Test method and test device for a vehicle

Abstract

This invention discloses a vehicle testing method and testing apparatus. Specifically, this method is applied to the field of intelligent vehicles. The method includes: acquiring a first real position of the vehicle and a second real position of a target part of the target object; acquiring a first virtual position corresponding to the first real position from a preset correspondence; determining a second virtual position of the target part based on the first virtual position and the second real position; displaying a target test image at a target display position corresponding to the second virtual position; and testing the vehicle based on the target test image. This invention solves the technical problem of low integration between virtual and real scenes.

Description

Technical Field

[0001] This invention relates to the field of intelligent vehicles, and more specifically, to a vehicle testing method and testing apparatus. Background Technology

[0002] Currently, using virtual scenarios for vehicle testing is becoming increasingly common. However, traditional virtual testing simply plays the virtual scenario as a video, which leads to discrepancies between real-world road conditions and the virtual scenario, resulting in poor integration between the virtual and real-world scenarios.

[0003] There is currently no effective solution to the above problems. Summary of the Invention

[0004] This invention provides a vehicle testing method and testing device to at least solve the technical problem of low integration between virtual scenes and real scenes during virtual vehicle testing in related technologies.

[0005] According to one aspect of the present invention, a vehicle testing method is provided, comprising: acquiring a first real position of the vehicle and a second real position of a target part of a target object, wherein the target object is used to characterize an object driving the vehicle, the first real position is used to characterize the position of the vehicle in a real environment, and the second real position is used to characterize the position of the target part in the real environment; acquiring a first virtual position corresponding to the first real position from a preset correspondence, wherein the first virtual position is used to characterize the position of the vehicle in a virtual environment, and the preset correspondence is used to characterize the correspondence between different virtual positions and different real positions of the vehicle; determining a second virtual position of the target part based on the first virtual position and the second real position, wherein the second virtual position is used to characterize the position of the target part in the virtual environment; displaying a target test image at a target display position corresponding to the second virtual position, wherein the target display position is used to characterize the position on a preset part of the vehicle, and the target test image is used to characterize a virtual image in front of the vehicle in the virtual environment; and testing the vehicle based on the target test image.

[0006] Optionally, obtaining the second true position of the target part of the target object includes: obtaining a first preset true position and a second preset true position of the target part, wherein the first preset true position is used to represent the true position of the first part of the target part relative to the vehicle, and the second preset true position is used to represent the true position of the second part of the target part relative to the vehicle; obtaining the sum of the first preset true position and the second preset true position to obtain a first sum; obtaining the quotient of the first sum and the first preset value to obtain the second true position of the target part.

[0007] Optionally, the method further includes: establishing a virtual vehicle model corresponding to the vehicle; obtaining the initial real position of the vehicle in the real environment and obtaining the initial virtual position of the virtual vehicle model in the virtual environment; obtaining the difference between the initial real position and the initial virtual position to obtain a preset correspondence.

[0008] Optionally, obtaining the first virtual position corresponding to the first real position from the preset correspondence includes: obtaining the sum of the preset correspondence and the first real position to obtain the first virtual position.

[0009] Optionally, determining the second virtual position of the target part based on the first virtual position and the second real position includes: obtaining the sum of the first virtual position and the second real position to obtain the second virtual position.

[0010] Optionally, before displaying the target test image at the target display position corresponding to the second virtual position, the method further includes: determining the target display position corresponding to the second virtual position based on the curvature of a preset part.

[0011] Optionally, the first real position and the first virtual position include: the vehicle's position information and the vehicle's direction vector information.

[0012] Optionally, the method further includes: establishing a vehicle simulation system, wherein the simulation system is used to interact virtual data and real data of the vehicle; sending simulated perception signals of the vehicle to the vehicle control system through the simulation system, wherein the simulated perception signals include at least one of the following: camera signals, lidar signals, millimeter-wave radar signals, and ultrasonic radar signals; and controlling the vehicle based on the simulated perception signals through the control system.

[0013] According to another aspect of the present invention, a vehicle testing apparatus is also provided, comprising: a first acquisition module, configured to acquire a first real position of the vehicle and a second real position of a target part of a target object, wherein the target object is used to characterize an object driving the vehicle, the first real position is used to characterize the position of the vehicle in a real environment, and the second real position is used to characterize the position of the target part in a real environment; a second acquisition module, configured to acquire a first virtual position corresponding to the first real position from a preset correspondence, wherein the first virtual position is used to characterize the position of the vehicle in a virtual environment, and the preset correspondence is used to characterize the correspondence between different virtual positions and different real positions of the vehicle; a determination module, configured to determine a second virtual position of the target part based on the first virtual position and the second real position, wherein the second virtual position is used to characterize the position of the target part in a virtual environment; a display module, configured to display a target test image at a target display position corresponding to the second virtual position, wherein the target display position is used to characterize the position on a preset part of the vehicle, and the target test image is used to characterize a virtual image in front of the vehicle in a virtual environment; and a testing module, configured to test the vehicle based on the target test image.

[0014] According to another aspect of the present invention, a vehicle is also provided, comprising: a target system for acquiring a first real position of the vehicle and a second real position of a target object; a target sensor connected to the target system for acquiring a preset image of the vehicle in a virtual environment; and a display device connected to the target system and the target sensor for displaying a target test image of the vehicle.

[0015] According to another aspect of the present invention, an electronic device is also provided, comprising: one or more processors; a storage device for storing one or more programs; and, when the one or more programs are executed by the one or more processors, causing the one or more processors to perform the vehicle testing method of the above embodiments.

[0016] According to another aspect of the present invention, a non-volatile storage medium is also provided, the non-volatile storage medium including a stored program, wherein, when the program is executed, it controls the processor of the device to execute the vehicle testing method of the above embodiment.

[0017] In this embodiment of the invention, after obtaining the first real position of the vehicle and the second real position of the target part of the target object, a first virtual position corresponding to the first real position can be determined according to a preset correspondence. Further, based on the first virtual position and the second real position, a second virtual position of the target part is determined, and a target test image is displayed at the target display position corresponding to the second virtual position, thereby testing the vehicle based on the target test image. It should be noted that the target display position used to display the test image is determined based on a preset correspondence and the positional relationship between the vehicle and the target object. This achieves the goal of determining the virtual scene position based on the midpoint position of the driver's eyes and the vehicle position, and merging the virtual scene with the real scene, thus improving the technical effect of high fusion between the virtual scene and the real scene. This solves the technical problem of low fusion between the virtual scene and the real scene in related technologies during virtual vehicle testing. Attached Figure Description

[0018] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0019] Figure 1 This is a flowchart of a vehicle testing method according to an embodiment of the present invention;

[0020] Figure 2 This is a schematic diagram of an optional virtual scene fusion display according to an embodiment of the present invention;

[0021] Figure 3 This is a schematic diagram of an optional virtual scene fusion display effect according to an embodiment of the present invention;

[0022] Figure 4 This is a schematic diagram of an optional simulation system control architecture according to an embodiment of the present invention;

[0023] Figure 5 This is a flowchart of an optional overall vehicle test according to an embodiment of the present invention;

[0024] Figure 6 This is a schematic diagram of a vehicle testing apparatus according to an embodiment of the present invention. Detailed Implementation

[0025] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0026] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0027] Example 1

[0028] According to an embodiment of the present invention, an embodiment of a vehicle testing method is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0029] Figure 1 This is a flowchart of a vehicle testing method according to an embodiment of the present invention, such as... Figure 1 As shown, the method includes the following steps:

[0030] Step S102: Obtain the first real position of the vehicle and the second real position of the target part of the target object, wherein the target object is used to represent the object driving the vehicle, the first real position is used to represent the position of the vehicle in the real environment, and the second real position is used to represent the position of the target part in the real environment.

[0031] The aforementioned vehicle can be the vehicle being driven by the target, and this vehicle has the function of merging simulated virtual environments, that is, it can merge virtual images with real road conditions and display the virtual images through projection, but it is not limited to this. The target can be the driver of the vehicle.

[0032] The aforementioned first real position can be the vehicle's geographical location in the real environment. High-precision GPS (Global Positioning System) differential positioning sensors and high-precision inertial navigation sensors are deployed in high-rigidity parts of the vehicle body to acquire and record the real-time three-dimensional position coordinates and direction vector of the vehicle's center of mass.

[0033] The aforementioned target location can be a specific part of the driver's body, used to determine the coordinates of the virtual image display position. This can be, but is not limited to, the center point between the driver's eyes. The second real position can be the position of the target location relative to the dynamic movement of the vehicle; that is, it can be the real-time position of the center point between the driver's eyes relative to the vehicle's movement in the actual coordinate system.

[0034] In one optional embodiment, high-precision GPS positioning sensors and high-precision inertial navigation sensors are arranged at high-rigidity parts of the actual vehicle body to acquire and record the real-time three-dimensional position coordinates and orientation vector of the vehicle's center of gravity. An eye-tracking device is then placed on the dashboard to acquire the real-time three-dimensional position coordinates of the driver's left and right eyes relative to the vehicle's center of gravity, which can be expressed as: O L and O R Furthermore, the second true position coordinates O can be obtained from the coordinate positions of the left and right eyes. M The specific calculation formula is as follows: O M =1 / 2(O L +O R ).

[0035] Step S104: Obtain the first virtual position corresponding to the first real position from the preset correspondence relationship, wherein the first virtual position is used to represent the position of the vehicle in the virtual environment, and the preset correspondence relationship is used to represent the correspondence relationship between different virtual positions of the vehicle and different real positions.

[0036] The aforementioned preset correspondence can be a correspondence between the vehicle's real position and its virtual position. Optionally, it can be based on the virtual vehicle's three-dimensional coordinates O. 1 Compared with the actual three-dimensional coordinates O of the real vehicle 2 The difference between the two coordinates is used to establish the virtual position, which can be represented as T. Here, the real position can be the three-dimensional coordinates of the vehicle in the coordinate system established in the real environment, and the virtual position can be the three-dimensional coordinates of the vehicle in the coordinate system established in the virtual environment.

[0037] The aforementioned first virtual position can be the position of the vehicle's center of mass in a coordinate system within a virtual environment, i.e., a simulation environment. The position corresponding to the vehicle's center of mass is determined by its lateral, longitudinal, and height positions. Optionally, the first real position and the first virtual position include: the vehicle's position information and its direction vector information.

[0038] In one optional embodiment, test cases can be prepared according to the functional specifications of the vehicle under test, and a virtual test scenario and virtual vehicle model required for the test cases can be constructed. Based on the established virtual vehicle model, marker points are created at the centroid position of the vehicle to record the virtual scene vehicle coordinates O of the vehicle model. 1 The system records the vehicle's coordinates in a virtual environment in real time. The actual vehicle under test is parked in a safe, open test area. High-precision GPS differential positioning sensors and high-precision inertial navigation sensors are deployed at high-rigidity parts of the vehicle body to record the real-time three-dimensional position coordinates and orientation vector of the vehicle's center of mass. The real-time coordinates of the actual vehicle on the test site are represented as the initial actual vehicle coordinates O. 2 A correspondence T is established between the initial real vehicle coordinates and the virtual scene vehicle coordinates, where O is used. 1 With O 2 Find the relative relationship between O. 1 With O 2 The difference is used to obtain the correspondence T between the initial real vehicle coordinates and the virtual scene vehicle coordinates.

[0039] Step S106: Based on the first virtual position and the second real position, determine the second virtual position of the target part, wherein the second virtual position is used to characterize the position of the target part in the virtual environment.

[0040] The aforementioned second virtual position can be the relative position of the midpoint between the driver's eyes in the virtual environment.

[0041] In one optional embodiment, the relative position coordinates of the driver's eyes relative to the vehicle in the virtual scene are determined using the vehicle's position coordinates in the virtual scene and the driver's visual center relative to the vehicle in the real environment. In this embodiment, a schematic diagram of the virtual scene fusion display is shown below. Figure 2 As shown, the obtained three-dimensional coordinates O of the vehicle in the virtual environment are... 1 The three-dimensional position coordinates O of the driver's eyes relative to the vehicle body in a real environment M Add them together to obtain the second virtual position O. S This transforms the driver's field of vision into coordinates within the virtual scene, i.e., O. S =O M +O 1This projects the equivalent perspective image information 2 onto the windshield, allowing the driver to see the virtual scene 1 ahead through the windshield.

[0042] It should be noted that in the simulation scenario, coordinate O S A visual image sensor is installed to record dynamic scene images in front of the vehicle in real time. This allows the virtual image of the vehicle to be updated in real time based on the dynamic scene images in front of the vehicle, making the virtual image more integrated with the real scene, increasing the realism of driving, ensuring the accuracy of the test, and making the virtual reality visual information that the driver sees, which is a fusion of the actual site environment and the simulated scene, closer to the real road conditions.

[0043] Step S108: Display the target test image at the target display position corresponding to the second virtual position, wherein the target display position is used to represent the position on a preset part of the vehicle, and the target test image is used to represent the virtual image in front of the vehicle in the virtual environment.

[0044] The target display location mentioned above can be a preset part of the vehicle in the real environment, corresponding to the real location of the second virtual location. The preset part can be the windshield of the vehicle with a reflective coating, but it is not limited to this.

[0045] The aforementioned target test image can be a virtual reality visual information image that integrates the actual site environment seen by the real vehicle driver with the simulated scene. It is an equivalent perspective image from the driver's perspective that has been processed. It can project the image in front of the vehicle in the virtual environment onto the windshield. It can be, but is not limited to, virtual road conditions.

[0046] In one optional embodiment, the relative position O of the driver's eyes relative to the vehicle body in the virtual scene is determined. S Then, based on the preset position of the vehicle's windshield and the curvature of the windshield, the position of the driver's visual center on the windshield in the virtual scene can be determined, i.e., the aforementioned target display position. Furthermore, the information of the equivalent perspective image actually projected onto the windshield, i.e., the aforementioned target test image, can be calculated and projected onto the target display position.

[0047] It should be noted that a transparent display film or projection device needs to be affixed to the windshield. In this embodiment of the invention, a schematic diagram of the virtual scene fusion display effect is shown below. Figure 3 As shown, equivalent perspective image information is displayed on the windshield through a transparent display film or projection device, allowing the driver to see a fused image of the real vehicle and external environment with the virtual simulation environment. If necessary, the position or angle of the projection device can be finely adjusted to ensure the virtual scene is visually aligned with the real scene, allowing the driver to intuitively experience the virtual environment and complete the test evaluation in an immersive and safe manner.

[0048] Step S110: Test the vehicle based on the target test image.

[0049] In one optional embodiment, after projecting the target test image onto the target display position, the real-time dynamic actual position coordinates of the vehicle are transmitted via a low-latency I / O (Input / Output) system, a clock system, and a network communication system. 2 The correspondence T is transformed into real-time vehicle model reference coordinates O. 1 It drives the real-time motion simulation of the vehicle model in the simulation scenario; it transmits the sensor signals in the simulation scenario to the controller of the real vehicle, completes the data interaction between the simulation scenario and the real site vehicle, and completes the test.

[0050] It should be noted that during the interactive testing process, the vehicle dynamics characteristics are entirely derived from the responses of the actual vehicle. The actual vehicle possesses a complete electronic control system, ensuring the accuracy of the vehicle dynamics throughout the testing process. Simultaneously, the perception signals of the autonomous driving system originate from virtual scene simulation, eliminating the need to build a real test scenario in a physical vehicle environment, making the entire test more efficient and safer. Drivers can observe both the actual vehicle environment and the virtual simulation environment, resulting in better testing effectiveness and a more immersive experience.

[0051] Through the above steps, the first real position of the vehicle and the second real position of the target part of the target object can be obtained; the first virtual position corresponding to the first real position can be confirmed according to a preset correspondence; the second virtual position of the target part can be determined based on the first virtual position and the second real position; and the target test image can be displayed at the target display position corresponding to the second virtual position. Thus, the vehicle can be tested based on the target test image. It is easy to see that after obtaining the first real position of the vehicle and the second real position of the target object, the first virtual position corresponding to the first real position is confirmed according to the correspondence, and then the second virtual position of the target part is determined based on the first virtual position and the second real position. A test image is then displayed at the corresponding target display position based on the second virtual position, thereby testing the vehicle based on the target test image. This achieves the technical effect of determining the virtual scene position based on the midpoint position of the driver's eyes and the vehicle position, thus improving the integration of the virtual scene and the real scene.

[0052] Optionally, obtaining the second true position of the target part of the target object includes: obtaining a first preset true position and a second preset true position of the target part, wherein the first preset true position is used to represent the true position of the first part of the target part relative to the vehicle, and the second preset true position is used to represent the true position of the second part of the target part relative to the vehicle; obtaining the sum of the first preset true position and the second preset true position to obtain a first sum; obtaining the quotient of the first sum and the first preset value to obtain the second true position of the target part.

[0053] The first preset real position mentioned above can be the driver's left eye in a real scene, i.e., the three-dimensional coordinates corresponding to the first part mentioned above. The second preset real position mentioned above can be the three-dimensional coordinates corresponding to the driver's right eye in a real scene. The real-time three-dimensional coordinates of the driver's left and right eyes relative to the vehicle's center of gravity can be measured in real time using an eye tracker test device placed on the dashboard, and are represented as O. L and O R .

[0054] The aforementioned first preset value can be a pre-set value used to calculate the position between the two eyes, for example, it can be 2, but it is not limited to this.

[0055] In one alternative embodiment, an eye-tracking testing device can be pre-installed on the dashboard. When the driver is seated, the real-time three-dimensional coordinates (O) of the driver's left eye relative to the vehicle's center of gravity can be measured. L And the real-time three-dimensional coordinates O of the driver's right eye relative to the vehicle's center of gravity. R Then follow formula O M =1 / 2(O L +O R The coordinates O of the driver's eyes relative to the vehicle body were calculated. M .

[0056] Optionally, the method further includes: establishing a virtual vehicle model corresponding to the vehicle; obtaining the initial real position of the vehicle in the real environment and obtaining the initial virtual position of the virtual vehicle model in the virtual environment; obtaining the difference between the initial real position and the initial virtual position to obtain a preset correspondence.

[0057] The aforementioned virtual vehicle model can be a vehicle model corresponding to a real vehicle built in a virtual scene, or it can be just a model of the vehicle body. The initial true position can be the actual vehicle coordinates of the vehicle being tested. This can be determined by placing high-precision GPS differential positioning sensors and high-precision inertial navigation sensors on high-rigidity parts of the vehicle body, and is represented as O. 2The initial virtual position can be the 3D coordinates of a pre-built virtual vehicle within a virtual scene. This can be achieved by creating a marker point at the vehicle's center of mass to record the vehicle model's coordinates, denoted as O. 1 .

[0058] In one optional embodiment, test cases can be prepared according to the functional specifications of the vehicle under test, and a virtual test scenario required for the test cases can be constructed. Based on the sensor locations installed on the actual vehicle, a perception sensor model is created on the vehicle model, and the virtual vehicle model is placed in the virtual test scenario, thereby constructing a virtual vehicle model within the virtual scenario. The initial virtual position of the virtual vehicle is marked by the centroid position of the virtual vehicle model, which includes the coordinate origin position information and direction vector. High-precision GPS differential positioning sensors and high-precision inertial navigation sensors are deployed on high-rigidity parts of the actual vehicle body to obtain the initial real position. The difference between the vehicle's real position and its virtual position is then calculated to obtain a preset correspondence.

[0059] Further, obtaining the first virtual position corresponding to the first real position from the preset correspondence includes: obtaining the sum of the preset correspondence and the first real position to obtain the first virtual position.

[0060] In an optional embodiment, after obtaining the preset correspondence, it can be performed according to formula O. 2 +T=O 1 The calculation is performed to add the vehicle's actual position to the preset correspondence T to obtain the vehicle's position coordinates in the virtual environment.

[0061] Optionally, determining the second virtual position of the target part based on the first virtual position and the second real position includes: obtaining the sum of the first virtual position and the second real position to obtain the second virtual position.

[0062] Specifically, after obtaining the vehicle's position coordinates O in the virtual environment 1 The coordinates O of the midpoint between the driver's eyes and the vehicle's center of gravity. M Then, based on the same actual vehicle coordinates O 2 The coordinate system transforms the driver's field of view coordinates into coordinates O within the virtual environment. S Among them, the vehicle's position coordinates O in the virtual environment 1 The coordinates O of the midpoint between the driver's eyes and the vehicle's center of gravity. M Adding them together gives the coordinates O of the driver's midpoint in the virtual environment. S The formula can be expressed as: O S =O M +O 1 .

[0063] Optionally, before displaying the target test image at the target display position corresponding to the second virtual position, the method further includes: determining the target display position corresponding to the second virtual position based on the curvature of a preset part.

[0064] The curvature mentioned above can be a numerical value used to represent the degree of curvature of the windshield. The greater the curvature, the greater the degree of curvature of the windshield.

[0065] In one optional embodiment, after determining the coordinates of the driver's eye midpoint in the virtual environment, the equivalent perspective image information actually projected onto the windshield and the display position of the projected equivalent perspective image are calculated in a coordinate system with the vehicle's center of mass as the origin, based on the preset vehicle windshield position and the curvature of the windshield.

[0066] Optionally, the method further includes: establishing a vehicle simulation system, wherein the simulation system is used to interact virtual data and real data of the vehicle; sending simulated perception signals of the vehicle to the vehicle control system through the simulation system, wherein the simulated perception signals include at least one of the following: camera signals, lidar signals, millimeter-wave radar signals, and ultrasonic radar signals; and controlling the vehicle based on the simulated perception signals through the control system.

[0067] The aforementioned simulation system can be established by analyzing the properties and relationships of various system elements, creating a simulation model that describes the system's structure or behavioral processes. Based on this model, experiments or analyses can be conducted to obtain information for correct decision-making. Simulated sensing signals can be the result information obtained through experimental simulations using the simulation system, including but not limited to: camera signals, lidar signals, millimeter-wave radar signals, and ultrasonic radar signals.

[0068] In an optional embodiment, the vehicle simulation system can be built into a real-time simulator in a computer. In this embodiment, a schematic diagram of the simulation system control architecture is shown below. Figure 4 As shown, the real-time dynamic actual position coordinates O of the actual vehicle are obtained. 2 And calculate with the corresponding relationship T to obtain the reference coordinates O of the vehicle model. 1During vehicle operation, the system utilizes vehicle position and attitude sensors to transform the vehicle's position, and eye trackers acquire the driver's visual center coordinates relative to the vehicle in real time. This information is transmitted to the vehicle model in the virtual scene real-time simulation system, completing data interaction between the simulation scene and the real-world vehicle. This drives the real-time motion simulation of the vehicle model in the simulation scene, obtaining scene perception and the driver's perspective. The sensor signals from the simulation scene are transmitted and injected into the controller of the actual vehicle's autonomous driving system. The simulation system then sends the vehicle's simulated perception signals to the vehicle's control system. Upon receiving the perception information, the autonomous driving system processes it through the perception module and decision-making module, transmitting the results to the control module. The control module then controls the actual vehicle based on the transmitted simulation perception signals. An equivalent perspective image is calculated by projecting the driver's visual center image and displayed on the windshield. The driver can control the vehicle based on the virtual scene. For example, in a collision test, there is no collision with the vehicle in front in the actual scenario, but there is a vehicle to be collided with in the virtual test scenario. After sending the virtual vehicle's data to the actual vehicle, the system controls the actual vehicle to perform actions in the collision scenario, such as braking and steering.

[0069] The following is combined Figure 5 A preferred embodiment of the present invention will be described in detail, such as... Figure 5 As shown, the process begins with preparing test cases, establishing a virtual test scenario, and creating virtual vehicle and sensor models to record the vehicle's centroid coordinates within the virtual scenario. Next, a real test vehicle is prepared, equipped with vehicle positioning and attitude sensors to record the centroid coordinates of the actual scenario and establish a transformation relationship between the virtual and real scenes. An eye tracker is installed in the test vehicle to record the driver's visual center coordinates in real time. Data interaction between the real vehicle and the simulated environment is achieved through low-latency communication via an I / O interface, enabling whole-vehicle testing. Further, through coordinate transformation, the dynamic image signal of the driver's visual center in the virtual simulation scenario is obtained. An algorithm calculates the equivalent perspective image signal, which is then projected onto the windshield using a transparent display screen or projection device. This allows the driver to view virtual reality visual information that blends the actual environment with the simulated scene, achieving a highly immersive and safe whole-vehicle testing experience.

[0070] Example 2

[0071] According to another aspect of the present invention, a vehicle testing device is also provided. This device can perform the vehicle testing method in the above embodiments. The specific implementation and preferred application scenarios are the same as those in the above embodiments, and will not be repeated here.

[0072] Figure 6This is a schematic diagram of a vehicle traffic flow data processing device according to an embodiment of the present invention, such as... Figure 6 As shown, the device includes the following components: a first acquisition module 60, a second acquisition module 62, a determination module 64, a display module 66, and a test module 68.

[0073] The first acquisition module 60 is used to acquire the first real position of the vehicle and the second real position of the target part of the target object. The target object is used to represent the object driving the vehicle, the first real position is used to represent the position of the vehicle in the real environment, and the second real position is used to represent the position of the target part in the real environment.

[0074] The second acquisition module 62 is used to acquire the first virtual position corresponding to the first real position from the preset correspondence relationship, wherein the first virtual position is used to represent the position of the vehicle in the virtual environment, and the preset correspondence relationship is used to represent the correspondence relationship between different virtual positions of the vehicle and different real positions.

[0075] The first determining module 64 is used to determine the second virtual position of the target part based on the first virtual position and the second real position, wherein the second virtual position is used to characterize the position of the target part in the virtual environment;

[0076] Display module 66 is used to display a target test image at a target display position corresponding to the second virtual position, wherein the target display position is used to represent the position on a preset part of the vehicle, and the target test image is used to represent a virtual image in front of the vehicle in the virtual environment.

[0077] Test module 68 is used to test vehicles based on target test images.

[0078] Optionally, the first acquisition module includes: a first acquisition unit, used to acquire a first preset true position and a second preset true position of the target part, wherein the first preset true position is used to represent the true position of the first part of the target part relative to the vehicle, and the second preset true position is used to represent the true position of the second part of the target part relative to the vehicle; a second acquisition unit, used to acquire the sum of the first preset true position and the second preset true position to obtain a first sum; and a third acquisition unit, used to acquire the quotient of the first sum and the first preset value to obtain the second true position of the target part.

[0079] Optionally, the device further includes: a first establishment module for establishing a virtual vehicle model corresponding to the vehicle; a third acquisition module for acquiring the initial real position of the vehicle in the real environment and the initial virtual position of the virtual vehicle model in the virtual environment; and a fourth acquisition module for acquiring the difference between the initial real position and the initial virtual position to obtain a preset correspondence.

[0080] Furthermore, the second acquisition module includes: a fourth acquisition unit, used to acquire the sum of the preset correspondence and the first real position to obtain the first virtual position.

[0081] Optionally, the first determining module includes: a fifth obtaining unit, used to obtain the sum of the first virtual position and the second real position to obtain the second virtual position.

[0082] Optionally, the device further includes a second determining module, used to determine a target display position corresponding to the second virtual position based on the curvature of a preset part.

[0083] Optionally, the first real position and the first virtual position include: the vehicle's position information and the vehicle's direction vector information.

[0084] Optionally, the device further includes: a second establishment module for establishing a vehicle simulation system, wherein the simulation system is used to interact virtual data and real data of the vehicle; a transmission module for transmitting simulated perception signals of the vehicle to the vehicle control system through the simulation system, wherein the simulated perception signals include at least one of the following: camera signals, lidar signals, millimeter-wave radar signals, and ultrasonic radar signals; and a control module for controlling the vehicle based on the simulated perception signals through the control system.

[0085] Example 3

[0086] According to another aspect of the present invention, a vehicle is also provided, comprising: a target system for acquiring a first real position of the vehicle and a second real position of a target object; a target sensor connected to the target system for acquiring a preset image of the vehicle in a virtual environment; and a display device connected to the target system and the target sensor for displaying a target test image of the vehicle.

[0087] Example 4

[0088] According to another aspect of the present invention, an electronic device is also provided, comprising: one or more processors; a storage device for storing one or more programs; and, when the one or more programs are executed by the one or more processors, causing the one or more processors to perform the vehicle testing method of the above embodiments.

[0089] Example 5

[0090] According to another aspect of the present invention, a non-volatile storage medium is also provided, the non-volatile storage medium including a stored program, wherein, when the program is executed, it controls the processor of the device to execute the vehicle testing method of the above embodiment.

[0091] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0092] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0093] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0094] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0095] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0096] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0097] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for testing a vehicle, characterized in that, include: The first real position of the vehicle and the second real position of the target part of the target object are obtained. The target object is used to represent the object driving the vehicle. The first real position is used to represent the position of the vehicle in the real environment. The second real position is used to represent the position of the target part in the real environment. The second real position is the real-time position of the position between the driver's eyes in the actual coordinate system relative to the movement of the vehicle. The first virtual location corresponding to the first real location is obtained from the preset correspondence, wherein the first virtual location is used to represent the position of the vehicle in the virtual environment, and the preset correspondence is used to represent the correspondence between different virtual locations and different real locations of the vehicle; Based on the sum of the first virtual location and the second real location, a second virtual location of the target part is determined, wherein the second virtual location is used to characterize the position of the target part in the virtual environment; A target test image is displayed at the target display position corresponding to the second virtual position, wherein the target display position is used to represent the position on a preset part of the vehicle, and the target test image is used to represent the virtual image in front of the vehicle in the virtual environment; The vehicle is tested based on the target test image; Before displaying the target test image at the target display position corresponding to the second virtual position, the method further includes: Based on the curvature of the preset part, the target display position corresponding to the second virtual position is determined.

2. The method according to claim 1, characterized in that, Obtain the second true location of the target part of the target object, including: Obtain a first preset real position and a second preset real position of the target part, wherein the first preset real position is used to characterize the real position of the first part of the target part relative to the vehicle, and the second preset real position is used to characterize the real position of the second part of the target part relative to the vehicle; Obtain the sum of the first preset real position and the second preset real position to get the first sum; The second true position of the target part is obtained by obtaining the quotient of the first sum and the first preset value.

3. The method according to claim 1, characterized in that, The method further includes: Establish a virtual vehicle model corresponding to the vehicle; Obtain the initial real position of the vehicle in the real environment, and obtain the initial virtual position of the virtual vehicle model in the virtual environment; The difference between the initial real position and the initial virtual position is obtained to obtain the preset correspondence.

4. The method according to claim 1, characterized in that, Obtaining the first virtual location corresponding to the first real location from a preset correspondence includes: The first virtual location is obtained by summing the preset correspondence with the first real location.

5. The method according to claim 1, characterized in that, The method further includes: A simulation system for the vehicle is established, wherein the simulation system is used to interact virtual data and real data of the vehicle; The simulation system transmits the simulated perception signals of the vehicle to the vehicle's control system, wherein the simulated perception signals include at least one of the following: camera signals, lidar signals, millimeter-wave radar signals, and ultrasonic radar signals; The vehicle is controlled by the control system based on the simulated sensing signals.

6. A vehicle testing device, characterized in that, include: The first acquisition module is used to acquire the first real position of the vehicle and the second real position of the target part of the target object. The target object is used to represent the object driving the vehicle. The first real position is used to represent the position of the vehicle in the real environment. The second real position is used to represent the position of the target part in the real environment. The second real position is the real-time position of the position between the driver's eyes in the actual coordinate system relative to the movement of the vehicle. The second acquisition module is used to acquire the first virtual position corresponding to the first real position from the preset correspondence relationship, wherein the first virtual position is used to represent the position of the vehicle in the virtual environment, and the preset correspondence relationship is used to represent the correspondence relationship between different virtual positions and different real positions of the vehicle. The determining module is configured to determine a second virtual position of the target part based on the sum of the first virtual position and the second real position, wherein the second virtual position is used to characterize the position of the target part in the virtual environment; The display module is used to display a target test image at a target display position corresponding to the second virtual position, wherein the target display position is used to represent the position on a preset part of the vehicle, and the target test image is used to represent a virtual image in front of the vehicle in the virtual environment; The testing module is used to test the vehicle based on the target test image; The device is further configured to determine the target display position corresponding to the second virtual position based on the curvature of the preset part before displaying the target test image at the target display position corresponding to the second virtual position.

7. A vehicle, characterized in that, The test method for the vehicle according to any one of claims 1 to 5 includes: The target system is used to obtain the first real position of the vehicle and the second real position of the target object; A target sensor, connected to the target system, is used to acquire a preset image of the vehicle in a virtual environment; A display device, connected to the target system and the target sensor, is used to display a target test image of the vehicle.

8. An electronic device, characterized in that, include: One or more processors; Storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors perform the vehicle testing method according to any one of claims 1-5.

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