A test method, device and equipment for intelligent driving assistance system

Abstract

The present application discloses a test method, device and equipment for an intelligent driving assistance system, which obtains a map of a test site; determines the positions of the main vehicle and the target vehicle in the test site based on the map according to the target vehicle on the test site and the main vehicle equipped with the intelligent driving assistance system; continuously sends driving control information to the target vehicle, so that when the target vehicle and the main vehicle meet their respective constraints, the target vehicle drives according to the set state, and the main vehicle follows the target vehicle through the intelligent driving assistance system; obtains the state information and position information of the main vehicle during driving to determine whether the intelligent driving assistance system is qualified. The target vehicle is controlled to drive according to a preset trajectory and a preset speed through the driving control information, so that multiple scene tests of the intelligent driving assistance system can be completed in one test, realizing the automation of the intelligent driving assistance system test and effectively improving the test efficiency of the intelligent driving assistance system.

Description

Technical Field

[0001] The present application relates to the field of vehicle intelligent driving technology, and in particular to a testing method, device and equipment for an intelligent driving assistance system. Background Art

[0002] With the development of technology, cars are also becoming more intelligent, and more and more vehicles are equipped with intelligent assisted driving systems. Intelligent driving assistance systems mainly include: ICA (Intelligent Cruise Assist) intelligent cruise assistance system, TSA (Traffic Sign Recognition) traffic sign recognition system, ISA (Intelligent Speed ​​Assistance) intelligent vehicle speed assistance system, LKA (Lane Keeping Assist) lane keeping assistance and LDW (Lane Departure Warning) lane departure warning, etc.

[0003] Before cars equipped with intelligent driving assistance systems enter the market, the intelligent driving assistance systems need to undergo extensive, repeatable, and multi-level testing and verification in different scenarios to ensure that the intelligent driving assistance systems operate safely and stably within their designed operating domain, thereby ensuring the reliability and safety of cars equipped with intelligent driving assistance systems during operation.

[0004] In the related art, since the intelligent driving assistance system involves a variety of scenarios during testing, it is necessary to reset various test conditions when changing the test scenario after the test is completed in one scenario, such as resetting the road conditions, the driving trajectory and speed of the target vehicle, etc., so that the test conditions meet the test requirements of the new scenario, and both the main vehicle and the target vehicle need to return to the test starting point before the test can begin. This will lead to low test efficiency of the intelligent driving assistance system, lengthen the system test cycle, and increase time and labor costs.

[0005] Therefore, how to efficiently test the intelligent driving assistance system is a technical problem that needs to be solved. Summary of the invention

[0006] The main purpose of this application is to provide a testing method, device and equipment for an intelligent driving assistance system, aiming to solve the technical problem that in the relevant testing schemes of the intelligent driving assistance system, when multiple scenarios need to be tested, each test scenario needs to reset the test conditions, resulting in low testing efficiency.

[0007] In a first aspect, the present application provides a method for testing an intelligent driving assistance system, the method comprising the following steps:

[0008] Get a map of the test site;

[0009] According to the target vehicle and the host vehicle equipped with the intelligent driving assistance system on the test site, positions of the host vehicle and the target vehicle in the test site are determined based on the map;

[0010] Continuously sending driving control information to the target vehicle, so that when the target vehicle and the host vehicle both meet their respective constraint conditions, the target vehicle drives according to a set state, and the host vehicle follows the target vehicle through the intelligent driving assistance system;

[0011] The state information and position information of the host vehicle during driving are obtained to determine whether the intelligent driving assistance system is qualified.

[0012] In some embodiments, the continuously sending the driving control information to the target vehicle so that when the target vehicle and the host vehicle both meet their respective constraint conditions, the target vehicle drives according to the set state specifically comprises the following steps:

[0013] The driving control information is sent to the target vehicle so that when the target vehicle and the host vehicle both meet their respective constraints, the target vehicle controls its own braking mechanism, throttle mechanism and steering mechanism according to the driving control information so that the target vehicle travels according to a set first speed and a set trajectory.

[0014] In some embodiments, the driving control information includes:

[0015] The target vehicle's current position, speed, acceleration, heading angle, set first speed information, and set trajectory information.

[0016] In some embodiments, the step of obtaining the state information and position information of the host vehicle during driving to determine whether the intelligent driving assistance system is qualified specifically includes the following steps:

[0017] Obtaining the speed, acceleration, deceleration and position of the host vehicle in the lane during driving;

[0018] In the scenarios where the target vehicle cuts in front of the main vehicle, the target vehicle decelerates, the target vehicle accelerates, the target vehicle enters a curve, or the target vehicle cuts out, whether the intelligent driving assistance system is qualified is judged based on the speed, acceleration, deceleration, and position of the main vehicle in the lane.

[0019] In some embodiments, in the scenario where the target vehicle cuts in front of the host vehicle, the target vehicle decelerates, the target vehicle accelerates, the target vehicle enters a curve, or the target vehicle cuts out, judging whether the intelligent driving assistance system is qualified according to the speed, acceleration, deceleration, and position of the host vehicle in the lane comprises the following steps:

[0020] In the scenario where the target vehicle cuts in front of the host vehicle, if the host vehicle recognizes the target vehicle through the intelligent driving assistance system and decelerates to the same speed as the target vehicle, the deceleration is within the set deceleration range, and the host vehicle drives steadily in the center of the lane, then the vehicle cut-in scenario test of the intelligent driving assistance system is qualified, otherwise it is unqualified;

[0021] In the scenario where the target vehicle is decelerating, if the host vehicle is decelerated to the same speed as the target vehicle through the intelligent driving assistance system, the deceleration is within the set deceleration range, and the host vehicle is driving steadily and centered in the lane, then the deceleration scenario test of the intelligent driving assistance system is qualified, otherwise it is unqualified;

[0022] In the scenario where the target vehicle is accelerating, if the host vehicle is accelerated to the same speed as the target vehicle through the intelligent driving assistance system, the acceleration is within the set acceleration range, and the host vehicle is driving steadily and centered in the lane, then the acceleration scenario test of the intelligent driving assistance system is qualified, otherwise it is unqualified;

[0023] In the scenario where the target vehicle enters a curve, if the host vehicle follows the target vehicle into the curve through the intelligent driving assistance system, and the host vehicle drives steadily and centered in the lane, the curve scenario test of the intelligent driving assistance system is qualified, otherwise it is unqualified;

[0024] In the scenario where the target vehicle cuts out, if the main vehicle is accelerated to the set second speed through the intelligent driving assistance system, the acceleration is within the set acceleration range, and the main vehicle is driving steadily and centered in the lane, then the vehicle cut-out scenario test of the intelligent driving assistance system is qualified, otherwise it fails.

[0025] In some embodiments, the step of obtaining the state information and position information of the host vehicle during driving to determine whether the intelligent driving assistance system is qualified further comprises the following steps:

[0026] If the main vehicle deviates from the lane, determining the working timing of the LKA function and the LDW function according to the lateral speed of the main vehicle when it deviates from the lane and the lateral distance between the front wheel of the main vehicle and the lane line, as well as the collected trigger signals of the LKA function and the LDW function;

[0027] The timing at which the TSA function and the ISA function recognize the traffic sign is determined according to the time when the host vehicle recognizes the traffic sign and the distance between the host vehicle and the traffic sign.

[0028] In some embodiments, the target vehicle and the host vehicle both satisfy their respective constraints, specifically including:

[0029] The driving speed of the host vehicle reaches a set second speed, and the host vehicle and the target vehicle arrive at a set position.

[0030] The step of obtaining a map of the test site specifically includes the following steps:

[0031] Setting up test facilities on the test site according to test requirements, wherein the test facilities include various road conditions, lane lines, traffic signs and speed limit signs;

[0032] Recording the latitude and longitude information of the test facility through INS;

[0033] The map is constructed according to the latitude and longitude information and the set size of the test facility.

[0034] In a second aspect, the present application further provides a testing device for an intelligent driving assistance system, the device comprising:

[0035] A map building module, which is used to obtain a map of the test site;

[0036] A position determination module, which is used to determine the positions of the host vehicle and the target vehicle in the test site based on the map according to the target vehicle and the host vehicle equipped with an intelligent driving assistance system on the test site;

[0037] A driving control module, which is used to continuously send driving control information to the target vehicle, so that when the target vehicle and the host vehicle both meet their respective constraint conditions, the target vehicle drives according to a set state, and the host vehicle follows the target vehicle through the intelligent driving assistance system;

[0038] The judgment module is used to obtain the state information and position information of the host vehicle during driving to judge whether the intelligent driving assistance system is qualified.

[0039] In a third aspect, the present application also provides a computer device, comprising a processor, a memory, and a computer program stored in the memory and executable by the processor, wherein when the computer program is executed by the processor, the steps of the testing method of the intelligent driving assistance system as described above are implemented.

[0040] The present application provides a test method, device and equipment for an intelligent driving assistance system, which method obtains a map of a test site; determines the positions of the main vehicle and the target vehicle in the test site based on the target vehicle and the main vehicle equipped with an intelligent driving assistance system on the test site and based on the map; continuously sends driving control information to the target vehicle, so that when the target vehicle and the main vehicle meet their respective constraints, the target vehicle drives according to the set state, and the main vehicle follows the target vehicle through the intelligent driving assistance system; obtains the state information and position information of the main vehicle during driving to determine whether the intelligent driving assistance system is qualified. The target vehicle is controlled to drive according to a preset trajectory and a preset speed through driving control information, so that multiple scenario tests of the intelligent driving assistance system can be completed in one test, realizing the automation of the intelligent driving assistance system test and effectively improving the test efficiency of the intelligent driving assistance system. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0042] Figure 1 A flowchart of a testing method for an intelligent driving assistance system provided in an embodiment of the present application;

[0043] Figure 2 This is a schematic diagram of the test site for the intelligent driving assistance system;

[0044] Figure 3 A schematic diagram of the specific process of the test method for the intelligent driving assistance system;

[0045] Figure 4 A schematic block diagram of a testing device for an intelligent driving assistance system provided in an embodiment of the present application;

[0046] Figure 5 The present invention is a block diagram showing the structure of a computer device according to an embodiment of the present application.

[0047] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0048] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0049] The flowcharts shown in the accompanying drawings are only examples and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may also be decomposed, combined or partially merged, so the actual execution order may change according to actual conditions.

[0050] The embodiment of the present application provides a test method, device and equipment for an intelligent driving assistance system. The equipment may be a computer device such as a laptop computer or a desktop computer. The test method for the intelligent driving assistance system may be applied to a computer device.

[0051] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0052] Please refer to Figure 1 , Figure 1 A flowchart of a testing method for an intelligent driving assistance system provided in an embodiment of the present application.

[0053] like Figure 1 As shown, the method includes steps S1 to S4.

[0054] Step S1, obtaining a map of the test site.

[0055] In some embodiments, obtaining a map of the test site specifically includes the following steps:

[0056] According to the test requirements, test facilities are set up on the test site, wherein the test facilities include various road conditions, lane lines, traffic signs and speed limit signs; the longitude and latitude information of the test facilities are recorded through INS; and the map is constructed according to the longitude and latitude information and the set size of the test facilities.

[0057] Exemplary, such as Figure 2As shown, all the facilities required for the intelligent driving assistance system test can be set up on the test site according to the test requirements. For example, to test the ICA function, LKA function and LDW function, straight lanes and curves of various curvatures are set up on the test site, and lane lines are set up on the lanes; to test the TSA function and ISA function, pedestrian traffic signs, stationary parking signs, etc. are set up, and speed limit signs of various speeds are required, and other necessary test facilities can be set up according to the test requirements. The control end records the latitude and longitude information of various facilities in the test site through the INS (Inertial navigation system) combined navigation system, and then constructs a map of the test site according to the set sizes of various test facilities, wherein the map is a high-precision map, and the map includes the location information of various facilities in the test site. The high-precision map is stored in the control end, which is a computer device.

[0058] Among them, ICA stands for Intelligent Cruise Assist, which is used to achieve continuous control of the vehicle's lateral and longitudinal movement by controlling the vehicle's power system, braking system and steering system, so that the vehicle maintains an appropriate distance from the vehicle in front, while keeping the two vehicles in the original lane.

[0059] LKA stands for Lane Keeping Assist, which is used to monitor the relative position of the vehicle and the lane edge in real time during vehicle driving, and to control the lateral movement of the vehicle continuously or when necessary to keep the vehicle in its original lane.

[0060] LDW stands for Lane Departure Warning, which is used to monitor the vehicle's driving status in the lane in real time and issue a warning message when a lane departure that is not intended by the driver occurs or is about to occur.

[0061] TSR stands for Traffic Sign Recognition, which is used to automatically identify road traffic signs through a camera and display them on the instrument panel to assist the driver in obtaining road traffic sign information.

[0062] ISA stands for Intelligent Speed ​​Assistance, which is used to automatically identify road speed limit signs through a camera and prompt the driver to drive within the current speed limit on the instrument panel; when the driver exceeds the speed limit, the system reminds the driver through image and / or sound alarms to prevent the driver from speeding unconsciously.

[0063] Step S2: According to the target vehicle on the test site and the host vehicle equipped with an intelligent driving assistance system, the positions of the host vehicle and the target vehicle in the test site are determined based on the map.

[0064] Specifically, Figure 2 As shown, when testing the intelligent driving assistance system, the intelligent driving assistance system is installed on a vehicle for testing. The vehicle equipped with the intelligent driving assistance system is called the main vehicle, and a target vehicle is set. The target vehicle travels in front of the main vehicle, and the main vehicle follows the target vehicle. The performance of the intelligent driving assistance system is determined based on the situation where the main vehicle follows the target vehicle.

[0065] A GNSS base station is installed on the roadside of the test site to provide RTK (Real time kinematic) differential signals to locate the main vehicle and the target vehicle. The main vehicle and the target vehicle are equipped with INS to obtain the longitude and latitude position information of the main vehicle and the target vehicle in the global coordinate system in real time, and obtain the acceleration, speed and heading angle information of the main vehicle and the target vehicle. The target vehicle INS communicates remotely with the main vehicle INS, and the main vehicle and the target vehicle communicate remotely with the control end. In this way, when the main vehicle and the target vehicle are driving in the test site, the control end can determine the position of the main vehicle and the target vehicle in the test site through the information returned by the target vehicle INS and the main vehicle INS, combined with the high-precision map.

[0066] Step S3: Continuously send driving control information to the target vehicle, so that when the target vehicle and the host vehicle both meet their respective constraint conditions, the target vehicle drives according to the set state, and the host vehicle follows the target vehicle through the intelligent driving assistance system.

[0067] In some embodiments, continuously sending driving control information to the target vehicle so that when the target vehicle and the host vehicle both meet their respective constraint conditions, the target vehicle drives according to a set state specifically comprises the following steps:

[0068] The driving control information is sent to the target vehicle so that when the target vehicle and the host vehicle both meet their respective constraints, the target vehicle controls its own braking mechanism, throttle mechanism and steering mechanism according to the driving control information so that the target vehicle travels according to a set first speed and a set trajectory.

[0069] As a preferred implementation manner, the driving control information includes the current position, speed, acceleration, heading angle, set first speed information and set trajectory information of the target vehicle.

[0070] In some embodiments, the target vehicle and the host vehicle both satisfy their respective constraint conditions, specifically including: the driving speed of the host vehicle reaches a set second speed, and the host vehicle and the target vehicle reach a set position.

[0071] It is worth noting that the target vehicle is provided with a driving robot, which also communicates remotely with the control end. The driving robot mainly includes a brake pedal robot, an accelerator pedal robot and a steering robot, which are respectively used to control the brake mechanism, accelerator mechanism and steering mechanism of the target vehicle. The control end stores the driving control information of the target vehicle, which is set according to the test requirements. When the test starts, the control end remotely and continuously sends the driving control information to the target vehicle, including the set first speed information and the set trajectory information. The driving robot on the target vehicle receives the driving control information sent by the control end. After the target vehicle and the host vehicle meet their respective constraints, the driving robot controls the brake mechanism, accelerator mechanism and steering mechanism of the target vehicle according to the set first speed information and the set trajectory information, and adjusts the target vehicle according to the current position, speed, acceleration and heading angle of the target vehicle so that the target vehicle travels according to the set first speed and the set trajectory. At the same time, the host vehicle follows the target vehicle through the intelligent driving assistance system for testing, and sends the INS data during driving, as well as the data of the ICA function, LKA function, LDW function, TSA function and ISA function during the test to the control end.

[0072] Step S4: Obtain the state information and position information of the host vehicle during driving to determine whether the intelligent driving assistance system is qualified.

[0073] In some embodiments, the step of obtaining the state information and position information of the host vehicle during driving to determine whether the intelligent driving assistance system is qualified specifically includes the following steps:

[0074] Obtaining the speed, acceleration, deceleration and position of the host vehicle in the lane during driving;

[0075] In the scenarios where the target vehicle cuts in front of the main vehicle, the target vehicle decelerates, the target vehicle accelerates, the target vehicle enters a curve, or the target vehicle cuts out, whether the intelligent driving assistance system is qualified is judged based on the speed, acceleration, deceleration, and position of the main vehicle in the lane.

[0076] Specifically, in the scenario where the target vehicle cuts in front of the host vehicle, the target vehicle decelerates, the target vehicle accelerates, the target vehicle enters a curve, or the target vehicle cuts out, judging whether the intelligent driving assistance system is qualified according to the speed, acceleration, deceleration, and position of the host vehicle in the lane includes the following steps:

[0077] In the scenario where the target vehicle cuts in front of the host vehicle, if the host vehicle recognizes the target vehicle through the intelligent driving assistance system and decelerates to the same speed as the target vehicle, the deceleration is within the set deceleration range, and the host vehicle drives steadily in the center of the lane, then the vehicle cut-in scenario test of the intelligent driving assistance system is qualified, otherwise it is unqualified;

[0078] In the scenario where the target vehicle is decelerating, if the host vehicle is decelerated to the same speed as the target vehicle through the intelligent driving assistance system, the deceleration is within the set deceleration range, and the host vehicle is driving steadily and centered in the lane, then the deceleration scenario test of the intelligent driving assistance system is qualified, otherwise it is unqualified;

[0079] In the scenario where the target vehicle is accelerating, if the host vehicle is accelerated to the same speed as the target vehicle through the intelligent driving assistance system, the acceleration is within the set acceleration range, and the host vehicle is driving steadily and centered in the lane, then the acceleration scenario test of the intelligent driving assistance system is qualified, otherwise it is unqualified;

[0080] In the scenario where the target vehicle enters a curve, if the host vehicle follows the target vehicle into the curve through the intelligent driving assistance system, and the host vehicle drives steadily and centered in the lane, the curve scenario test of the intelligent driving assistance system is qualified, otherwise it is unqualified;

[0081] In the scenario where the target vehicle cuts out, if the main vehicle is accelerated to the set second speed through the intelligent driving assistance system, the acceleration is within the set acceleration range, and the main vehicle is driving steadily and centered in the lane, then the vehicle cut-out scenario test of the intelligent driving assistance system is qualified, otherwise it fails.

[0082] Exemplary, such as Figure 2 and 3 As shown, this application takes the test of the ICA function in the intelligent driving assistance system as an example to illustrate the test process of the intelligent driving assistance system:

[0083] Before the test begins, the target vehicle is parked at the set parking area P0.

[0084] Start the intelligent driving assistance system vehicle cut-in scene test. The driver of the main vehicle starts the main vehicle intelligent driving assistance system to control the main vehicle to press V SV1 Drive in the lane; determine whether the longitudinal distance between the host vehicle and the target vehicle reaches the set value; if not, the target vehicle stays at point P0 and waits for the distance between the two vehicles to meet the set value; if so, the driving robot controls the target vehicle to move at a speed V TV1 (V SV1 >V TV1) Start from point P0 and drive to point P1 in front of the main vehicle. Determine whether the main vehicle recognizes the target vehicle and decelerates to V TV1 , and the deceleration meets the specified requirements, and the main vehicle is driving in a steady state and in the center; if so, the vehicle entry scenario test of the intelligent driving assistance system is qualified, and the deceleration scenario test continues; otherwise, it fails, the main vehicle vehicle entry scenario test fails, the control end sends a command, and the target vehicle returns to point P0 and retests.

[0085] The host vehicle and the target vehicle continue to drive to perform the deceleration scenario test. The target vehicle decelerates to V at a deceleration rate a1. TV2 ; Determine whether the main vehicle has decelerated to V TV2 , and the deceleration meets the specified requirements, and the vehicle travels in a steady and centered state; if so, the deceleration scenario test of the intelligent driving assistance system is qualified, and the acceleration scenario test continues; otherwise, the main vehicle ICA deceleration scenario test fails, the control end sends a command, and the target vehicle returns to point P0.

[0086] The host vehicle and the target vehicle continue to drive to perform the acceleration scenario test. The target vehicle accelerates to V TV3 (V VT3 <V TV1 ); determine whether the main vehicle accelerates to VTV3, and at the same time the acceleration meets the specified requirements, and it drives in a steady state; if so, the acceleration scenario test of the intelligent driving assistance system is qualified, and the curve scenario test continues; otherwise, it fails, the main vehicle ICA acceleration scenario test fails, the control end sends a command, and the target vehicle returns to point P0.

[0087] The main vehicle and the target vehicle continue to drive for the curve scene test. The target vehicle enters the curve and drives; it is determined whether the main vehicle follows the target vehicle into the curve and drives in the center. If so, the curve scene test of the intelligent driving assistance system is qualified, and the vehicle cut-out scene test continues; otherwise, it fails, the main vehicle ICA curve scene test fails, the control end sends a command, and the target vehicle returns to point P0.

[0088] The main vehicle and the target vehicle continue to drive to perform the vehicle cut-out scenario test. The main vehicle follows the target vehicle out of the curve, and the target vehicle cuts out. It is determined whether the main vehicle accelerates to the set speed VSV1, and the acceleration meets the specified requirements, and it drives in a steady state and in the center; if so, the vehicle cut-out scenario test of the intelligent driving assistance system is qualified; otherwise, the main vehicle ICA cut-out scenario test fails, the control end sends a command, and the target vehicle returns to point P0.

[0089] After the target vehicle reaches point P1, it automatically returns to point P0 and the test ends.

[0090] Furthermore, the step of obtaining the state information and position information of the host vehicle during driving to determine whether the intelligent driving assistance system is qualified further includes the following steps:

[0091] If the main vehicle deviates from the lane, determining the working timing of the LKA function and the LDW function according to the lateral speed of the main vehicle when it deviates from the lane and the lateral distance between the front wheel of the main vehicle and the lane line, as well as the collected trigger signals of the LKA function and the LDW function;

[0092] The timing at which the TSA function and the ISA function recognize the traffic sign is determined according to the time when the host vehicle recognizes the traffic sign and the distance between the host vehicle and the traffic sign.

[0093] Specifically, in the TSA traffic sign recognition, ISA intelligent vehicle speed assistance system and other tests, the intelligent driving assistance system collects the signals of the main vehicle recognizing traffic signs and speed limit signs and sends them to the control end. The control end verifies the timing of the TSA / ISA system recognizing the signs by combining the relative distance between the main vehicle and the sign when the traffic sign is recognized. In the LKA / LDW test, the main vehicle deviates from the lane at different lateral speeds, and the intelligent driving assistance system collects the LKA / LDW trigger signal and sends it to the control end. The control end verifies the timing of LKA / LDW operation by combining the lateral distance between the front wheels of the main vehicle and the lane line.

[0094] This application sets up all the facilities required for the test at the test site according to the test requirements, and constructs a high-precision map of the test site based on the high-precision positioning information of the site and facilities, which can easily obtain the positioning of the main vehicle, target vehicle and test settings. The target vehicle is equipped with a combined driving robot, and the control end sends the target vehicle's driving control information to the driving robot, so that the driving robot controls the target vehicle according to the driving control information, and realizes the automatic driving of the vehicle along the preset trajectory. The control end presets the test program, analyzes the driving data of the main vehicle following the target vehicle, and realizes the automated testing of the intelligent driving assistance system. This allows multiple scenario tests of the intelligent driving assistance system to be completed in one test, realizing the automation of the intelligent driving assistance system test and effectively improving the testing efficiency of the intelligent driving assistance system.

[0095] Please refer to Figure 4 , Figure 4 A schematic block diagram of a testing device for an intelligent driving assistance system provided in an embodiment of the present application.

[0096] like Figure 4 As shown, the device comprises:

[0097] A map building module, which is used to obtain a map of the test site;

[0098] A position determination module, which is used to determine the positions of the host vehicle and the target vehicle in the test site based on the map according to the target vehicle and the host vehicle equipped with an intelligent driving assistance system on the test site;

[0099] A driving control module, which is used to continuously send driving control information to the target vehicle, so that when the target vehicle and the host vehicle both meet their respective constraint conditions, the target vehicle drives according to a set state, and the host vehicle follows the target vehicle through the intelligent driving assistance system;

[0100] The judgment module is used to obtain the state information and position information of the host vehicle during driving to judge whether the intelligent driving assistance system is qualified.

[0101] The target vehicle and the host vehicle both satisfy their respective constraints, specifically including:

[0102] The driving speed of the host vehicle reaches a set second speed, and the host vehicle and the target vehicle arrive at a set position.

[0103] Wherein, the driving control module is also used for:

[0104] The driving control information is sent to the target vehicle, so that when the target vehicle and the host vehicle both meet their respective constraint conditions, the target vehicle controls its own braking mechanism, throttle mechanism and steering mechanism according to the driving control information, so that the target vehicle travels at a set first speed and a set trajectory. The driving control information includes:

[0105] The target vehicle's current position, speed, acceleration, heading angle, set first speed information, and set trajectory information.

[0106] Wherein, the judging module is also used for:

[0107] Obtaining the speed, acceleration, deceleration and position of the host vehicle in the lane during driving;

[0108] In the scenarios where the target vehicle cuts in front of the main vehicle, the target vehicle decelerates, the target vehicle accelerates, the target vehicle enters a curve, or the target vehicle cuts out, whether the intelligent driving assistance system is qualified is judged based on the speed, acceleration, deceleration, and position of the main vehicle in the lane.

[0109] Wherein, the judging module is also used for:

[0110] In the scenario where the target vehicle cuts in front of the host vehicle, if the host vehicle recognizes the target vehicle through the intelligent driving assistance system and decelerates to the same speed as the target vehicle, the deceleration is within the set deceleration range, and the host vehicle drives steadily in the center of the lane, then the vehicle cut-in scenario test of the intelligent driving assistance system is qualified, otherwise it is unqualified;

[0111] In the scenario where the target vehicle is decelerating, if the host vehicle is decelerated to the same speed as the target vehicle through the intelligent driving assistance system, the deceleration is within the set deceleration range, and the host vehicle is driving steadily and centered in the lane, then the deceleration scenario test of the intelligent driving assistance system is qualified, otherwise it is unqualified;

[0112] In the scenario where the target vehicle is accelerating, if the host vehicle is accelerated to the same speed as the target vehicle through the intelligent driving assistance system, the acceleration is within the set acceleration range, and the host vehicle is driving steadily and centered in the lane, then the acceleration scenario test of the intelligent driving assistance system is qualified, otherwise it is unqualified;

[0113] In the scenario where the target vehicle enters a curve, if the host vehicle follows the target vehicle into the curve through the intelligent driving assistance system, and the host vehicle drives steadily and centered in the lane, the curve scenario test of the intelligent driving assistance system is qualified, otherwise it is unqualified;

[0114] In the scenario where the target vehicle cuts out, if the main vehicle is accelerated to the set second speed through the intelligent driving assistance system, the acceleration is within the set acceleration range, and the main vehicle is driving steadily and centered in the lane, then the vehicle cut-out scenario test of the intelligent driving assistance system is qualified, otherwise it fails.

[0115] In some embodiments, the judgment module is further used to: if the main vehicle deviates from the lane, determine the working timing of the LKA function and the LDW function according to the lateral speed of the main vehicle when it deviates from the lane and the lateral distance between the front wheel of the main vehicle and the lane line, and the collected trigger signals of the LKA function and the LDW function;

[0116] The timing at which the TSA function and the ISA function recognize the traffic sign is determined according to the time when the host vehicle recognizes the traffic sign and the distance between the host vehicle and the traffic sign.

[0117] In some embodiments, the map construction module is further used to:

[0118] Setting up test facilities on the test site according to test requirements, wherein the test facilities include various road conditions, lane lines, traffic signs and speed limit signs;

[0119] Recording the latitude and longitude information of the test facility through INS;

[0120] The map is constructed according to the latitude and longitude information and the set size of the test facility.

[0121] It should be noted that those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices and modules and units can refer to the corresponding processes in the aforementioned embodiments and will not be repeated here.

[0122] The apparatus provided in the above embodiment may be implemented in the form of a computer program. The computer program may be Figure 5 Runs on the computer device shown.

[0123] See also Figure 5 , Figure 5 A schematic block diagram of the structure of a computer device provided in an embodiment of the present application. The computer device may be a control terminal.

[0124] like Figure 5 As shown, the computer device includes a processor, a memory, and a network interface connected via a system bus, wherein the memory may include a non-volatile storage medium and an internal memory.

[0125] The non-volatile storage medium can store an operating system and a computer program. The computer program includes program instructions, and when the program instructions are executed, the processor can execute any test method of the intelligent driving assistance system.

[0126] The processor is used to provide computing and control capabilities and support the operation of the entire computer equipment.

[0127] The internal memory provides an environment for the operation of the computer program in the non-volatile storage medium. When the computer program is executed by the processor, the processor can execute any test method of the intelligent driving assistance system.

[0128] The network interface is used for network communication, such as sending assigned tasks, etc. Those skilled in the art will understand that Figure 5 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0129] It should be understood that the processor may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0130] The computer-readable storage medium may be an internal storage unit of the computer device described in the foregoing embodiment, such as a hard disk or memory of the computer device. The computer-readable storage medium may also be an external storage device of the computer device, such as a plug-in hard disk, a smart memory card (SmartMedia Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc., equipped on the computer device.

[0131] 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 system 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 system. 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 system including the element.

[0132] The serial numbers of the embodiments of the present application are for description only and do not represent the advantages and disadvantages of the embodiments. The above description is only a specific implementation mode of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A testing method for an intelligent driving assistance system, characterized in that: The following steps are involved: Get a map of the test site; According to the target vehicle and the host vehicle equipped with the intelligent driving assistance system on the test site, positions of the host vehicle and the target vehicle in the test site are determined based on the map; Continuously sending driving control information to the target vehicle, so that when the target vehicle and the host vehicle both meet their respective constraint conditions, the target vehicle drives according to a set state, and the host vehicle follows the target vehicle through the intelligent driving assistance system; Acquiring the state information and position information of the host vehicle during driving to determine whether the intelligent driving assistance system is qualified; The step of obtaining the state information and position information of the host vehicle during driving to determine whether the intelligent driving assistance system is qualified specifically includes the following steps: Obtaining the speed, acceleration, deceleration and position of the host vehicle in the lane during driving; In the scenario where the target vehicle cuts in front of the host vehicle, the target vehicle decelerates, the target vehicle accelerates, the target vehicle enters a curve, or the target vehicle cuts out, judging whether the intelligent driving assistance system is qualified according to the speed, acceleration, deceleration, and position of the host vehicle in the lane; Wherein, in the scenario where the target vehicle cuts in front of the host vehicle, the target vehicle decelerates, the target vehicle accelerates, the target vehicle enters a curve, or the target vehicle cuts out, judging whether the intelligent driving assistance system is qualified according to the speed, acceleration, deceleration, and position of the host vehicle in the lane comprises the following steps: In the scenario where the target vehicle cuts in front of the host vehicle, if the host vehicle recognizes the target vehicle through the intelligent driving assistance system and decelerates to the same speed as the target vehicle, the deceleration is within the set deceleration range, and the host vehicle drives steadily in the center of the lane, then the vehicle cut-in scenario test of the intelligent driving assistance system is qualified, otherwise it is unqualified; In the scenario where the target vehicle is decelerating, if the host vehicle is decelerated to the same speed as the target vehicle through the intelligent driving assistance system, the deceleration is within the set deceleration range, and the host vehicle is driving steadily and centered in the lane, then the deceleration scenario test of the intelligent driving assistance system is qualified, otherwise it is unqualified; In the scenario where the target vehicle is accelerating, if the host vehicle is accelerated to the same speed as the target vehicle through the intelligent driving assistance system, the acceleration is within the set acceleration range, and the host vehicle is driving steadily and centered in the lane, then the acceleration scenario test of the intelligent driving assistance system is qualified, otherwise it is unqualified; In the scenario where the target vehicle enters a curve, if the host vehicle follows the target vehicle into the curve through the intelligent driving assistance system, and the host vehicle drives steadily and centered in the lane, the curve scenario test of the intelligent driving assistance system is qualified, otherwise it is unqualified; In the scenario where the target vehicle cuts out, if the main vehicle is accelerated to the set second speed through the intelligent driving assistance system, the acceleration is within the set acceleration range, and the main vehicle is driving steadily and centered in the lane, then the vehicle cut-out scenario test of the intelligent driving assistance system is qualified, otherwise it fails.

2. The method for testing an intelligent driving assistance system according to claim 1, characterized in that: The continuous sending of driving control information to the target vehicle so that when the target vehicle and the host vehicle both meet their respective constraint conditions, the target vehicle drives according to the set state specifically comprises the following steps: The driving control information is sent to the target vehicle so that when the target vehicle and the host vehicle both meet their respective constraints, the target vehicle controls its own braking mechanism, throttle mechanism and steering mechanism according to the driving control information so that the target vehicle travels according to a set first speed and a set trajectory.

3. The method for testing an intelligent driving assistance system according to claim 2, characterized in that: The driving control information includes: The target vehicle's current position, speed, acceleration, heading angle, set first speed information, and set trajectory information.

4. The method for testing an intelligent driving assistance system according to claim 1, characterized in that: The step of obtaining the state information and position information of the host vehicle during driving to determine whether the intelligent driving assistance system is qualified further comprises the following steps: If the main vehicle deviates from the lane, determining the working timing of the LKA function and the LDW function according to the lateral speed of the main vehicle when it deviates from the lane and the lateral distance between the front wheel of the main vehicle and the lane line, as well as the collected trigger signals of the lane keeping assist LKA function and the lane departure warning LDW function; The timing at which the traffic sign is recognized by the host vehicle and the distance between the host vehicle and the traffic sign is determined according to the time when the traffic sign is recognized by the host vehicle and the distance between the host vehicle and the traffic sign.

5. The method for testing an intelligent driving assistance system according to claim 1, characterized in that: The target vehicle and the host vehicle both satisfy their respective constraints, specifically including: The driving speed of the host vehicle reaches a set second speed, and the host vehicle and the target vehicle arrive at a set position.

6. The method for testing an intelligent driving assistance system according to claim 1, characterized in that: The step of obtaining a map of the test site specifically includes the following steps: Setting up test facilities on the test site according to test requirements, wherein the test facilities include various road conditions, lane lines, traffic signs and speed limit signs; Recording the latitude and longitude information of the test facility through the navigation system INS; The map is constructed according to the latitude and longitude information and the set size of the test facility.

7. A test device for an intelligent driving assistance system, characterized in that: include: A map building module, which is used to obtain a map of the test site; A position determination module, which is used to determine the positions of the host vehicle and the target vehicle in the test site based on the map according to the target vehicle and the host vehicle equipped with an intelligent driving assistance system on the test site; A driving control module, which is used to continuously send driving control information to the target vehicle, so that when the target vehicle and the host vehicle both meet their respective constraint conditions, the target vehicle drives according to a set state, and the host vehicle follows the target vehicle through the intelligent driving assistance system; A judgment module, which is used to obtain the state information and position information of the host vehicle during driving to determine whether the intelligent driving assistance system is qualified; Wherein, the judgment module is also used for: Obtaining the speed, acceleration, deceleration and position of the host vehicle in the lane during driving; In the scenario where the target vehicle cuts in front of the host vehicle, the target vehicle decelerates, the target vehicle accelerates, the target vehicle enters a curve, or the target vehicle cuts out, judging whether the intelligent driving assistance system is qualified according to the speed, acceleration, deceleration, and position of the host vehicle in the lane; Wherein, the judgment module is also used for: In the scenario where the target vehicle cuts in front of the host vehicle, if the host vehicle recognizes the target vehicle through the intelligent driving assistance system and decelerates to the same speed as the target vehicle, the deceleration is within the set deceleration range, and the host vehicle drives steadily in the center of the lane, then the vehicle cut-in scenario test of the intelligent driving assistance system is qualified, otherwise it is unqualified; In the scenario where the target vehicle is decelerating, if the host vehicle is decelerated to the same speed as the target vehicle through the intelligent driving assistance system, the deceleration is within the set deceleration range, and the host vehicle is driving steadily and centered in the lane, then the deceleration scenario test of the intelligent driving assistance system is qualified, otherwise it is unqualified; In the scenario where the target vehicle is accelerating, if the host vehicle is accelerated to the same speed as the target vehicle through the intelligent driving assistance system, the acceleration is within the set acceleration range, and the host vehicle is driving steadily and centered in the lane, then the acceleration scenario test of the intelligent driving assistance system is qualified, otherwise it is unqualified; In the scenario where the target vehicle enters a curve, if the host vehicle follows the target vehicle into the curve through the intelligent driving assistance system, and the host vehicle drives steadily and centered in the lane, the curve scenario test of the intelligent driving assistance system is qualified, otherwise it is unqualified; In the scenario where the target vehicle cuts out, if the main vehicle is accelerated to the set second speed through the intelligent driving assistance system, the acceleration is within the set acceleration range, and the main vehicle is driving steadily and centered in the lane, then the vehicle cut-out scenario test of the intelligent driving assistance system is qualified, otherwise it fails.

8. A computer device, characterized in that: The computer device includes a processor, a memory, and a computer program stored in the memory and executable by the processor, wherein when the computer program is executed by the processor, the steps of the testing method of the intelligent driving assistance system as described in any one of claims 1 to 6 are implemented.

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