optionally, the vehicle testing module tests the performance of the LDW module based on the time when the vehicle sends the warning signal, including:

[0127] The vehicle testing module determines the distance of the vehicle from the lane line when the vehicle sends the warning signal based on the time when the vehicle sends the warning signal.

[0128] The vehicle testing module tests the performance of the LDW module based on the distance of the vehicle from the lane line when the vehicle sends the warning signal and the target distance.

[0129] Optionally, the vehicle testing module tests the performance of the LDW module based on the distance of the vehicle from the lane line when the vehicle sends the warning signal and the target distance, including:

[0130] If the difference between the distance of the vehicle from the lane line when the vehicle sends the warning signal and the target distance is lower than a reference difference, the vehicle testing module determines that the performance of the LDW module is a first level of performance.

[0131] If the difference between the distance of the vehicle from the lane line when the vehicle sends the warning signal and the target distance exceeds the reference difference, the vehicle testing module determines that the performance of the LDW module is a second level of performance, which is lower than the first level of performance.

[0132] Optionally, the vehicle testing module determines the distance of the vehicle from the lane line when the vehicle sends the warning signal based on the time when the vehicle sends the warning signal, including:

[0133] The vehicle testing module determines the distance of the vehicle from the lane line when the vehicle sends the warning signal based on the time when the vehicle sends the warning signal and the road environment data collected by the LDW module.

[0134] Optionally, the vehicle testing module includes an LDW testing component, a camera component, and a positioning component, and the camera component and the positioning component are connected to the LDW testing component, respectively.

[0135] The method further includes:

[0136] The LDW testing component acquires the road environment data collected by the camera component and the positioning component.

[0137] The LDW testing component determines the distance of the vehicle from the lane line when the vehicle sends the warning signal based on the time when the vehicle sends the warning signal and the road environment data collected by the camera component and the positioning component.

[0138] Optionally, the vehicle further includes an on-board diagnostic (OBD) module.

[0139] The method further includes:

[0140] The vehicle testing module acquires the time when the vehicle sends the warning signal collected by the OBD module.

[0141] Optionally, the method further comprises:

[0142] The vehicle test module determines a vehicle speed of the vehicle when the vehicle sends the warning signal based on a time when the vehicle sends the warning signal.

[0143] The vehicle test module tests the performance of the LDW module based on the vehicle speed of the vehicle when the vehicle sends the warning signal and the target vehicle speed.

[0144] Optionally, the vehicle test module tests the performance of the LDW module based on the vehicle speed of the vehicle when the vehicle sends the warning signal and the target vehicle speed, comprising:

[0145] If the vehicle speed of the vehicle when the vehicle sends the warning signal is lower than the target vehicle speed, the vehicle test module determines that the performance of the LDW module is a third level performance.

[0146] If the vehicle speed of the vehicle when the vehicle sends the warning signal exceeds the target vehicle speed, the vehicle test module determines that the performance of the LDW module is a fourth level performance, and the fourth level performance is higher than the third level performance.

[0147] The vehicle test method provided by the above embodiments and the vehicle control system belong to the same concept, and the specific implementation process is detailed in the embodiments of the vehicle control system, which will not be described here.

[0148] In the embodiments of the present application, the LDW module collects road environment data of the vehicle and generates warning information based on the road environment data. The vehicle controller controls the vehicle to send a warning signal based on the warning information, and the vehicle test module tests the performance of the LDW module based on the time when the vehicle sends the warning signal. Therefore, the vehicle test module in the embodiments of the present application can quickly test the performance of the LDW module through the linkage with other devices on the vehicle, so that the developers can optimize and improve the LDW module in time.

[0149] In some embodiments, a computer readable storage medium is also provided, and the storage medium stores a computer program. The computer program is executed by a processor to implement the steps of the vehicle test method in the above embodiments. For example, the computer readable storage medium can be a ROM, a RAM, a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0150] It is worth noting that the computer readable storage medium mentioned in the embodiments of the present application can be a non-volatile storage medium, in other words, a non-transitory storage medium.

[0151] It should be understood that all or part of the steps of the above-mentioned embodiments can be realized by software, hardware, firmware or any combination thereof. When realized by software, it can be realized in the form of a computer program product in whole or in part. The computer program product includes one or more computer instructions. The computer instructions can be stored in the computer readable storage medium described above.

[0152] That is, in some embodiments, a computer program product including instructions which, when executed on a computer, cause the computer to perform the steps of the vehicle testing method described above is also provided.

[0153] It should be noted that the information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data for analysis, stored data, displayed data, etc.) and signals involved in the embodiments of the present application are all authorized by the user or fully authorized by all parties, and the collection, use and processing of related data need to comply with relevant laws, regulations and standards of relevant countries and regions.

[0154] It should be understood that "at least one" referred to herein means one or more, and "multiple" means two or more. In the description of the embodiments of the present application, unless otherwise specified, " / " represents the meaning of or, for example, A / B can represent A or B; "and / or" herein is only a description of the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in order to clearly describe the technical solutions of the embodiments of the present application, "first", "second" and the like are used to distinguish the same items or similar items with basically the same functions and effects in the embodiments of the present application. Those skilled in the art can understand that "first", "second" and the like do not limit the quantity and execution order, and "first", "second" and the like do not necessarily mean different.

[0155] The above describes the embodiments provided by the present application, and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A vehicle control system characterized by comprising: The vehicle control system comprises a vehicle test module, a lane departure warning (LDW) module and a vehicle controller, wherein the vehicle test module and the vehicle controller are connected with the LDW module respectively; The LDW module is configured to collect road environment data of the vehicle and generate a warning information based on the road environment data; The LDW module is configured to not generate the warning information when the vehicle speed is lower than a target vehicle speed; The vehicle controller is configured to control the vehicle to send a warning signal based on the warning information, wherein the warning signal is used to prompt the vehicle to deviate from a lane line; The vehicle test module is configured to test the performance of the LDW module based on the time when the vehicle sends the warning signal; the vehicle test module is configured to determine the vehicle speed when the vehicle sends the warning signal based on the time when the vehicle sends the warning signal; if the vehicle speed when the vehicle sends the warning signal is lower than the target vehicle speed, it is determined that the performance of the LDW module is a third level performance; if the vehicle speed when the vehicle sends the warning signal is higher than the target vehicle speed, it is determined that the performance of the LDW module is a fourth level performance, wherein the fourth level performance is higher than the third level performance; An OBD module is configured to send the time when the vehicle sends the warning signal multiple times to the vehicle test module; The vehicle test module is configured to obtain a first correspondence relationship based on the road environment data; the first correspondence relationship comprises a plurality of times and a plurality of distances of the vehicle deviating from the lane line corresponding to the plurality of times; The vehicle test module is configured to determine a distance from the plurality of distances of the vehicle deviating from the lane line, wherein the difference between the distance and a target distance is lower than a reference difference, and the distance is referred to as a warning distance; The vehicle test module is configured to obtain a plurality of warning times corresponding to the warning distance from the first correspondence relationship; The plurality of warning times and the plurality of times when the vehicle sends the warning signal are paired one by one; if a certain time in the plurality of warning times does not exist in the plurality of times when the vehicle sends the warning signal, it is considered that the LDW module has a missing report behavior; if a certain time when the vehicle sends the warning signal in the plurality of times when the vehicle sends the warning signal does not exist in the plurality of warning times, it is considered that the LDW module has a false report behavior; The vehicle test module is configured to determine that the performance of the LDW module is a fifth level performance if the number of missing reports of the LDW module is less than a first reference number, and determine that the performance of the LDW module is a sixth level performance if the number of missing reports of the LDW module exceeds the first reference number, wherein the sixth level performance is lower than the fifth level performance; The vehicle test module is configured to determine that the performance of the LDW module is a seventh level performance if the number of false reports of the LDW module is less than a second reference number, and determine that the performance of the LDW module is an eighth level performance if the number of false reports of the LDW module exceeds the second reference number, wherein the eighth level performance is lower than the seventh level performance.

2. The vehicle control system of claim 1, wherein The vehicle test module is configured to: determine the distance of the vehicle deviating from the lane line when the vehicle sends the warning signal based on the time when the vehicle sends the warning signal. Test the performance of the LDW module based on the distance of the vehicle from the lane line when the vehicle sends out the warning signal and the target distance.

3. The vehicle control system of claim 2, wherein The vehicle test module is configured to: If the difference between the distance of the vehicle from the lane line when the vehicle sends out the warning signal and the target distance is lower than a reference difference, determine that the performance of the LDW module is a first level of performance; If the difference between the distance of the vehicle from the lane line when the vehicle sends out the warning signal and the target distance exceeds the reference difference, determine that the performance of the LDW module is a second level of performance, which is lower than the first level of performance.

4. The vehicle control system of claim 2, wherein The vehicle test module is configured to: Determine the distance of the vehicle from the lane line when the vehicle sends out the warning signal based on the time when the vehicle sends out the warning signal and the road environment data collected by the LDW module.

5. The vehicle control system of claim 2, wherein The vehicle test module comprises an LDW test component, a camera component and a positioning component, and the camera component and the positioning component are connected to the LDW test component respectively; The LDW test component is configured to acquire the road environment data collected by the camera component and the positioning component; The LDW test component is further configured to determine the distance of the vehicle from the lane line when the vehicle sends out the warning signal based on the time when the vehicle sends out the warning signal and the road environment data collected by the camera component and the positioning component.

6. The vehicle control system of claim 1, wherein The vehicle control system further comprises an on-board diagnostic (OBD) module; The vehicle test module is further configured to acquire the time when the vehicle sends out the warning signal collected by the OBD module.

7. The vehicle control system of claim 1, wherein The vehicle test module is configured to: Determine the speed of the vehicle when the vehicle sends out the warning signal based on the time when the vehicle sends out the warning signal; Test the performance of the LDW module based on the speed of the vehicle when the vehicle sends out the warning signal and a target speed.

8. A vehicle testing method characterized by, The method is applied to a vehicle control system, and the vehicle control system comprises a vehicle test module, a lane departure warning (LDW) module and a vehicle controller; The method comprises: The LDW module collects road environment data of the vehicle and generates warning information based on the road environment data; the LDW module does not generate warning information when the speed of the vehicle is lower than a target speed; The vehicle controller controls the vehicle to send out a warning signal based on the warning information, and the warning signal is used to prompt the vehicle to deviate from the lane line; The vehicle test module tests the performance of the LDW module based on the time when the vehicle sends out the warning signal; the vehicle test module determines the speed of the vehicle when the vehicle sends out the warning signal based on the time when the vehicle sends out the warning signal, and if the speed of the vehicle when the vehicle sends out the warning signal is lower than the target speed, it is determined that the performance of the LDW module is a third level of performance; if the speed of the vehicle when the vehicle sends out the warning signal exceeds the target speed, it is determined that the performance of the LDW module is a fourth level of performance, which is higher than the third level of performance; The OBD module sends the collected time when the vehicle sends out the warning signal to the vehicle test module; The vehicle test module obtains a first correspondence relationship according to the road environment data; the first correspondence relationship includes a plurality of times and a plurality of distances of the vehicle deviating from the lane line corresponding to the plurality of times one by one; The vehicle test module determines a distance from the plurality of distances of the vehicle deviating from the lane line, and the distance is referred to as a warning distance, if a difference between the distance and the target distance is lower than a reference difference; and obtains a plurality of warning times corresponding to the warning distance from the first correspondence relationship; pairs the plurality of warning times with a plurality of times of the vehicle sending a warning signal one by one; if a time in the plurality of warning times does not exist in the plurality of times of the vehicle sending the warning signal, it is considered that the LDW module has a missing report behavior; if a time of the vehicle sending the warning signal in the plurality of times of the vehicle sending the warning signal does not exist in the plurality of warning times, it is considered that the LDW module has a false report behavior; If the number of times of the LDW module having the missing report is less than a first reference number, the vehicle test module determines that the performance of the LDW module is a fifth level performance; if the number of times of the LDW module having the missing report exceeds the first reference number, the vehicle test module determines that the performance of the LDW module is a sixth level performance, and the sixth level performance is lower than the fifth level performance; If the number of times of the LDW module having the false report is less than a second reference number, the vehicle test module determines that the performance of the LDW module is a seventh level performance; if the number of times of the LDW module having the false report exceeds the second reference number, the vehicle test module determines that the performance of the LDW module is an eighth level performance, and the eighth level performance is lower than the seventh level performance.

9. The method of claim 8, wherein, The vehicle test module tests the performance of the LDW module based on the time of the vehicle sending the warning signal, including: The vehicle test module determines the distance of the vehicle deviating from the lane line when the vehicle sends the warning signal based on the time of the vehicle sending the warning signal; The vehicle test module tests the performance of the LDW module based on the distance of the vehicle deviating from the lane line when the vehicle sends the warning signal and the target distance.

Images