Lane-level navigation display test method and device, electronic equipment and storage medium

Abstract

The application provides a lane-level navigation display test method and device, electronic equipment and a storage medium. The method comprises the following steps: acquiring inertial navigation data, vehicle vision data and road test video data of a test vehicle; generating simulated display navigation data according to the inertial navigation data, the vehicle vision data and a preset navigation map; determining a lane change time difference as a difference between an actual lane change time in actual lane change data and a simulated lane change time in simulated lane change display data; determining target lane change display data or a lane change display test failure conclusion according to a comparison result of the lane change time difference and a preset time difference; determining target road surface display data or a road surface display test failure conclusion according to a comparison result of actual road surface display data and simulated road surface display data; and performing lane-level navigation display according to the target lane change display data and the target road surface display data. The application reduces the dependence of lane-level navigation display test on data and test points, and improves test efficiency.

Description

Technical Field

[0001] This application relates to the field of automotive navigation technology, specifically to a lane-level navigation display testing method, device, electronic device, and storage medium. Background Technology

[0002] With the continuous development of in-vehicle navigation, navigation has expanded from its initial basic functions to include lane-level navigation technology. Lane-level navigation relies on more complex and accurate data, and its functional experience is more intelligent and user-friendly compared to traditional navigation. It has made significant improvements in the lane change display reminder and road information display modules. However, the functional testing of these two modules requires more detailed and comprehensive consideration of various factors. The testing of lane-level navigation display technology suffers from low testing efficiency and a lower user experience due to the large amount of data it relies on and the redundancy of test points.

[0003] For example, CN109596145A provides a dynamic testing method and system for vehicle navigation. The method includes: acquiring GPS data for a test path and converting the GPS data into a script file of a predetermined format based on stellar data and calendar data; converting the script file into latitude and longitude data using quotient and remainder methods, the latitude and longitude data including longitude format data and latitude format data; sending the latitude and longitude data corresponding to the test path to a data simulation device in a queue to generate a simulated GPS signal, the physical values ​​of which include stellar data, calendar data, power, frequency band, and number of satellites; and sending the simulated GPS signal to the vehicle navigation system, which then generates a dynamic trajectory based on the simulated GPS signal. This method can perform conventional navigation testing using the dynamic trajectory generated by the simulated GPS signal, but it does not involve testing the data types and lane change points required for lane-level navigation, and it cannot test the road surface display status of lane-level navigation. Summary of the Invention

[0004] This application provides a lane-level navigation display testing method, apparatus, electronic device, and storage medium to solve the technical problems of excessive data dependence, redundant test points, and low testing efficiency in the aforementioned lane-level navigation display testing.

[0005] This application provides a lane-level navigation display testing method, comprising: acquiring inertial navigation data, vehicle visual data, and road test video data of a test vehicle, wherein the road test video data includes actual lane change data and actual road surface display data; generating simulated display navigation data based on the inertial navigation data, the vehicle visual data, and a preset navigation map, wherein the simulated display navigation data includes simulated lane change display data and simulated road surface display data; determining the difference between the actual lane change time in the actual lane change data and the simulated lane change time in the simulated lane change display data as the lane change time difference, and determining target lane change display data or a lane change display test failure conclusion based on the comparison result of the lane change time difference and the preset time difference; determining target road surface display data or a road surface display test failure conclusion based on the comparison result of the actual road surface display data and the simulated road surface display data, so as to perform lane-level navigation display based on the target lane change display data and the target road surface display data.

[0006] In one embodiment of this application, determining the target lane change display data or the lane change test failure conclusion based on the comparison result between the lane change time difference and the preset time difference includes: if the lane change time difference is less than or equal to the preset first time difference, then the simulated lane change display data is determined as the target lane change display data; if the lane change time difference is greater than the preset first time difference, then the lane change test failure conclusion is obtained.

[0007] In one embodiment of this application, determining the target road surface display data or the road surface display test failure conclusion based on the comparison result of the actual road surface display data and the simulated road surface display data includes: if the simulated road surface display data is simulated urban area display data, then display reminder data is generated based on the simulated urban area display data and preset reminder data, and the timeliness of the reminder data and the smoothness and correctness of the lane change display in the lane change animation are detected based on the actual road surface display data; if the simulated road surface display data is simulated boundary display data, then the correctness of the display of the two sides of the simulated boundary display data and the boundary are detected based on the actual road surface display data. The display timeliness is assessed. If the reminder timeliness is timely, the lane change display smoothness is smooth, the lane change display correctness is correct, the side edge display correctness is correct, and the boundary display timeliness is timely, then the simulated road surface display data is determined as the target road surface display data. If the reminder timeliness is untimely, the lane change display smoothness is sluggish, the lane change display correctness is incorrect, the side edge display correctness is incorrect, and the boundary display timeliness is delayed, at least one of these conditions is considered a failure in the road surface display test. The displayed reminder data is used to remind drivers of lane changes or urban road conditions, and the lane change process animation is based on the simulated urban area display data.

[0008] In one embodiment of this application, detecting the timeliness of the display reminder data and the smoothness and correctness of the lane change display in the lane change process animation based on the actual road surface display data includes: determining the difference between the simulated reminder position of the display reminder data and the target position in the actual road surface display data as a simulated position difference; if the simulated position difference is greater than or equal to a preset first position difference and less than or equal to a preset second position difference, then the timeliness of the display reminder data is determined to be timely; if the simulated position difference is less than the preset first position difference or greater than the preset second position difference, then the timeliness of the display reminder data is determined to be untimely; determining the smoothness of the lane change display based on the flow of the lane change process animation; comparing the actual lane change path in the actual road surface display data with the simulated lane change path in the lane change process animation to obtain a simulated path deviation; if the simulated path deviation is less than or equal to a preset path deviation, then the correctness of the lane change display is determined to be correct; if the simulated path deviation is greater than the preset path deviation, then the correctness of the lane change display is determined to be incorrect.

[0009] In one embodiment of this application, detecting the correctness of the display of the two side edges and the timeliness of the boundary display based on the actual road surface display data includes: determining the similarity between the simulated two side edges of the simulated boundary and the actual two side edges of the actual boundary as a simulated similarity; if the simulated similarity is greater than or equal to a preset similarity, then the correctness of the display of the two side edges is determined to be correct; if the simulated similarity is less than the preset similarity, then the correctness of the display of the two side edges is determined to be incorrect; determining the difference between the simulated appearance time of the simulated boundary and the actual appearance time of the actual boundary as a display time difference; if the display time difference is less than or equal to a preset second time difference, then the timeliness of the boundary display is determined to be timely; if the display time difference is greater than the preset second time difference, then the timeliness of the boundary display is determined to be delayed.

[0010] In one embodiment of this application, before acquiring the inertial navigation data, vehicle visual data, and road test video data of the test vehicle, the lane-level navigation display test method further includes: conducting a road test by driving the test vehicle based on a preset lane change route to obtain inertial navigation data; and acquiring vehicle visual data and road test video data during the road test using an image acquisition device; wherein the inertial navigation data is used to determine the precise position of the test vehicle, the vehicle visual data is used to identify road marking information, and the road test video data is used to determine the actual lane change time and actual road surface information.

[0011] This application provides a lane-level navigation display testing device, comprising: a data acquisition module for acquiring inertial navigation data, vehicle visual data, and road test video data of a test vehicle, wherein the road test video data includes actual lane change data and actual road surface display data; a navigation generation module for generating simulated display navigation data based on the inertial navigation data, the vehicle visual data, and a preset navigation map, wherein the simulated display navigation data includes simulated lane change display data and simulated road surface display data; a lane change testing module for determining the difference between the actual lane change time in the actual lane change data and the simulated lane change time in the simulated lane change display data as a lane change time difference, and determining a target lane change display data or a lane change display test failure conclusion based on a comparison result between the lane change time difference and the preset time difference; and a display testing module for determining a target road surface display data or a road surface display test failure conclusion based on a comparison result between the actual road surface display data and the simulated road surface display data, thereby performing lane-level navigation display based on the target lane change display data and the target road surface display data.

[0012] In one embodiment of this application, the lane-level navigation display testing device further includes: an intelligent driving central computing unit and a vehicle-mounted system; the intelligent driving central computing unit is used to acquire and transmit the inertial navigation data and the vehicle visual data to the vehicle-mounted system; the vehicle-mounted system is used to generate simulated display navigation data based on the inertial navigation data, the vehicle visual data and the simulated display navigation data.

[0013] This application also provides an electronic device, the electronic device comprising: one or more processors; and a storage device for storing one or more programs, which, when executed by the one or more processors, cause the electronic device to implement the lane-level navigation display test method as described in any of the above embodiments.

[0014] This application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a computer's processor, causes the computer to perform the lane-level navigation display test method as described in any of the above embodiments.

[0015] The beneficial effects of this invention are as follows: This invention provides a lane-level navigation display testing method, apparatus, electronic device, and storage medium. In this invention, simulated navigation display data is generated based on the inertial navigation data, the vehicle visual data, and a preset navigation map. Lane change time testing and road surface display testing are performed by comparing the simulated navigation display data with road test video data, reducing reliance on data and test points and improving testing efficiency.

[0016] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0017] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings:

[0018] Figure 1 A schematic diagram of an exemplary system architecture to which the technical solutions of the embodiments of this application can be applied is shown;

[0019] Figure 2 A schematic flowchart of a lane-level navigation display testing method according to an embodiment of this application is shown;

[0020] Figure 3 A schematic diagram of the display process for lane-level navigation according to an embodiment of this application is shown;

[0021] Figure 4 A schematic diagram of a test process for lane-level navigation according to an embodiment of this application is shown;

[0022] Figure 5 A block diagram of a lane-level navigation display test apparatus according to an embodiment of this application is shown;

[0023] Figure 6 A schematic diagram of the structure of a computer system suitable for implementing the electronic device of the present application is shown. Detailed Implementation

[0024] The embodiments of this application will be described below with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. This application can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this application. It should be understood that the preferred embodiments are only for illustrating this application and are not intended to limit the scope of protection of this application.

[0025] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of this application. Therefore, the drawings only show the components related to this application and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0026] In the following description, numerous details are explored to provide a more thorough explanation of embodiments of the present application. However, it will be apparent to those skilled in the art that embodiments of the present application may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring embodiments of the present application.

[0027] Please see Figure 1 , Figure 1 A schematic diagram of an exemplary system architecture to which the technical solutions of the embodiments of this application can be applied is shown. For example... Figure 1 As shown, the system architecture may include a test vehicle 101 and a test bench 102. The test vehicle 101 obtains inertial navigation data, vehicle vision data, and road test video data by conducting road tests based on a preset road change route, and transmits them to the test bench 102 for lane-level navigation display testing.

[0028] For example, after the test bench 102 acquires the inertial navigation data, vehicle vision data, and road test video data of the test vehicle, the road test video data includes actual lane change data and actual road surface display data. Based on the inertial navigation data, vehicle vision data, and preset navigation map, simulated display navigation data is generated, which includes simulated lane change display data and simulated road surface display data. The difference between the actual lane change time in the actual lane change data and the simulated lane change time in the simulated lane change display data is determined as the lane change time difference. Based on the comparison result between the lane change time difference and the preset time difference, the target lane change display data or the lane change display test failure conclusion is determined. Based on the comparison result between the actual road surface display data and the simulated road surface display data, the target road surface display data or the road surface display test failure conclusion is determined, so as to perform lane-level navigation display based on the target lane change display data and the target road surface display data.

[0029] Lane-level navigation relies on more complex and precise data, and its functionality is more intelligent and user-friendly compared to traditional navigation. It has made significant improvements in lane change display reminders and road information display modules. However, the functional testing of these two modules requires more detailed and comprehensive testing, taking into account the influence of multiple factors. The testing efficiency of lane-level navigation display technology is low due to the large amount of data it relies on and the redundancy of test points, resulting in a lower user experience for lane-level navigation display.

[0030] To address the aforementioned technical problems, this application provides a lane-level navigation display testing method, apparatus, electronic device, and storage medium.

[0031] Please see Figure 2 , Figure 2 A schematic flowchart of a lane-level navigation display testing method according to an embodiment of this application is shown. Figure 2As shown, in an exemplary embodiment, the lane-level navigation display test method includes at least steps S2100 to S2400, which are described in detail below:

[0032] Step S2100: Acquire inertial navigation data, vehicle vision data, and road test video data of the test vehicle.

[0033] The road test video data includes actual lane change data and actual road surface display data.

[0034] In one embodiment of this application, before acquiring the inertial navigation data, vehicle visual data, and road test video data of the test vehicle, the lane-level navigation display test method further includes: conducting a road test by driving the test vehicle based on a preset lane change route to obtain inertial navigation data; and acquiring vehicle visual data and road test video data during the road test using an image acquisition device; wherein, the inertial navigation data is used to determine the precise position of the test vehicle, the vehicle visual data is used to identify road marking information, and the road test video data is used to determine the actual lane change time and actual road surface information.

[0035] In one embodiment of this application, the actual road surface display data includes road test route data and acceleration / deceleration data. Inertial navigation data refers to the precise position of the test vehicle during the road test recorded by the inertial navigation system (INS). The INS data includes basic driving data of the test vehicle during the road test, such as wheel speed data, acceleration data, longitude data, latitude data, and angular acceleration data; the precise position is obtained by combining various basic driving data using INS. Vehicle visual data includes traffic sign data, road boundary data, and fence data.

[0036] In one embodiment of this application, the image acquisition device includes an in-vehicle camera and a test external camera. Vehicle visual data can be acquired through the in-vehicle camera, and road test video data can be acquired through either the in-vehicle camera or the test external camera. The test external camera is installed inside or outside the vehicle during road testing.

[0037] In one embodiment of this application, the collected inertial navigation data and vehicle vision data are packaged and stored to import the inertial navigation data and vehicle vision data into the intelligent driving central computing unit (C2) in the test bench. The test bench also includes an in-vehicle infotainment system (EDC), and C2 includes a system-on-a-chip (SOC). The intelligent driving central computing unit acquires the inertial navigation data and vehicle vision data and transmits them to the EDC through the SOC layer target directory.

[0038] Step S2200: Generate simulated navigation data based on inertial navigation data, vehicle visual data, and preset navigation map.

[0039] The simulated navigation data includes simulated lane change data and simulated road surface data.

[0040] In one embodiment of this application, inertial navigation data and vehicle visual data are pushed to the target interface of a preset navigation map via EDC for data rendering to obtain simulated display navigation data. Based on the simulated display navigation data, simulated lane-level navigation is displayed on the navigation interface.

[0041] In one embodiment of this application, please refer to Figure 3 , Figure 3 A schematic diagram illustrating the display flow of lane-level navigation according to an embodiment of this application is shown. Figure 3 As shown, step S3100: Collect road test data of the test vehicle, including vehicle visual data and inertial navigation data. The vehicle visual data and inertial navigation data of the test vehicle are collected through road testing and imported into C2; step S3200: C2 obtains data including vehicle visual data and inertial navigation data and transmits it to EDC through SOC; step S3300: EDC calls the data for rendering. EDC generates simulated display navigation data by rendering inertial navigation data, vehicle visual data and preset navigation map; step S3400: Navigation interface displays lane-level navigation: Based on the simulated display navigation data, the simulated lane-level navigation is displayed on the navigation interface to obtain simulated lane-level navigation.

[0042] Step S2300: The difference between the actual lane change time in the actual lane change data and the simulated lane change time in the simulated lane change display data is determined as the lane change time difference, and the target lane change display data or the conclusion of lane change display test failure is determined based on the comparison result between the lane change time difference and the preset time difference.

[0043] In one embodiment of this application, determining the target lane change display data or the lane change display test failure conclusion based on the comparison result between the lane change time difference and the preset time difference includes: if the lane change time difference is less than or equal to the preset first time difference, then the simulated lane change display data is determined as the target lane change display data; if the lane change time difference is greater than the preset first time difference, then the lane change display test failure conclusion is obtained.

[0044] In one embodiment of this application, the preset first time difference includes 0.5 seconds. The simulated lane change time is obtained by displaying it through the navigation interface of the lane-level navigation, while the actual lane change time is obtained through road test video data.

[0045] Step S2400: Determine the target road surface display data or road surface display test failure conclusion based on the comparison results of the actual road surface display data and the simulated road surface display data, so as to perform lane-level navigation display based on the target lane change display data and the target road surface display data.

[0046] In one embodiment of this application, determining the target road surface display data or the road surface display test failure conclusion based on the comparison results of actual road surface display data and simulated road surface display data includes: if the simulated road surface display data is simulated urban area display data, then display reminder data is generated based on the simulated urban area display data and preset reminder data, and the timeliness of the reminder data and the smoothness and correctness of the lane change display in the lane change process animation are detected based on the actual road surface display data; if the simulated road surface display data is simulated boundary display data, then the display of the two sides of the simulated boundary display data is detected based on the actual road surface display data. The accuracy and timeliness of boundary display are assessed. If the reminder timeliness is timely, the lane change display smoothness is smooth, the lane change display correctness is correct, the side edge display correctness is correct, and the boundary display timeliness is timely, then the simulated road surface display data is determined as the target road surface display data. If the reminder timeliness is untimely, the lane change display smoothness is sluggish, the lane change display correctness is incorrect, the side edge display correctness is incorrect, and the boundary display timeliness is delayed, then the road surface display test is considered a failure. Among these, the display reminder data is used to remind lane changes or remind urban road conditions, and the lane change process animation is based on the simulated urban area display data.

[0047] In one embodiment of this application, the urban area display includes the display of underpasses and overpasses; the boundary display includes the display of road boundaries, lane-level navigation ends, and tunnel entrances and exits, and the road boundaries include greenery, railings, and walls.

[0048] In one embodiment of this application, the displayed reminder data includes urban traffic voice broadcasts or lane change reminders, and the preset reminder data is preset reminder text content.

[0049] In one embodiment of this application, detecting the timeliness of the displayed reminder data and the smoothness and correctness of the lane change display in the lane change process animation based on actual road surface display data includes: determining the difference between the simulated reminder position of the displayed reminder data and the target position in the actual road surface display data as the simulated position difference; if the simulated position difference is greater than or equal to a preset first position difference and less than or equal to a preset second position difference, the timeliness of the displayed reminder data is determined to be timely; if the simulated position difference is less than the preset first position difference or greater than the preset second position difference, the timeliness of the displayed reminder data is determined to be untimely; determining the smoothness of the lane change display based on the flow of the lane change process animation; comparing the actual lane change path in the actual road surface display data with the simulated lane change path in the lane change process animation to obtain the simulated path deviation; if the simulated path deviation is less than or equal to a preset path deviation, the correctness of the lane change display is determined to be correct; if the simulated path deviation is greater than the preset path deviation, the correctness of the lane change display is determined to be incorrect.

[0050] In one embodiment of this application, the simulated reminder location is the vehicle's position at the time of the reminder broadcast, and the target location includes the actual lane change location or the actual road condition location. A preset first position difference includes 20 meters, and a preset second position difference includes 150 meters. The lane change process animation includes a navigation display animation for lane changes in a congested, slow-moving traffic scenario.

[0051] In one embodiment of this application, detecting the correctness of the display of the two side edges of the simulated boundary display data and the timeliness of the boundary display based on actual road surface display data includes: determining the similarity between the simulated two side edges of the simulated boundary and the actual two side edges of the actual boundary as the simulated similarity; if the simulated similarity is greater than or equal to a preset similarity, then the correctness of the display of the two side edges is determined to be correct; if the simulated similarity is less than the preset similarity, then the correctness of the display of the two side edges is determined to be incorrect; determining the difference between the simulated appearance time of the simulated boundary and the actual appearance time of the actual boundary as the display time difference; if the display time difference is less than or equal to a preset second time difference, then the timeliness of the boundary display is determined to be timely; if the display time difference is greater than the preset second time difference, then the timeliness of the boundary display is determined to be delayed.

[0052] In one embodiment of this application, the correctness of the displayed side edges is determined by comparing simulated similarity with a preset similarity. In the weak signal environment within a tunnel, there may be a delay in the rendering of lane-level navigation at the end.

[0053] In one embodiment of this application, please specify the parameters. Figure 4 , Figure 4 A schematic diagram of a test process for lane-level navigation according to an embodiment of this application is shown. Figure 4As shown, step S4000, the simulation and actual comparison test, includes step S4100, the lane change time test, and step S4200, the road surface display test. Step S4100, the lane change time test, includes step S4110, calculating the lane change time difference between the simulated and actual lane change times. The target lane change display data or a lane change display test failure conclusion is determined by comparing this difference with a preset first time difference. Step S4200, the road surface display test, includes step S4210, the urban area display test, and step S4220, the boundary display test. Urban area display includes the display of underpasses and overpasses; boundary display includes the display of road boundaries, lane-level navigation endpoints, and tunnel entrances / exits. Step S4210, the urban area display test, includes step S4211, the timely reminder test, and step S4212, the lane change smoothness test. Step S4220, the boundary display test, includes step S4221, the timely boundary display test, and step S4222, the correctness test of the side edge display. Step S4211 Timeliness Test of Alerts: The timeliness of alerts is tested based on the difference between the simulated alert position corresponding to the displayed alert data and the target position in the actual road surface display data; Step S4212 Smoothness Test of Lane Change: The smoothness of lane change display is tested based on the flow of the lane change process animation; Step S422-1 Timeliness Test of Boundary Display: The timeliness of boundary display is tested based on the difference between the simulated appearance time of the simulated boundary and the actual appearance time of the actual boundary; Step S4222 Correctness Test of Side Edge Display: The timeliness of boundary display is tested based on the similarity between the simulated side edges of the simulated boundary and the actual side edges of the actual boundary.

[0054] Please see Figure 5 , Figure 5 A block diagram of a lane-level navigation display testing apparatus according to an embodiment of this application is shown. This apparatus can be applied to... Figure 1 The implementation environment shown is specifically configured in test bench 102. This device can also be applied to other exemplary implementation environments and specifically configured in other devices. This embodiment does not limit the implementation environment to which the device is applicable.

[0055] like Figure 5 As shown, the exemplary lane-level navigation display test device 500 includes: a data acquisition module 501, a navigation generation module 502, a lane change test module 503, and a display test module 504.

[0056] The data acquisition module is used to acquire inertial navigation data, vehicle vision data and road test video data of the test vehicle. The road test video data includes actual lane change data and actual road surface display data.

[0057] The navigation generation module is used to generate simulated display navigation data based on inertial navigation data, vehicle vision data and preset navigation maps. The simulated display navigation data includes simulated lane change display data and simulated road surface display data.

[0058] The lane change test module is used to determine the difference between the actual lane change time in the actual lane change data and the simulated lane change time in the simulated lane change display data as the lane change time difference, and to determine the target lane change display data or the lane change display test failure conclusion based on the comparison result between the lane change time difference and the preset time difference.

[0059] The display test module is used to determine the target road surface display data or the road surface display test failure conclusion based on the comparison results between the actual road surface display data and the simulated road surface display data, so as to perform lane-level navigation display based on the target lane change display data and the target road surface display data.

[0060] An example lane-level navigation display test device also includes a smart driving central computing unit and a vehicle infotainment system;

[0061] The intelligent driving central computing unit is used to acquire and transmit inertial navigation data and vehicle vision data to the vehicle's infotainment system;

[0062] The vehicle's infotainment system is used to generate simulated navigation data based on inertial navigation data, vehicle vision data, and simulated navigation data.

[0063] It should be noted that the lane-level navigation display testing device and the lane-level navigation display testing method provided in the above embodiments belong to the same concept. The specific operation methods of each module and unit have been described in detail in the method embodiments and will not be repeated here. In practical applications, the lane-level navigation display testing device provided in the above embodiments can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. This is not a limitation here.

[0064] Embodiments of this application also provide an electronic device, including: one or more processors; and a storage device for storing one or more programs, which, when executed by the one or more processors, cause the electronic device to implement the lane-level navigation display test method provided in the above embodiments.

[0065] Please see Figure 6 , Figure 6 A schematic diagram of a computer system suitable for implementing the embodiments of this application is shown. It should be noted that... Figure 6 The computer system 600 of the electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0066] like Figure 6 As shown, the computer system 600 includes a Central Processing Unit (CPU) 601, which can perform various appropriate actions and processes based on programs stored in Read-Only Memory (ROM) 602 or programs loaded from storage portion 608 into Random Access Memory (RAM) 603, such as performing the methods described in the above embodiments. The RAM 603 also stores various programs and data required for system operation. The CPU 601, ROM 602, and RAM 603 are interconnected via a bus 604. An Input / Output (I / O) interface 605 is also connected to the bus 604.

[0067] The following components are connected to I / O interface 605: an input section 606 including a keyboard, mouse, etc.; an output section 607 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 608 including a hard disk, etc.; and a communication section 609 including a network interface card such as a LAN (Local Area Network) card, modem, etc. The communication section 609 performs communication processing via a network such as the Internet. A drive 610 is also connected to I / O interface 605 as needed. A removable medium 611, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on drive 610 as needed so that computer programs read from it can be installed into storage section 608 as needed.

[0068] Specifically, according to embodiments of this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program including a computer program for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 609, and / or installed from removable medium 611. When the computer program is executed by central processing unit (CPU) 601, it performs various functions defined in the system of this application.

[0069] It should be noted that the computer-readable medium shown in the embodiments of this application can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, portable compact disc read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this application, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying a computer-readable computer program. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media can also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to wireless, wired, etc., or any suitable combination thereof.

[0070] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. Each block in a flowchart or block diagram may represent a module, segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0071] The units described in the embodiments of this application can be implemented in software or hardware, and the described units can also be located in a processor. The names of these units do not necessarily limit the specific unit itself.

[0072] Another aspect of this application provides a computer-readable storage medium storing a computer program thereon, which, when executed by a computer's processor, causes the computer to perform the lane-level navigation display test method provided in the various embodiments described above. This computer-readable storage medium may be included in the electronic device described in the above embodiments, or it may exist independently and not assembled into the electronic device.

[0073] In the above embodiments, unless otherwise specified, the use of ordinal numbers such as "first" and "second" to describe common objects only indicates that they refer to different instances of the same object, rather than indicating that the objects being described must be in a given order, whether temporally, spatially, sequentially, or in any other way.

[0074] The above embodiments are merely illustrative of the principles and effects of this application and are not intended to limit this application. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this application. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this application should still be covered by the claims of this application.

Claims

1. A lane-level navigation display testing method, characterized in that, The lane-level navigation display test method includes: Acquire inertial navigation data, vehicle vision data, and road test video data of the test vehicle, wherein the road test video data includes actual lane change data and actual road surface display data; Based on the inertial navigation data, the vehicle visual data, and the preset navigation map, simulated display navigation data is generated, which includes simulated lane change display data and simulated road surface display data. The difference between the actual lane change time in the actual lane change data and the simulated lane change time in the simulated lane change display data is determined as the lane change time difference, and the target lane change display data or the conclusion of lane change display test failure is determined based on the comparison result between the lane change time difference and the preset time difference. Based on the comparison between the actual road surface display data and the simulated road surface display data, a target road surface display data or a road surface display test failure conclusion is determined, so as to perform lane-level navigation display based on the target lane change display data and the target road surface display data.

2. The lane-level navigation display test method according to claim 1, characterized in that, The determination of target lane change display data or lane change test failure conclusion based on the comparison result between the lane change time difference and the preset time difference includes: If the lane change time difference is less than or equal to a preset first time difference, then the simulated lane change display data is determined as the target lane change display data; If the lane change time difference is greater than the preset first time difference, then the lane change display test is deemed to have failed.

3. The lane-level navigation display test method according to claim 1, characterized in that, Based on the comparison results between the actual road surface display data and the simulated road surface display data, the conclusion that the target road surface display data or the road surface display test failed includes: If the simulated road surface display data is simulated urban area display data, then display reminder data is generated based on the simulated urban area display data and preset reminder data, and the timeliness of the reminder data is detected based on the actual road surface display data, as well as the smoothness and correctness of the lane change display in the lane change process animation. If the simulated road surface display data is simulated boundary display data, then the correctness of the display of both sides of the simulated boundary display data and the timeliness of the boundary display are detected based on the actual road surface display data. If the reminder is timely, the lane change display is smooth, the lane change display is correct, the side edge display is correct, and the boundary display is timely, then the simulated road surface display data is determined as the target road surface display data. If at least one of the following is true: the reminder is not timely, the lane change display is sluggish, the lane change display is incorrect, the side edge display is incorrect, and the boundary display is delayed, then the road surface display test is deemed a failure. The displayed reminder data is used to remind drivers of lane changes or urban road conditions, and the lane change animation is obtained based on the simulated urban display data.

4. The lane-level navigation display test method according to claim 3, characterized in that, The detection of the timeliness of the displayed reminder data based on the actual road surface display data, as well as the detection of the smoothness and correctness of the lane change display in the lane change process animation, include: The difference between the simulated reminder position in the displayed reminder data and the target position in the actual road surface display data is determined as the simulated position difference; If the simulated position difference is greater than or equal to a preset first position difference, and the simulated position difference is less than or equal to a preset second position difference, then the timeliness of the displayed reminder data is determined to be timely. If the simulated position difference is less than a preset first position difference or the simulated position difference is greater than a preset second position difference, then the timeliness of the displayed reminder data is determined to be untimely. The smoothness of the lane change display is determined based on the flow of the lane change animation. The actual lane change path in the actual road surface display data is compared with the simulated lane change path in the lane change process animation to obtain the simulated path deviation. If the simulated path deviation is less than or equal to the preset path deviation, then the correctness of the lane change display is determined to be correct. If the simulated path deviation is greater than the preset path deviation, the correctness of the lane change display will be determined as an error.

5. The lane-level navigation display test method according to claim 3, characterized in that, Detecting the correctness of the edge display on both sides and the timeliness of the boundary display based on the actual road surface display data includes: The similarity between the simulated two sides of the simulated boundary and the actual two sides of the actual boundary is defined as the simulated similarity. If the simulated similarity is greater than or equal to the preset similarity, then the correctness of the display of the two side edges is determined to be correct; If the simulated similarity is less than the preset similarity, then the correctness of the display of the two side edges is determined to be an error; The difference between the simulated appearance time of the simulated boundary and the actual appearance time of the actual boundary is determined as the display time difference; If the display time difference is less than or equal to a preset second time difference, then the timeliness of the boundary display is determined to be timely. If the display time difference is greater than a preset second time difference, then the timeliness of the boundary display is determined to be a delay.

6. The lane-level navigation display test method according to any one of claims 1-5, characterized in that, Before acquiring the inertial navigation data, vehicle vision data, and road test video data of the test vehicle, the lane-level navigation display test method further includes: Inertial navigation data is obtained by driving test vehicles on a pre-set road change route. Visual data and video data of the vehicle during road tests are collected using an image acquisition device; The inertial navigation data is used to determine the precise location of the test vehicle, the vehicle visual data is used to identify road marking information, and the road test video data is used to determine the actual lane change time and actual road surface information.

7. A lane-level navigation display testing device, characterized in that, The lane-level navigation display testing device includes: The data acquisition module is used to acquire inertial navigation data, vehicle vision data and road test video data of the test vehicle, wherein the road test video data includes actual lane change data and actual road surface display data; The navigation generation module is used to generate simulated display navigation data based on the inertial navigation data, the vehicle visual data, and the preset navigation map. The simulated display navigation data includes simulated lane change display data and simulated road surface display data. The lane change test module is used to determine the difference between the actual lane change time in the actual lane change data and the simulated lane change time in the simulated lane change display data as the lane change time difference, and to determine the target lane change display data or the lane change display test failure conclusion based on the comparison result between the lane change time difference and the preset time difference. The display test module is used to determine the target road surface display data or the road surface display test failure conclusion based on the comparison results of the actual road surface display data and the simulated road surface display data, so as to perform lane-level navigation display based on the target lane change display data and the target road surface display data.

8. The lane-level navigation display testing device according to claim 7, characterized in that, The lane-level navigation display test device also includes: an intelligent driving central computing unit and a vehicle-mounted system; The intelligent driving central computing unit is used to acquire and transmit the inertial navigation data and the vehicle vision data to the vehicle system; The vehicle infotainment system is used to generate simulated display navigation data based on the inertial navigation data, the vehicle visual data, and the simulated display navigation data.

9. An electronic device, characterized in that, The electronic device includes: One or more processors; A storage device for storing one or more programs, which, when executed by the one or more processors, cause the electronic device to implement the lane-level navigation display test method as described in any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that, It stores a computer program that, when executed by the computer's processor, causes the computer to perform the lane-level navigation display test method according to any one of claims 1 to 6.

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