Evaluation methods, devices, vehicles, and electronic components for autonomous driving lane-changing functions

Abstract

This invention discloses an evaluation method, apparatus, vehicle, and electronic device for autonomous driving lane-changing functions, relating to the field of vehicle technology. The method includes: determining a test set, wherein the test set includes multiple test conditions, and the test set is used to test the lane-changing function of a first vehicle; controlling the first vehicle to a first operating state and controlling a second vehicle to a second operating state, wherein the second vehicle is an obstacle vehicle, according to the test set; obtaining a third operating state of the first vehicle; determining test results based on the first, second, and third operating states; and evaluating the test results to obtain an evaluation result. This invention solves the technical problems of related technologies that rely on simulation environments for iterative development to evaluate autonomous driving lane-changing functions, resulting in significant limitations, low efficiency, and difficulty in implementation.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and more specifically, to an evaluation method, apparatus, vehicle, and electronic device for an autonomous driving lane-changing function. Background Technology

[0002] With the rapid development of autonomous driving technology, autonomous vehicles have been widely used. Among them, lane changing function, as one of the important functions of autonomous vehicles, ensures the smoothness of the vehicle during lane changing. Therefore, the evaluation of the lane changing function of autonomous vehicles is very important.

[0003] Currently, the lane-changing function of autonomous driving vehicles is evaluated through iterative development in a simulation environment. However, the real-vehicle scenario data required for this method is not easy to obtain, and the road test scenarios have certain complexity and uncertainty, resulting in significant limitations, low efficiency, and difficulty in implementation.

[0004] There is currently no effective solution to the above problems. Summary of the Invention

[0005] This invention provides a method, apparatus, vehicle, and electronic device for evaluating autonomous driving lane-changing functions, at least addressing the technical problems of limitations, low efficiency, and difficulty in implementation in related technologies that rely on simulation environments for iterative development to evaluate autonomous driving lane-changing functions.

[0006] According to one embodiment of the present invention, an evaluation method for an autonomous driving lane-changing function is provided, comprising: determining a test set, wherein the test set includes multiple test conditions, the test set being used to test the lane-changing function of a first vehicle; controlling the first vehicle to a first operating state and controlling a second vehicle to a second operating state according to the test set, wherein the second vehicle is an obstacle vehicle; obtaining a third operating state of the first vehicle, wherein the third operating state is the operating state of the first vehicle after performing a lane-changing operation based on the lane-changing function in the first operating state; determining test results based on the first operating state, the second operating state, and the third operating state; and evaluating the test results to obtain evaluation results, wherein the evaluation results are used to evaluate the smoothness, efficiency, safety, centering, and lane-changing confidence of the lane-changing function.

[0007] Optionally, the second vehicle includes a third vehicle located in front of the first vehicle. The test results determined based on the first, second, and third operating states include: determining the acceleration information of the first vehicle, the average lane change time of the first vehicle, the headway and collision time between the first and third vehicles, the lane departure degree of the first vehicle, and the lane change confidence of the first vehicle based on the first, second, and third operating states.

[0008] Optionally, the test results are evaluated, and the evaluation results include: in response to the acceleration information being less than a first preset threshold, the smoothness of the lane-changing function of the first vehicle is determined to be qualified; in response to the average lane-changing time being less than a second preset threshold, the efficiency of the lane-changing function of the first vehicle is determined to be qualified; in response to the headway being less than a third preset threshold and the collision time being less than a fourth preset threshold, the safety of the lane-changing function of the first vehicle is determined to be qualified; in response to the lane deviation being within a preset range, the centering of the lane-changing function of the first vehicle is determined to be qualified; and in response to the lane-changing confidence being greater than a fifth preset threshold, the lane-changing confidence of the lane-changing function of the first vehicle is determined to be qualified.

[0009] Optionally, the method further includes: in response to an evaluation result being unqualified, performing data analysis based on the test results to obtain analysis results; and improving the lane-changing function of the first vehicle based on the analysis results.

[0010] Optionally, the method further includes: in response to the completion of the lane-changing function improvement of the first vehicle, performing lane-changing function testing again based on the test set.

[0011] Optionally, the test set includes at least one of the following: a test set where the first lane does not include the second vehicle, a test set where the first lane includes the second vehicle, a test set where the second vehicle in the second lane has not performed a lane-changing operation, and a test set where the second vehicle in the second lane has performed a lane-changing operation, wherein the first lane is adjacent to the second lane and the first vehicle is located in the first lane.

[0012] According to one embodiment of the present invention, an evaluation device for an autonomous driving lane-changing function is also provided, comprising: a first determining module, configured to determine a test set, wherein the test set includes multiple test conditions, and the test set is used to test the lane-changing function of a first vehicle; a control module, configured to control the first vehicle to a first operating state and control a second vehicle to a second operating state according to the test set, wherein the second vehicle is an obstacle vehicle; an acquisition module, configured to acquire a third operating state of the first vehicle, wherein the third operating state is the operating state of the first vehicle after performing a lane-changing operation based on the lane-changing function in the first operating state; a second determining module, configured to determine a test result based on the first operating state, the second operating state, and the third operating state; and an evaluation module, configured to evaluate the test result to obtain an evaluation result, wherein the evaluation result is used to evaluate the smoothness, efficiency, safety, centering, and lane-changing confidence of the lane-changing function.

[0013] Optionally, the second determining module is further configured to determine the acceleration information of the first vehicle, the average lane-changing time of the first vehicle, the headway and collision time between the first vehicle and the third vehicle, the lane deviation degree of the first vehicle, and the lane-changing confidence of the first vehicle based on the first working state, the second working state, and the third working state.

[0014] Optionally, the second determining module is further configured to determine that the smoothness of the lane-changing function of the first vehicle is qualified in response to the acceleration information being less than a first preset threshold; determine that the efficiency of the lane-changing function of the first vehicle is qualified in response to the average lane-changing time being less than a second preset threshold; determine that the safety of the lane-changing function of the first vehicle is qualified in response to the headway being less than a third preset threshold and the collision time being less than a fourth preset threshold; determine that the centering of the lane-changing function of the first vehicle is qualified in response to the lane deviation degree meeting a preset range; and determine that the lane-changing confidence of the lane-changing function of the first vehicle is qualified in response to the lane-changing confidence being greater than a fifth preset threshold.

[0015] Optionally, the evaluation module is also used to respond to an evaluation result that is unqualified, perform data analysis based on the test results, obtain analysis results, and improve the lane-changing function of the first vehicle based on the analysis results.

[0016] Optionally, the evaluation module is also used to perform lane-changing function testing again based on the test set in response to the completion of the lane-changing function improvement of the first vehicle.

[0017] Optionally, the test set includes at least one of the following: a test set where the first lane does not include the second vehicle, a test set where the first lane includes the second vehicle, a test set where the second vehicle in the second lane has not performed a lane-changing operation, and a test set where the second vehicle in the second lane has performed a lane-changing operation, wherein the first lane is adjacent to the second lane and the first vehicle is located in the first lane.

[0018] According to one embodiment of this application, a vehicle is also provided, which is used to perform the evaluation method for the automated driving lane-changing function in any of the above claims.

[0019] According to one embodiment of the present invention, a computer-readable storage medium is also provided, wherein the storage medium stores a computer program, wherein the computer program is configured to execute the evaluation method for the automatic driving lane changing function described above when running on a computer or processor.

[0020] According to one embodiment of the present invention, an electronic device is also provided, including a memory and a processor, wherein the memory stores a computer program and the processor is configured to run the computer program to perform the evaluation method for the automatic driving lane changing function in any of the above claims.

[0021] In this embodiment of the invention, a test set is determined, which includes multiple test conditions. The test set is used to test the lane-changing function of a first vehicle. Based on the test set, the first vehicle is controlled to a first working state, and a second vehicle is controlled to a second working state, where the second vehicle is an obstacle vehicle. A third working state of the first vehicle is obtained, where the third working state is the working state of the first vehicle after performing a lane-changing operation based on the lane-changing function in the first working state. The test results are determined based on the first, second, and third working states, and then evaluated to obtain an evaluation result. The evaluation result is used to evaluate the smoothness, efficiency, safety, centering, and lane-changing confidence of the lane-changing function. This can cover the main scenarios of autonomous driving lane-changing function, effectively meet the real-vehicle testing requirements of autonomous driving lane-changing function, and achieve the technical effect of enabling testers to effectively test and evaluate the functional performance and guide the optimization of autonomous driving lane-changing function. It has fewer limitations, higher efficiency, and is easy to implement. This solves the technical problem that related technologies use simulation environments for iterative development to evaluate the autonomous driving lane-changing function of vehicles, resulting in greater limitations, lower efficiency, and difficulty in implementation. Attached Figure Description

[0022] 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:

[0023] Figure 1 This is a block diagram of a real-vehicle test system for an autonomous driving lane-changing function according to one embodiment of the present invention;

[0024] Figure 2 This is a flowchart of an evaluation method for an autonomous driving lane-changing function according to one embodiment of the present invention;

[0025] Figure 3 This is a schematic diagram illustrating the definition of lane departure degree according to one embodiment of the present invention;

[0026] Figure 4 This is a structural block diagram of an evaluation device for an autonomous driving lane-changing function according to one embodiment of the present invention. Detailed Implementation

[0027] 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.

[0028] 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.

[0029] According to one embodiment of the present invention, an embodiment of an evaluation method for an autonomous driving lane-changing function 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.

[0030] This method embodiment can be executed in an electronic device, similar control device, or system that includes a memory and a processor. Taking an electronic device as an example, the electronic device may include one or more processors and a memory for storing data. Optionally, the electronic device may also include a communication device for communication functions and a display device. Those skilled in the art will understand that the above structural description is merely illustrative and does not limit the structure of the electronic device. For example, the electronic device may include more or fewer components than described above, or have a different configuration than described above.

[0031] A processor may include one or more processing units. For example, a processor may include a central processing unit (CPU), a graphics processing unit (GPU), a digital signal processing (DSP) chip, a microcontroller unit (MCU), a field-programmable gate array (FPGA), a neural network processing unit (NPU), a tensor processing unit (TPU), or an artificial intelligence (AI) processor. Different processing units may be independent components or integrated into one or more processors. In some instances, electronic devices may also include one or more processors.

[0032] The memory can be used to store computer programs, such as the computer program corresponding to the evaluation method for the autonomous driving lane-changing function in this embodiment of the invention. The processor implements the aforementioned evaluation method for the autonomous driving lane-changing function by running the computer program stored in the memory. The memory may include high-speed random access memory and non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory may further include memory remotely located relative to the processor, and these remote memories can be connected to electronic devices via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0033] Communication devices are used to receive or send data via a network. Specific examples of such networks may include wireless networks provided by the mobile terminal's communication provider. In one example, the communication device includes a network interface controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the communication device may be a radio frequency (RF) module used for wireless communication with the Internet.

[0034] Display devices can be, for example, touchscreen liquid crystal displays (LCDs) and touch displays (also referred to as "touchscreens" or "touch displays"). The LCD allows users to interact with the user interface of the mobile terminal. In some embodiments, the mobile terminal has a graphical user interface (GUI), which allows users to interact with the GUI through finger contact and / or gestures on a touch-sensitive surface. Optional human-computer interaction functions include: creating web pages, drawing, word processing, creating electronic documents, playing games, video conferencing, instant messaging, sending and receiving emails, call interfaces, playing digital video, playing digital music, and / or web browsing, etc. Executable instructions for performing the above human-computer interaction functions are configured / stored in one or more processor-executable computer program products or readable storage media.

[0035] This embodiment provides a real-vehicle test system for autonomous driving lane-changing function. Figure 1 This is a block diagram of a real-vehicle test system for an autonomous driving lane-changing function according to one embodiment of the present invention, such as... Figure 1 As shown, Figure 1 It includes: a perception fusion module, a Global Positioning System (GPS) module, a low-level feedback module, and an information processing module.

[0036] Figure 1 The real-vehicle test system for the autonomous driving lane-changing function is constructed by deploying GPS antennas and integrated navigation systems on different vehicle models, such as the EHS9 vehicle platform. These, along with the original vehicle's cameras and millimeter-wave radar, form the positioning and perception fusion modules for testing the autonomous driving lane-changing function. Furthermore, by deploying industrial control computers and CAN devices on different vehicle models, an information processing module for testing the autonomous driving lane-changing function is formed. In addition, since all external devices and sensors require power supply modules, adding a 12-volt battery to the original vehicle can meet the power supply needs of most sensors, depending on the brand and type of equipment used. Higher power requirements can be addressed by adding an inverter to the original vehicle's power system; this is not limited in this embodiment. Finally, a low-level control domain controller (CDS) node is added to the CAN bus on different vehicle models. This node and its communicating vehicle internal gateway constitute the low-level feedback system of the lane-changing function test system, thus constructing the real-vehicle test system for the autonomous driving lane-changing function. This is not limited in this embodiment.

[0037] The perception fusion module is used to fuse vehicle body information provided by the vehicle's underlying feedback module to obtain the relative position information of obstacles ahead. For example, after the perception fusion module receives vehicle body information provided by the vehicle's underlying feedback system, such as vehicle speed v, it can obtain the relative position information of obstacles ahead. ego Wheel speed w ego and yaw rate Ψ ego It can determine the relative position information of the vehicle and the obstacle after merging with the obstacle in front. Relative speed information and relative angle information The perception fusion module includes millimeter-wave radar and a camera. The camera is used to determine lane line information of the vehicle's lane according to an output protocol. For example, the lane line information... It can be expressed by a functional relationship, as shown in the following formula (1):

[0038] (1)

[0039] Among them, in the above formula (1) Indicates the lane line output coefficient. Indicates the vehicle's heading.

[0040] The GPS module is used to determine the vehicle's location information. For example, the GPS module can obtain the vehicle's location through a high-precision positioning system using real-time kinematic (RTK) technology and an inertial measurement unit (IMU). , ) and attitude information ( And by deploying 4G modules to meet the network requirements of differential technology, the embodiments of the present invention are not limited.

[0041] Optionally, after determining the relative position information of the obstacle ahead based on the aforementioned perception fusion module and determining the vehicle's position information based on the GPS module, the position information of the obstacle can be calculated based on the relative position information of the obstacle ahead and the vehicle's position information. , ) and speed information The specific calculation process is shown in the following formulas (2)-(4):

[0042] (2)

[0043] (3)

[0044] (4)

[0045] The underlying feedback module is used to provide vehicle body information and various control information of the lane-changing function system under test to external modules. For example, the underlying feedback module can provide chassis CAN bus status information such as vehicle body information (vehicle speed, lateral and longitudinal acceleration information, etc.) and control information of the lane-changing function system (steering wheel angle, etc.) to the upper-level information processing unit. This embodiment of the invention is not limited to this.

[0046] The information processing module includes a Controller Area Network (CAN) converter, a hub, and an industrial control computer. Using an automotive-grade industrial control computer, the module collects and records test environment information, control information, and result information. Specifically, it receives vehicle position and attitude information from the positioning module, performs data parsing (RS232 serial protocol), and stores obstacle information, lane line information, vehicle body information, and lane-changing function control information from the perception fusion module. Simultaneously, according to the development requirements of the autonomous driving lane-changing function, it stores and records the collected information according to the protocol. For example, after the information processing module stores and records the collected information according to the protocol, the stored data format can be: {vehicle position information, obstacle information, lane line information, vehicle body information, control quantity information}. This embodiment of the invention is not limited to this.

[0047] Optionally, during the functional development and verification of autonomous driving systems for different vehicle models, corresponding information can be stored through the information processing module. For example, during the functional development and verification of autonomous driving systems at Level 3 and above, high-precision maps are required, and the information processing module can store the corresponding high-precision map information of the test site. This embodiment of the invention is not limited in its scope.

[0048] Figure 1 During operation, the real-vehicle test system for the autonomous driving lane-changing function provides vehicle information to the perception fusion module through the underlying feedback module. The perception fusion module then fuses the vehicle information to obtain the relative position information of obstacles ahead. The camera in the perception fusion module determines and outputs the lane line information of the lane in which the vehicle is located. The GPS module determines the position and attitude information of the vehicle. The vehicle information and control information output by the underlying feedback module, the lane line information output by the perception fusion module, and the position and attitude information of the vehicle output by the GPS module are input to the information processing module. The test environment information, control information, and result information are collected and recorded, thereby completing the real-vehicle test of the autonomous driving lane-changing function.

[0049] This embodiment provides an evaluation method for the automatic lane-changing function of an electronic device. Figure 2 This is a flowchart of an evaluation method for an autonomous driving lane-changing function according to one embodiment of the present invention, such as... Figure 2 As shown, the process includes the following steps:

[0050] Step S20: Determine the test set;

[0051] The test set includes various test conditions and is used to test the lane-changing function of the first vehicle.

[0052] The first vehicle can be understood as the test vehicle that needs to be evaluated for autonomous driving lane changing function, and the test set can be understood as the set of working conditions used to test the test vehicle that needs to be evaluated for autonomous driving lane changing function.

[0053] Understandably, in real-world scenarios, vehicle driving conditions are complex and involve various operating conditions. By defining a test set that includes multiple test conditions, it is possible to provide more comprehensive and realistic test conditions for testing the lane-changing function of the first vehicle, thereby enabling more accurate testing of the lane-changing function of the first vehicle.

[0054] Optionally, the test set can be determined based on the lane-changing function of the first vehicle to be tested, and this embodiment of the invention does not impose any restrictions.

[0055] In an alternative embodiment, it can be achieved through the above... Figure 1 The evaluation method for the autonomous driving lane changing function in the real vehicle test system of the autonomous driving lane changing function is as follows: before determining the test set, check the vehicle condition of the test vehicle and the operating status of the test function system to ensure the hard wiring, power supply and network connection status of the real vehicle test system for the autonomous driving lane changing function and to ensure normal communication. The embodiments of the present invention are not limited.

[0056] Step S21: Control the first vehicle to the first working state and control the second vehicle to the second working state according to the test set;

[0057] The second vehicle is an obstacle vehicle.

[0058] The first working state can be understood as adjusting the vehicle under test to a working state that conforms to the test conditions in the test set according to the test set. The second working state can be understood as adjusting the obstacle vehicle to a working state that conforms to the test conditions in the test set according to the test set.

[0059] Understandably, to perform lane-changing function tests on vehicles under test in the test set, the working states of the vehicles under test and the obstacle vehicles need to conform to the test conditions in the test set, so as to ensure that the test is carried out accurately according to the test set, that is, to control the first vehicle to the first working state and the second vehicle to the second working state according to the test set.

[0060] For example, when the test condition of the test set is that the vehicle under test and the obstacle vehicle are driving in the same lane, the vehicle under test and the obstacle vehicle are controlled to drive in the same lane. This embodiment of the invention is not limited.

[0061] Step S22: Obtain the third working state of the first vehicle;

[0062] The third working state is the working state of the first vehicle after it performs a lane-changing operation based on the lane-changing function in the first working state.

[0063] The third working state is the working state of the first vehicle after performing a lane-changing operation based on the lane-changing function in the first working state. For example, when the test condition of the test set is that the vehicle under test and the obstacle vehicle are traveling in the same lane, the third working state is the working state of the first vehicle after performing a lane-changing operation based on the lane-changing function while traveling in the same lane as the obstacle vehicle. This embodiment of the present invention does not limit this.

[0064] Alternatively, it can be done through the above Figure 1 The real-vehicle test system for the autonomous driving lane-changing function in the test vehicle obtains the third operating state of the first vehicle. For example, this can be achieved through the above-mentioned... Figure 1 The real-vehicle test system for the autonomous driving lane-changing function in the present invention stores and marks the working status information of the test vehicle and the target vehicle, such as the distance, speed and turn signal activation status, according to the agreed protocol. This embodiment of the invention is not limited.

[0065] Step S23: Determine the test results based on the first working state, the second working state, and the third working state;

[0066] The test results are used to represent the results of the lane-changing function test on the first vehicle. This step can be understood as determining the results of the lane-changing function test on the first vehicle based on the first working state of the vehicle under test, the second working state of the obstacle vehicle, and the working state of the first vehicle after performing a lane-changing operation based on the lane-changing function in the first working state.

[0067] It is understood that the test set includes multiple test conditions. The first vehicle is controlled to perform lane-changing function tests based on the test set, and the test results obtained are the results of multiple test conditions in the corresponding test set. This embodiment of the invention does not limit the test results.

[0068] Step S24: Evaluate the test results to obtain the evaluation results.

[0069] The evaluation results are used to assess the smoothness, efficiency, safety, centering, and lane change confidence of the lane change function.

[0070] Lane change smoothness indicates the ride comfort of the vehicle when performing lane change; lane change efficiency indicates the efficiency of the vehicle when performing lane change; lane change safety indicates the safety level of the vehicle when performing lane change; lane change centering indicates the accuracy of the vehicle's position when performing lane change; and lane change confidence indicates the reliability of the vehicle when performing lane change.

[0071] This step can be understood as evaluating the results of the lane-changing function test of the first vehicle to obtain an evaluation of the first vehicle's ride comfort, efficiency, safety, accuracy, and reliability when performing the lane-changing function.

[0072] It is understood that when the evaluation result is qualified, it means that the smoothness, efficiency, safety, centering, and lane change confidence of the first vehicle's lane changing function are all qualified, indicating that the first vehicle's lane changing function is qualified. When the evaluation result is unqualified, it means that at least one of the smoothness, efficiency, safety, centering, and lane change confidence of the first vehicle's lane changing function is unqualified, indicating that the first vehicle's lane changing function is unqualified. This embodiment of the present invention does not impose any limitations.

[0073] Through the above steps, a test set is determined, which includes various test conditions. The test set is used to test the lane-changing function of the first vehicle. Based on the test set, the first vehicle is controlled to a first working state, and the second vehicle is controlled to a second working state, where the second vehicle is an obstacle vehicle. A third working state of the first vehicle is obtained, which is the working state of the first vehicle after performing a lane-changing operation based on the lane-changing function in the first working state. The test results are determined based on the first, second, and third working states, and then evaluated to obtain the evaluation results. The evaluation results are used to assess the smoothness, efficiency, safety, centering, and lane-changing confidence of the lane-changing function. This can cover the main scenarios of autonomous driving lane-changing functions, effectively meet the real-vehicle testing requirements of autonomous driving lane-changing functions, and achieve the technical effect of enabling testers to effectively test and evaluate the functional performance and guide the optimization of autonomous driving lane-changing functions. It has fewer limitations, higher efficiency, and is easy to implement. Thus, it solves the technical problem that related technologies that use simulation environments for iterative development to evaluate the lane-changing function of autonomous vehicles have significant limitations, low efficiency, and are difficult to implement.

[0074] Optionally, the test set includes at least one of the following: a test set where the first lane does not include the second vehicle, a test set where the first lane includes the second vehicle, a test set where the second vehicle in the second lane has not performed a lane-changing operation, and a test set where the second vehicle in the second lane has performed a lane-changing operation, wherein the first lane is adjacent to the second lane and the first vehicle is located in the first lane.

[0075] Understandably, the test set includes various test conditions, based on the functional specifications of the system under test, and fully covers road types (straight roads, curves, number of lanes), whether there is a vehicle in front in this lane, whether there is a vehicle in front in the target lane, traffic conditions in the target lane, and whether lane lines are clear.

[0076] The test set corresponding to the first lane excluding the second vehicle can be understood as the test set corresponding to vehicles without obstacles in the lane where the vehicle under test is located. The test set corresponding to the first lane including the second vehicle can be understood as the test set corresponding to vehicles with obstacles in the lane where the vehicle under test is located. The test set corresponding to the second vehicle in the second lane not performing a lane change operation can be understood as the test set corresponding to the obstacle vehicle being in the adjacent lane of the vehicle under test and not performing a lane change operation. The test set corresponding to the second vehicle in the second lane performing a lane change operation can be understood as the test set corresponding to the obstacle vehicle being in the adjacent lane of the vehicle under test and performing a lane change operation.

[0077] To better understand this step, this embodiment of the invention provides a test set matrix table to represent each test condition in the test set, as shown in Table 1 below:

[0078] Table 1 Test Set Matrix

[0079] The first lane does not include the second vehicle test case group. The first lane includes the second vehicle test case group. Test case set: The second vehicle in the second lane did not perform a lane-changing operation. Test case set for the second vehicle in the second lane performing a lane-changing operation Straight road, no destination vehicle A single target vehicle in the first lane travels at a constant speed. The vehicles ahead in the second lane are traveling straight with no deviation. The vehicle in the second lane ahead on the left is cutting in front of this vehicle at a steady speed. The lane markings on the left side of the straight road are blurred, and there is no target vehicle. A single target vehicle in the first lane travels at a constant speed, with an offset. The vehicles ahead in the second lane are traveling straight and are offset. The vehicle in the second lane to the left slows down and cuts in front of this vehicle. The lane markings on the right side of the straight road are blurred, and there is no target vehicle. A single target vehicle in the first lane slows down. A large number of vehicles were moving slowly in the second lane on the left. The vehicle in the second lane to the left accelerates and cuts in front of this vehicle. The lane markings on both sides of the straight road are blurred, and there is no target vehicle. A single target vehicle accelerated away from the first lane. A large number of vehicles were moving slowly in the second lane on the right. The vehicle in the second lane ahead on the right is cutting in front of this vehicle at a steady speed. A single target vehicle in the first lane cuts to the left. A single target vehicle is in the first lane, and the lane markings on one side are blurred. Large numbers of vehicles were moving slowly in the second lanes on both sides. The vehicle in the second lane to the right slows down and cuts in front of this vehicle. After a single target vehicle slows down in the first lane, it cuts to the left. A single target vehicle is visible in the first lane, while the lane markings on both sides are blurred. The vehicle in the second lane slowly approached the adjacent lane line on the left, but did not cross it. The vehicle in the second lane on the right accelerates and cuts in front of this vehicle. A single target vehicle in the first lane accelerates and then cuts to the left. The single target vehicle in the first lane floats and moves to the left. The vehicle in front on the right in the second lane slowly approached the adjacent lane line, but did not cross it. The vehicle behind and to the left of the second lane accelerates past this vehicle and cuts in front of it. / The single target vehicle in the first lane floats and moves to the right. / The vehicle behind and to the left in the second lane accelerated past this vehicle without cutting in front of it.

[0080] It is understood that the first lane in Table 1 above can be a straight road or a curve. Whether there is an offset between a single target vehicle and the vehicle under test can be understood as whether there is overlap between the obstacle vehicle and the vehicle under test in the direction perpendicular to the lane. Any test case in Table 1 above should be tested at least within the speed range where the autonomous driving lane changing function is normally activated. That is, each test case is appropriately generalized according to the speed range. This embodiment of the invention does not impose any restrictions.

[0081] Optionally, the lane-changing function test can be performed on the vehicle under test based on the test set shown in Table 1 above. During the test, each test case in the test set is tested at least three times under the same test conditions to test the stability of the lane-changing function system and eliminate uncertainty interference. This embodiment of the invention does not limit this.

[0082] In an optional embodiment, when testing the lane-changing function of the first vehicle based on the test set, regression testing under the same test conditions can be performed in conjunction with each test case in Table 1 above. That is, for each test case applied, the test is re-performed to confirm that the modification has not introduced new errors or caused errors in other code, thereby ensuring that the upgraded test cases can be effectively covered and the test problems can be effectively solved. This embodiment of the present invention does not limit this.

[0083] In another alternative embodiment, when testing the lane-changing function of the first vehicle based on the test set, a wireless intercom device can be added to ensure that the test scenario meets the functional requirements and specifications. This embodiment of the invention does not impose any limitations.

[0084] Optionally, in step S23, the second vehicle includes a third vehicle located in front of the first vehicle. Determining the test result based on the first working state, the second working state, and the third working state may include the following execution steps:

[0085] Step S230: Determine the acceleration information of the first vehicle, the average lane-changing time of the first vehicle, the headway and collision time between the first vehicle and the third vehicle, the lane deviation degree of the first vehicle, and the lane-changing confidence of the first vehicle based on the first working state, the second working state, and the third working state.

[0086] The acceleration information of the first vehicle can be understood as a physical quantity describing the rate of change of the first vehicle's acceleration, determined by the magnitude of the acceleration change and the time, reflecting the smoothness of the first vehicle. The average lane-changing time of the first vehicle can be understood as the average time it takes for the first vehicle to perform a lane-changing function, reflecting its efficiency. The headway and collision time between the first and third vehicles can be understood as the time difference between the front ends of the first and third vehicles passing the same point, reflecting the safety of the first vehicle. The lane departure degree of the first vehicle can be understood as the degree of deviation of the first vehicle's center from the lane centerline, reflecting its centering accuracy. The lane-changing confidence level of the first vehicle can be understood as the reliability of the first vehicle's lane-changing function.

[0087] This step can be understood as determining, based on the first working state, the second working state, and the third working state, the physical quantities of the rate of change of the first vehicle's acceleration, the average time for the first vehicle to perform the lane-changing function, the time difference between the front ends of the first vehicle and the third vehicle passing the same location, the degree of deviation of the center of the first vehicle from the center line of the lane, and the reliability of the first vehicle performing the lane-changing function.

[0088] Optionally, the acceleration information of the first vehicle can be determined by the change in acceleration of the first vehicle and the time, which is not limited in this embodiment of the invention. Specifically, the acceleration information of the first vehicle includes lateral acceleration (m / s²). 3 ) and longitudinal jerk (m / s 3 The real-time lateral acceleration information can be determined through the body sensors in the first vehicle, and then the lateral acceleration... It can be calculated using mathematical formulas, and the specific calculation process is shown in the following formula (5):

[0089] (5)

[0090] In the above formula (5), t represents the system calculation period. Optionally, in order to reduce sensor error, t can be the lateral average acceleration value within a certain period of time, which represents the period of time. This embodiment of the present invention does not limit this.

[0091] Optionally, the longitudinal acceleration of the first vehicle It can be calculated using mathematical formulas, and the specific calculation process is shown in the following formula (6):

[0092] (6)

[0093] This determines the lateral and longitudinal jerk of the first vehicle, thus determining the jerk information of the first vehicle.

[0094] Optionally, the average lane-changing time of the first vehicle can be determined based on the first operating state, the second operating state, and the third operating state, as described above. Figure 1 The real-vehicle test system for the lane-changing function of autonomous driving in the test vehicle collects the lateral movement distance of the first vehicle in real time. And the lateral speed of the vehicle during lane changing is determined by the vehicle's body sensors. Then the average lane-changing time of the first vehicle It can be calculated using mathematical formulas, and the specific calculation process is shown in the following formula (7):

[0095] (7)

[0096] This determines the average lane-changing time of the first vehicle.

[0097] Optionally, the headway and collision time between the first vehicle and the third vehicle may include the headway and collision time between the first vehicle and the third vehicle in the same lane, as well as the headway and collision time between the first vehicle and the third vehicle in the second lane, with the relative distance between the two vehicles denoted as... The speed of the first vehicle is recorded as The headway between the first vehicle and the vehicle in front in the same lane or the vehicle in front in the target lane can be calculated using a mathematical formula, as shown in the following formula (8):

[0098] (8)

[0099] Relative vehicle speed is denoted as The time of collision between the first vehicle and the vehicle in front in its own lane or the vehicle in front in the target lane. It can be calculated using mathematical formulas, and the specific calculation process is shown in the following formula (9):

[0100] (9)

[0101] This determines the headway and collision time between the first and third vehicles.

[0102] Optionally, the lane departure degree of the first vehicle can be determined through the above... Figure 1 In the real-vehicle test system for the autonomous driving lane-changing function, the camera output and positioning module obtain the actual position and trajectory data of the vehicle in the high-precision map. Based on the actual position and trajectory data of the vehicle in the high-precision map, the degree of deviation of the center of the first vehicle from the center line of the lane is determined. This embodiment of the invention is not limited.

[0103] Optionally, the lane-changing confidence level of the first vehicle is determined based on the first operating state, the second operating state, and the third operating state. It can be calculated using mathematical formulas, and the specific calculation process is shown in the following formula (10):

[0104] (10)

[0105] In the above formula (10) This represents the weighting coefficient for the corresponding sub-confidence level. Indicates relative distance confidence level. This represents the confidence level for the collision time. Indicates the confidence level of lane line curvature. This indicates the reliability of lane marking information.

[0106] Optionally, the confidence level of each sub-unit It can be calculated using mathematical formulas, and the specific calculation process is shown in the following formula (11):

[0107] (11)

[0108] In the above formula (11), input represents the collision time, relative distance, lane curvature, etc. between the vehicle and the vehicle in front in the same lane or the vehicle in front in the target lane. This embodiment of the invention does not limit these parameters.

[0109] This determines the confidence level of the lane change for the first vehicle.

[0110] Optionally, in step S24, evaluating the test results to obtain the evaluation results may include the following steps:

[0111] Step S240: In response to the acceleration information being less than a first preset threshold, determine that the smoothness of the lane-changing function of the first vehicle is qualified;

[0112] The first preset threshold can be understood as the maximum acceleration value that ensures the ride comfort of the first vehicle is qualified when it performs lane changing function. That is, if the acceleration information of the first vehicle exceeds the minimum acceleration value, it means that the ride comfort of the first vehicle when it performs lane changing function is not qualified, that is, the smoothness of the first vehicle's lane changing function is not qualified. If the acceleration information of the first vehicle is less than the minimum acceleration value, it means that the ride comfort of the first vehicle when it performs lane changing function is qualified, that is, the smoothness of the first vehicle's lane changing function is qualified.

[0113] This step can be understood as follows: when the acceleration information of the first vehicle is less than a first preset threshold, it indicates that the ride comfort level of the first vehicle's lane-changing function is qualified, that is, the smoothness of the first vehicle's lane-changing function is qualified. Optionally, the first preset threshold can be set to 2 m / s². 3 The embodiments of the present invention are not limited. For example, when both the lateral and longitudinal accelerations of the first vehicle are less than 2 m / s²... 3 When the lane-changing function of the first vehicle is in operation, it indicates that the ride comfort level is qualified, that is, the smoothness of the lane-changing function of the first vehicle is qualified.

[0114] In an optional embodiment, an acceleration threshold can be set simultaneously when determining the relationship between the acceleration information of the first vehicle and a first preset threshold. Optionally, the acceleration threshold can be set to 2 m / s². 2 When the lateral and longitudinal accelerations of the first vehicle are both less than 2 m / s² 2 Furthermore, both the lateral and longitudinal jerk are less than 2 m / s². 3 When the first vehicle's lane-changing function is in operation, it indicates that the ride comfort level is acceptable, meaning the smoothness of the first vehicle's lane-changing function is acceptable. This embodiment of the invention does not impose any limitations on this.

[0115] Step S241: In response to the average lane-changing time being less than the second preset threshold, determine that the efficiency of the lane-changing function of the first vehicle is qualified.

[0116] The second preset threshold can be understood as the maximum time threshold that ensures the lane-changing function of the first vehicle can be executed efficiently. That is, if the average lane-changing time of the first vehicle exceeds this minimum time threshold, it indicates that the efficiency of the lane-changing function of the first vehicle is low, that is, the efficiency of the lane-changing function of the first vehicle is unqualified. If the average lane-changing time of the first vehicle is less than this minimum time threshold, it indicates that the lane-changing function of the first vehicle can be executed efficiently, that is, the efficiency of the lane-changing function of the first vehicle is qualified.

[0117] This step can be understood as follows: when the average lane-changing time of the first vehicle is less than the second preset threshold, it indicates that the lane-changing function of the first vehicle can be executed efficiently, that is, the efficiency of the lane-changing function of the first vehicle is qualified. Optionally, the second preset threshold can be set to 3 seconds, which is not limited in this embodiment of the invention. For example, when the average lane-changing time of the first vehicle is less than 3 seconds, it indicates that the lane-changing function of the first vehicle can be executed efficiently, that is, the efficiency of the lane-changing function of the first vehicle is qualified.

[0118] Step S242: In response to the time distance between the vehicle head and the vehicle head being less than the third preset threshold and the collision time being less than the fourth preset threshold, the safety of the lane-changing function of the first vehicle is determined to be qualified.

[0119] The third preset threshold can be understood as the maximum headway required to ensure the safe execution of the lane-changing function of the first vehicle. The fourth preset threshold can be understood as the maximum collision time required to ensure the safe execution of the lane-changing function of the first vehicle. If the headway of the first vehicle exceeds this maximum threshold or the collision time exceeds this maximum threshold, it indicates that the first vehicle cannot safely execute the lane-changing function, meaning the safety of the lane-changing function of the first vehicle is unqualified. If the headway of the first vehicle is less than this maximum threshold and the collision time is less than this maximum threshold, it indicates that the lane-changing function of the first vehicle can safely execute, meaning the safety of the lane-changing function of the first vehicle is qualified.

[0120] This step can be understood as follows: when the headway of the first vehicle is less than a third preset threshold and the collision time is less than a fourth preset threshold, it indicates that the lane-changing function of the first vehicle can be safely executed, that is, the safety of the lane-changing function of the first vehicle is qualified. Optionally, the third preset threshold can be set to 2 seconds and the fourth preset threshold can be set to 3 seconds; this embodiment of the invention is not limited thereto. For example, when the headway of the first vehicle is less than 2 seconds and the collision time is less than 3 seconds, it indicates that the lane-changing function of the first vehicle can be safely executed, that is, the safety of the lane-changing function of the first vehicle is qualified.

[0121] Step S243: In response to the lane deviation degree meeting the preset range, determine that the centering of the lane changing function of the first vehicle is qualified;

[0122] The preset range can be understood as the range of lane deviation that ensures the lane-changing function of the first vehicle can be executed accurately. If the lane deviation of the first vehicle does not meet the preset range, it means that the first vehicle cannot execute the lane-changing function accurately, that is, the centering of the lane-changing function of the first vehicle is unqualified. If the lane deviation of the first vehicle meets the preset range, it means that the first vehicle can execute the lane-changing function accurately, that is, the centering of the lane-changing function of the first vehicle is qualified.

[0123] This step can be understood as follows: when the lane deviation of the first vehicle meets the preset range, it indicates that the first vehicle can accurately perform the lane-changing function, that is, the centering of the first vehicle's lane-changing function is qualified. Optionally, the distance from the center of the first vehicle to the center line of the lane can be denoted as e, and the preset range of lane deviation can be shown in Table 2 below:

[0124] Table 2 Definition of Lane Departure

[0125] area Deviating from definition Performance requirements A |e|<=0.3 >70% B |e|<=0.5 >90% C |e|<=0.5*lane width - 0.5*vehicle width >99%

[0126] In Table 2 above, regions A, B, and C represent different distance ranges from the center of the first vehicle to the center line of the lane. Figure 3 This is a schematic diagram illustrating the definition of lane departure degree according to one embodiment of the present invention, such as... Figure 3 As shown, after a vehicle performs a lane change, different ranges are defined based on the distance from the vehicle's center to the lane centerline after the lane change. Figure 3 In area A, the distance from the vehicle's center to the lane centerline is relatively small, meaning the vehicle is basically positioned at the lane centerline. This indicates that the vehicle's deviation from the lane change function is relatively optimal. Figure 3 The B area indicates that the distance from the vehicle's center to the lane centerline is moderate, meaning the vehicle is near the lane centerline, indicating that the vehicle's lane-changing function is performed with a good degree of deviation. Figure 3 The C area indicates that the distance from the vehicle's center to the lane centerline is moderate, meaning the vehicle is positioned on either side of the lane centerline. This indicates that the vehicle's deviation from the lane-changing function is within acceptable limits.

[0127] It is understandable that, as shown in Table 2 above, when testing the lane-changing function of the first vehicle, for example, in 10 tests, 7 test results meet |e|<=0.3, indicating that the first vehicle is in area A after performing the lane-changing function, indicating that the deviation of the first vehicle in performing the lane-changing function is relatively good. In 10 tests, 9 test results meet |e|<=0.5, indicating that the first vehicle is in area B after performing the lane-changing function, indicating that the deviation of the first vehicle in performing the lane-changing function is good. In 100 tests, 99 test results meet |e|<=0.5*lane width - 0.5*vehicle width, indicating that the first vehicle is in area C after performing the lane-changing function, indicating that the deviation of the first vehicle in performing the lane-changing function is qualified. This embodiment of the invention does not impose any limitations.

[0128] Step S244: In response to the lane change confidence level being greater than the fifth preset threshold, determine that the lane change confidence level of the lane change function of the first vehicle is qualified.

[0129] The fifth preset threshold can be understood as the minimum threshold required to ensure the reliable execution of the lane-changing function of the first vehicle. If the lane-changing confidence level of the first vehicle is greater than this minimum threshold, it indicates that the lane-changing function of the first vehicle can be reliably executed, meaning the lane-changing confidence level of the first vehicle's function is acceptable. If the average lane-changing time of the first vehicle is less than this minimum threshold, it indicates that the lane-changing function of the first vehicle cannot be reliably executed, meaning the lane-changing confidence level of the first vehicle's function is unacceptable.

[0130] This step can be understood as follows: when the lane-changing confidence level of the first vehicle is greater than the fifth preset threshold, it indicates that the lane-changing function of the first vehicle can be reliably executed, that is, the lane-changing confidence level of the first vehicle's lane-changing function is qualified. Optionally, the fifth preset threshold can be set to 0.8, which is not limited in this embodiment of the invention. For example, when the lane-changing confidence level of the first vehicle is greater than 0.8, it indicates that the lane-changing function of the first vehicle can be reliably executed, that is, the lane-changing confidence level of the first vehicle's lane-changing function is qualified.

[0131] Optionally, step S24 may also include the following execution steps:

[0132] Step S245: In response to the evaluation result being unqualified, data analysis is performed based on the test results to obtain the analysis results;

[0133] This step can be understood as follows: when the evaluation result is unqualified, it means that at least one of the smoothness, efficiency, safety, centering and lane change confidence of the lane change function of the first vehicle is unqualified. At this time, data analysis is performed based on the test results to obtain the analysis results, so as to analyze the reasons for the unqualified lane change function of the first vehicle.

[0134] Understandably, the evaluation results are used to assess the smoothness, efficiency, safety, centering, and lane change confidence of the lane change function. When the evaluation result is unqualified, data analysis is performed based on the test results to obtain analysis results. This allows for data analysis of different aspects of the lane change function, and provides a comprehensive and accurate basis for subsequent improvements to the lane change function of the first vehicle based on the analysis results.

[0135] Step S246: Improve the lane-changing function of the first vehicle based on the analysis results.

[0136] "Cannot be covered" can be understood as, when the evaluation result is unqualified, data analysis is performed based on the test results to obtain analysis results, and the lane-changing function of the first vehicle is improved based on the analysis results, thereby enabling improvements to different performance aspects of the lane-changing function of the first vehicle.

[0137] Optionally, step S24 may also include the following execution steps:

[0138] In step S247, in response to the completion of the lane-changing function improvement for the first vehicle, the lane-changing function is tested again based on the test set.

[0139] This step can be understood as follows: when the lane-changing function of the first vehicle is improved, it means that the first vehicle has been improved based on the historical non-compliance evaluation results. At this time, the lane-changing function is tested again based on the test set. That is, the lane-changing function is tested again based on the first vehicle with improved lane-changing function, so as to continuously improve the test of the lane-changing function of the first vehicle.

[0140] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0141] This embodiment also provides an evaluation device for an autonomous driving lane-changing function. This device is used to implement the above embodiments and preferred embodiments, and details already described will not be repeated. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0142] Figure 4 This is a structural block diagram of an evaluation device for an autonomous driving lane-changing function according to one embodiment of the present invention, such as... Figure 4As shown, an evaluation device 400 for autonomous driving lane-changing function is used as an example. This device includes: a first determining module 401, used to determine a test set, wherein the test set includes multiple test conditions, and the test set is used to test the lane-changing function of a first vehicle; a control module 402, used to control the first vehicle to a first operating state and control a second vehicle to a second operating state according to the test set, wherein the second vehicle is an obstacle vehicle; an acquisition module 403, used to acquire a third operating state of the first vehicle, wherein the third operating state is the operating state of the first vehicle after performing a lane-changing operation based on the lane-changing function in the first operating state; a second determining module 404, used to determine test results based on the first operating state, the second operating state, and the third operating state; and an evaluation module 405, used to evaluate the test results to obtain evaluation results, wherein the evaluation results are used to evaluate the smoothness, efficiency, safety, centering, and lane-changing confidence of the lane-changing function.

[0143] Optionally, the second determining module 404 is further configured to determine the acceleration information of the first vehicle, the average lane-changing time of the first vehicle, the headway and collision time between the first vehicle and the third vehicle, the lane deviation degree of the first vehicle, and the lane-changing confidence of the first vehicle based on the first working state, the second working state, and the third working state.

[0144] Optionally, the second determining module 404 is further configured to: determine that the smoothness of the lane-changing function of the first vehicle is qualified in response to the acceleration information being less than a first preset threshold; determine that the efficiency of the lane-changing function of the first vehicle is qualified in response to the average lane-changing time being less than a second preset threshold; determine that the safety of the lane-changing function of the first vehicle is qualified in response to the headway being less than a third preset threshold and the collision time being less than a fourth preset threshold; determine that the centering of the lane-changing function of the first vehicle is qualified in response to the lane deviation degree meeting a preset range; and determine that the lane-changing confidence of the lane-changing function of the first vehicle is qualified in response to the lane-changing confidence being greater than a fifth preset threshold.

[0145] Optionally, the evaluation module 405 is also used to respond to an evaluation result that is unqualified, perform data analysis based on the test results, obtain analysis results, and improve the lane-changing function of the first vehicle based on the analysis results.

[0146] Optionally, the evaluation module 405 is also used to perform lane-changing function testing again based on the test set in response to the completion of the lane-changing function improvement of the first vehicle.

[0147] Optionally, the test set includes at least one of the following: a test set where the first lane does not include the second vehicle, a test set where the first lane includes the second vehicle, a test set where the second vehicle in the second lane has not performed a lane-changing operation, and a test set where the second vehicle in the second lane has performed a lane-changing operation, wherein the first lane is adjacent to the second lane and the first vehicle is located in the first lane.

[0148] It should be noted that the above modules can be implemented by software or hardware. For the latter, they can be implemented in the following ways, but are not limited to: all the above modules are located in the same processor; or, the above modules are located in different processors in any combination.

[0149] Embodiments of this application also provide a vehicle for performing the steps in any of the above method embodiments.

[0150] Optionally, in this embodiment, the vehicle may be configured to store a computer program for performing the following steps:

[0151] Step S1: Determine the test set;

[0152] Step S2: Control the first vehicle to the first working state and control the second vehicle to the second working state according to the test set;

[0153] Step S3: Obtain the third working state of the first vehicle;

[0154] Step S4: Determine the test results based on the first working state, the second working state, and the third working state;

[0155] Step S5: Evaluate the test results to obtain the evaluation results.

[0156] Embodiments of the present invention also provide a computer-readable storage medium storing a computer program, wherein the computer program is configured to perform the steps in any of the above method embodiments when run on a computer or processor.

[0157] Optionally, in this embodiment, the computer-readable storage medium may be configured to store a computer program for performing the following steps:

[0158] Step S1: Determine the test set;

[0159] Step S2: Control the first vehicle to the first working state and control the second vehicle to the second working state according to the test set;

[0160] Step S3: Obtain the third working state of the first vehicle;

[0161] Step S4: Determine the test results based on the first working state, the second working state, and the third working state;

[0162] Step S5: Evaluate the test results to obtain the evaluation results.

[0163] Optionally, in this embodiment, the computer-readable storage medium may include, but is not limited to, various media capable of storing computer programs, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0164] Embodiments of the present invention also provide an electronic device including a memory and a processor, wherein the memory stores a computer program and the processor is configured to run the computer program to perform the steps in any of the above method embodiments.

[0165] Optionally, in this embodiment, the processor in the above-described electronic device may be configured to run a computer program to perform the following steps:

[0166] Step S1: Determine the test set;

[0167] Step S2: Control the first vehicle to the first working state and control the second vehicle to the second working state according to the test set;

[0168] Step S3: Obtain the third working state of the first vehicle;

[0169] Step S4: Determine the test results based on the first working state, the second working state, and the third working state;

[0170] Step S5: Evaluate the test results to obtain the evaluation results.

[0171] Optionally, specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementations, and will not be repeated here.

[0172] 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.

[0173] 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.

[0174] 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.

[0175] 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.

[0176] 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.

[0177] 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.

[0178] 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 evaluating an automatic lane-changing function, characterized by, The method comprises: determining a test set, wherein the test set comprises a plurality of test conditions, and the test set is used to test a lane changing function of a first vehicle; controlling the first vehicle to be in a first working state and controlling a second vehicle to be in a second working state according to the test set, wherein the second vehicle is an obstacle vehicle; obtaining a third working state of the first vehicle, wherein the third working state is a working state of the first vehicle after performing a lane changing operation based on the lane changing function in the first working state; determining a test result according to the first working state, the second working state and the third working state; evaluating the test result to obtain an evaluation result, wherein the evaluation result is used to evaluate the smoothness, efficiency, safety, centerness and lane changing confidence of the lane changing function; wherein the second vehicle comprises a third vehicle, the third vehicle is located in front of the first vehicle, and the determining of the test result according to the first working state, the second working state and the third working state comprises: determining jerk information of the first vehicle, lane changing average time of the first vehicle, headway and collision time between the first vehicle and the third vehicle, lane deviation degree of the first vehicle and lane changing confidence of the first vehicle according to the first working state, the second working state and the third working state; the lane changing confidence of the first vehicle is calculated by: multiplying a first sub-confidence weighting coefficient and a relative distance confidence to obtain a first product result, multiplying a second sub-confidence weighting coefficient and a collision time confidence to obtain a second product result, multiplying a third sub-confidence weighting coefficient and a lane line curvature confidence to obtain a third product result, multiplying a fourth sub-confidence weighting coefficient and a lane line information confidence to obtain a fourth product result; and adding the first product result, the second product result, the third product result and the fourth product result to obtain the lane changing confidence of the first vehicle.

2. The method of claim 1, wherein, the evaluation of the test result to obtain the evaluation result comprises: in response to the jerk information being less than a first preset threshold, determining that the smoothness of the lane changing function of the first vehicle is qualified; in response to the lane changing average time being less than a second preset threshold, determining that the efficiency of the lane changing function of the first vehicle is qualified; in response to the headway being less than a third preset threshold and the collision time being less than a fourth preset threshold, determining that the safety of the lane changing function of the first vehicle is qualified; in response to the lane deviation degree satisfying a preset range, determining that the centerness of the lane changing function of the first vehicle is qualified; in response to the lane changing confidence being greater than a fifth preset threshold, determining that the lane changing confidence of the lane changing function of the first vehicle is qualified.

3. The method of claim 1, wherein, The method further comprises: in response to the evaluation result being unqualified, performing data analysis based on the test result to obtain an analysis result; improving the lane changing function of the first vehicle according to the analysis result.

4. The method of claim 3, wherein, The method further comprises: in response to the improvement of the lane changing function of the first vehicle being completed, performing lane changing function test based on the test set again.

5. The method according to any one of claims 1-4, characterized in that, The test set at least includes one of the following: a test set corresponding to the second vehicle not included in the first lane, a test set corresponding to the second vehicle included in the first lane, a test set corresponding to the second vehicle in the second lane not performing a lane changing operation, and a test set corresponding to the second vehicle in the second lane performing a lane changing operation, the first lane being adjacent to the second lane, and the first vehicle being located in the first lane.

6. An evaluation device for autonomous driving lane-changing function, characterized in that, Comprise: A first determination module, the first determination module is used for determining a test set, wherein the test set includes a plurality of test working conditions, and the test set is used for testing a lane changing function of a first vehicle; A control module, the control module is used for controlling the first vehicle to be in a first working state and controlling a second vehicle to be in a second working state according to the test set, wherein the second vehicle is an obstacle vehicle; An acquisition module, the acquisition module is used for acquiring a third working state of the first vehicle, wherein the third working state is a working state of the first vehicle after performing a lane changing operation based on the lane changing function in the first working state; A second determination module, the second determination module is used for determining a test result according to the first working state, the second working state and the third working state; An evaluation module, the evaluation module is used for evaluating the test result to obtain an evaluation result, wherein the evaluation result is used for evaluating the lane changing function in terms of smoothness, efficiency, safety, centerness and lane changing confidence; The second vehicle includes a third vehicle, the third vehicle being located in front of the first vehicle, The second determination module is also used for determining jerk information of the first vehicle, lane changing average time of the first vehicle, headway and collision time of the first vehicle and the third vehicle, lane deviation degree of the first vehicle and lane changing confidence of the first vehicle according to the first working state, the second working state and the third working state; the lane changing confidence of the first vehicle is calculated by multiplying a first sub-confidence weighting coefficient and a relative distance confidence to obtain a first product result, multiplying a second sub-confidence weighting coefficient and a collision time confidence to obtain a second product result, multiplying a third sub-confidence weighting coefficient and a lane line curvature confidence to obtain a third product result, and multiplying a fourth sub-confidence weighting coefficient and a lane line information confidence to obtain a fourth product result; and adding the first product result, the second product result, the third product result and the fourth product result to obtain the lane changing confidence of the first vehicle.

7. A vehicle characterized by comprising: The vehicle is used for executing the evaluation method of the automatic driving lane changing function described in any one of the above claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, wherein the computer program is set to execute the evaluation method of the automatic driving lane changing function described in any one of the above claims 1 to 5 when running on a computer or a processor. 9.An electronic device comprising a memory and a processor, the electronic device characterized by, The memory stores a computer program, and the processor is configured to run the computer program to execute the evaluation method of the automatic driving lane changing function according to any one of claims 1 to 5.

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