A test method, system and device for lane departure warning and a storage medium

Abstract

The application discloses a lane departure warning test method, system, device and storage medium. The method comprises the following steps: acquiring a set of aiming point position data collected by a positioning device according to a preset collection mode, and acquiring alarm sound information of a lane warning collected by a sound catcher; generating a first lane action line and a second lane action line according to the aiming point position data; acquiring the emission time and frequency of all alarm sounds according to the alarm sound information, and acquiring vehicle driving information corresponding to the lane warning; comparing and judging the frequency corresponding to each alarm sound and the vehicle driving information with a preset lane departure warning condition, and outputting lane departure warning test result information. The lane departure warning test method solves the problem that the test result is limited by the simulation model error and the performance of the vehicle-mounted system when the triggering time of the lane departure warning is tested by using the simulation model and the vehicle-mounted system, thereby causing the measurement result to be inaccurate.

Description

Technical Field

[0001] This application relates to the field of vehicle testing, and more particularly to a test method, system, device, and computer-readable storage medium for lane departure warning. Background Technology

[0002] Currently, electrification, intelligentization, connectivity, and sharing have become the mainstream trends in the automotive industry. In intelligent driving, performance is often assessed through evaluations, and lane departure warning, as a driver assistance function, is extremely important in vehicle evaluations.

[0003] In existing technologies, lane departure warning testing typically involves simulation to determine the triggering timing. However, due to differences between simulation models and real vehicles, the test results often differ from those obtained in actual vehicle testing. Furthermore, testing the triggering timing of lane departure warnings usually relies on onboard systems, making it highly dependent on the measurement accuracy and calibration methods of these systems. Highly accurate measurements cannot be achieved for all different vehicles.

[0004] Therefore, existing technologies still need to be improved and developed. Summary of the Invention

[0005] The main objective of this application is to provide a test method, system, device, and computer-readable storage medium for lane departure warning, aiming to solve the problem in the prior art where the use of simulation models and vehicle systems for testing the triggering timing of lane departure warning results inaccurate measurement results due to simulation model errors and vehicle system performance limitations.

[0006] The first aspect of this application provides a test method for lane departure warning, comprising the following steps: acquiring a set of aiming point position data collected by a positioning device according to a preset acquisition method, and acquiring alarm sound information of lane departure warning collected by a sound capture device, wherein the aiming point position data set contains a preset number of aiming point position data; generating a first lane action line and a second lane action line based on the aiming point position data; acquiring the emission time and frequency of all alarm sounds based on the alarm sound information, and calculating the vehicle driving information corresponding to each lane departure warning based on the first lane action line and the second lane action line; comparing and judging the frequency and vehicle driving information corresponding to each alarm sound with preset lane departure warning conditions, and outputting lane departure warning test result information.

[0007] Based on the aforementioned technical means, the lane departure warning testing method in this application employs a positioning device and a sound capture device to acquire the initial aiming point position data and alarm sound information. Since the aiming point position data is acquired from the positioning device, the positioning device does not need to collect too much data, thus reducing system load. The sound capture device acquires the alarm sound, making the lane departure warning testing method provided by this application directly applicable to user needs. It eliminates the situation where the alarm sound cannot be heard by the user despite the warning signal, making the lane departure warning obtained by this application more suitable for daily use. Furthermore, the vehicle tested in this application is not a model vehicle, and an external third-party testing equipment combination is used to measure the data in the lane departure warning and output the corresponding lane departure warning test results. This makes this application more accurate and practical compared to simulation testing or model testing.

[0008] Optionally, in one embodiment of this application, the acquisition of the aiming point position data set collected by the positioning device according to a preset acquisition method specifically includes: pre-setting a first driving mode and a second driving mode for the vehicle, and sending the first driving mode and the second driving mode to the vehicle; when the vehicle is driving according to the first driving mode, the positioning device collects the preset number of aiming point position data according to the preset acquisition method to obtain a first aiming point position data set; when the vehicle is driving according to the second driving mode, the positioning device collects the preset number of aiming point position data according to the preset acquisition method to obtain a second aiming point position data set; and real-time acquisition of the first and second aiming point position data collected by the positioning device to obtain the aiming point position data set.

[0009] Based on the above technical means, the embodiments of this application pre-set the driving mode of the vehicle during the test, and include two processes for acquiring aiming point position data during each test, so that the test can be carried out for different directions in each test, thus making the whole test process more comprehensive.

[0010] Optionally, in one embodiment of this application, when the vehicle is traveling in the first driving mode, the positioning device collects a preset number of aiming point position data according to a preset collection method to obtain a first aiming point position data set; when the vehicle is traveling in the second driving mode, the positioning device collects the preset number of aiming point position data according to a preset collection method to obtain a second aiming point position data set. Specifically, this includes: when the vehicle is traveling in the first driving mode, the positioning device collects corresponding aiming point position data at preset distance intervals; when the number of corresponding aiming point position data reaches the preset number, the collection ends and the first aiming point position data set is obtained; when the vehicle is traveling in the second driving mode, the positioning device collects corresponding aiming point position data at preset distance intervals; when the number of corresponding aiming point position data reaches the preset number, the collection ends and the second aiming point position data set is obtained.

[0011] Based on the above technical means, in the embodiments of this application, the vehicle must be in a suitable position before starting to drive. During the test, the vehicle's back-and-forth driving process is tested accordingly, making the entire test process more comprehensive. In addition, the test for each direction ends after acquiring sufficient aiming point position data, thereby reducing the data processing pressure of this application and making the entire test process more convenient.

[0012] Optionally, in one embodiment of this application, the aiming point position data in the first aiming point position data set is data obtained during the vehicle's driving process based on the position of the outer edge of the left front tire; the aiming point position data in the second aiming point position data set is data obtained during the vehicle's driving process based on the position of the outer edge of the right front tire.

[0013] Based on the above technical means, in the lane departure warning test process of this application embodiment, the focus is on the wheel that is closest to the lane line during the vehicle's driving process. By obtaining information such as the position and speed of the wheel, the lane departure warning test results obtained by this application are more accurate.

[0014] Optionally, in one embodiment of this application, generating the first lane action line and the second lane action line based on the aiming point position data specifically includes: linearly fitting the aiming point position data corresponding to the first aiming point position data set to obtain the first lane action line based on the first aiming point position data set; and linearly fitting the aiming point position data corresponding to the second aiming point position data set to obtain the second lane action line based on the second aiming point position data set.

[0015] According to the above-mentioned technical means, when obtaining the lane action line, this application does not obtain a video to generate the corresponding lane action line, but obtains the corresponding lane action line by linear fitting through aiming point position data. This allows this application to obtain the lane action line through multiple aiming point position data without acquiring a large amount of video data, thus reducing the pressure and resource consumption when processing data.

[0016] Optionally, in one embodiment of this application, the step of obtaining the emission time and frequency of all alarm sounds based on the alarm sound information, and calculating the vehicle driving information corresponding to each lane warning based on the first lane action line and the second lane action line, specifically includes: obtaining the emission time and frequency of each alarm sound based on the alarm sound information; obtaining the vehicle speed corresponding to each time; calculating the lateral distance and lateral speed corresponding to the vehicle at each time based on the first lane line and the second lane line; summarizing the vehicle speed, lateral distance and lateral speed corresponding to each time to obtain the vehicle driving information corresponding to each lane warning.

[0017] Based on the above technical means, in this embodiment of the application, after obtaining the corresponding alarm sound through the sound capture device, the corresponding vehicle driving data is obtained according to the lane action line based on the time when the alarm sound is emitted. The vehicle driving data includes the vehicle's current speed, lateral speed, and distance, so that this application can better determine whether the lane departure warning of the vehicle meets the requirements based on the obtained vehicle driving speed.

[0018] Optionally, in one embodiment of this application, the step of comparing the frequency and vehicle driving information corresponding to each alarm sound with preset lane departure warning conditions and outputting lane departure warning test result information based on the judgment result specifically includes: pre-setting the preset lane departure warning conditions, comparing the frequency and vehicle driving information corresponding to each alarm sound with the preset lane departure warning conditions, and determining whether each lane warning meets the preset lane departure warning conditions; if the frequency and vehicle driving information corresponding to one of the alarm sounds meets the preset lane departure warning conditions, then the lane warning meets the preset lane departure warning conditions; if the frequency and vehicle driving information corresponding to one of the alarm sounds does not meet the preset lane departure warning conditions, then the lane warning does not meet the preset lane departure warning conditions; and outputting lane departure warning test result information based on the comparison result of the frequency and vehicle driving information corresponding to each alarm sound with the preset lane departure warning conditions.

[0019] Based on the above technical means, this application embodiment judges the frequency corresponding to each alarm sound and the lane driving information, so that the obtained lane departure warning test result information not only judges the vehicle deviation, but also judges the vehicle alarm sound. This allows this application to detect lane deviation and whether the alarm sound meets the requirements at the same time, making this application more practical.

[0020] A second aspect of this application provides a lane departure warning testing system, comprising: an information acquisition module for acquiring a set of aiming point position data collected by a positioning device according to a preset acquisition method, and acquiring alarm sound information of lane departure warning collected by a sound capture device, wherein the aiming point position data set contains a preset number of aiming point position data; a lane action line generation module for generating a first lane action line and a second lane action line based on the aiming point position data; a judgment information generation module for acquiring the emission time and frequency of all alarm sounds based on the alarm sound information, and calculating the vehicle driving information corresponding to each lane departure warning based on the first lane action line and the second lane action line; and a result output module for comparing and judging the frequency and vehicle driving information corresponding to each alarm sound with preset lane departure warning conditions, and outputting lane departure warning test result information.

[0021] Optionally, in one embodiment of this application, the information acquisition module includes: a driving mode setting unit, used to pre-set a first driving mode and a second driving mode for the vehicle, and send the first driving mode and the second driving mode to the vehicle; a single aiming point position data set acquisition unit, used to, when the vehicle is driving according to the first driving mode, the positioning device collects the preset number of aiming point position data according to a preset acquisition method to obtain a first aiming point position data set, and when the vehicle is driving according to the second driving mode, the positioning device collects the preset number of aiming point position data according to a preset acquisition method to obtain a second aiming point position data set; and an aiming point position data set acquisition unit, used to acquire the first aiming point position data and the second aiming point position data collected by the positioning device in real time to obtain an aiming point position data set.

[0022] Optionally, in one embodiment of this application, the single aiming point position data set acquisition unit includes: a first aiming point position data set acquisition subunit, used to collect corresponding aiming point position data at preset distance intervals when the vehicle is traveling in the first driving mode, and to end the collection and obtain the first aiming point position data set when the number of corresponding aiming point position data reaches the preset number; and a second aiming point position data set acquisition subunit, used to collect corresponding aiming point position data at preset distance intervals when the vehicle is traveling in the second driving mode, and to end the collection and obtain the second aiming point position data set when the number of corresponding aiming point position data reaches the preset number.

[0023] Optionally, in one embodiment of this application, the aiming point position data in the first aiming point position data set is data obtained during the vehicle's driving process based on the position of the outer edge of the left front tire; the aiming point position data in the second aiming point position data set is data obtained during the vehicle's driving process based on the position of the outer edge of the right front tire.

[0024] Optionally, in one embodiment of this application, the lane action line generation module includes: a first lane action line generation unit, configured to linearly fit the aiming point position data corresponding to the first aiming point position data set to obtain the first lane action line based on the first aiming point position data set; and a second lane action line generation unit, configured to linearly fit the aiming point position data corresponding to the second aiming point position data set to obtain the second lane action line based on the second aiming point position data set.

[0025] Optionally, in one embodiment of this application, the judgment information generation module includes: a time and frequency acquisition unit, used to acquire the time and frequency of each alarm sound based on the alarm sound information; a vehicle preliminary driving information acquisition unit, used to acquire the vehicle speed corresponding to each time, and calculate the lateral distance and lateral speed corresponding to the vehicle at each time based on the first lane line and the second lane line; and a vehicle driving information acquisition unit, used to summarize the vehicle speed, lateral distance and lateral speed corresponding to each time to obtain the vehicle driving information corresponding to each lane warning.

[0026] Optionally, in one embodiment of this application, the result output module includes: a single lane warning judgment unit, used to pre-set the preset lane departure warning conditions, and compare the frequency and vehicle driving information corresponding to each alarm sound with the preset lane departure warning conditions to determine whether each lane warning meets the preset lane departure warning conditions; a compliance unit, used to determine that if the frequency and vehicle driving information corresponding to one of the alarm sounds meets the preset lane departure warning conditions, then the lane warning meets the preset lane departure warning conditions; a non-compliance unit, used to determine that if the frequency and vehicle driving information corresponding to one of the alarm sounds does not meet the preset lane departure warning conditions, then the lane warning does not meet the preset lane departure warning conditions; and an output unit, used to output lane departure warning test result information based on the result of comparing and judging the frequency and vehicle driving information corresponding to each alarm sound with the preset lane departure warning conditions.

[0027] A third aspect of this application provides an apparatus comprising: a memory, a processor, and a lane departure warning test program stored in the memory and executable on the processor. When executed by the processor, the lane departure warning test program implements the steps of the lane departure warning test method as described in the above embodiments.

[0028] A fourth aspect of this application provides a computer-readable storage medium storing a lane departure warning test program, which, when executed by a processor, implements the steps of the lane departure warning test method as described in the above embodiments.

[0029] The beneficial effects of this application are: (1) This application uses a positioning device and a sound capture device to obtain the initial aiming point position data and alarm sound information. Since the aiming point position data of the positioning device is obtained, the positioning device does not need to collect too much data, thereby reducing the system pressure. The sound capture device acquires the alarm sound, so the lane departure warning test method provided by this application is directly aimed at the user's practicality, eliminating the situation where the alarm sound corresponding to the warning signal cannot be heard by the user, making the lane departure warning obtained by this application easier for the user to use.

[0030] (2) The vehicle tested in this application embodiment is not a model vehicle, and the corresponding external third-party testing equipment is used to measure the data in the lane departure warning and output the lane departure warning test result information. Thus, the lane departure warning test result information obtained in this application is no longer limited by the performance of the test vehicle by using actual vehicle measurement and external third-party testing equipment, making the final result more accurate.

[0031] (3) In this application embodiment, when obtaining the lane action line, the lane action line is not generated by directly obtaining video information, but by generating the lane action line by obtaining the aiming point position data obtained by the positioning device. This means that this application does not need to obtain a large amount of video data, but only needs to obtain the corresponding aiming point position data to generate the lane action line for lane departure warning test. This reduces the amount of data processed by this application and reduces the energy consumption in the lane departure warning test process.

[0032] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1 This is a flowchart of a preferred embodiment of the lane departure warning test method of this application; Figure 2 This is a schematic diagram of lane action line generation for the lane departure warning test method of this application; Figure 3 This is a schematic diagram of a preferred embodiment of the lane departure warning test system of this application; Figure 4 This is a schematic diagram of a preferred embodiment of the device of this application.

[0035] Among them, 10-lane departure warning test system; 100-information acquisition module, 200-lane action line generation module, 300-judgment information generation module and 400-result output module; 501-memory, 502-processor and 503-communication interface. Detailed Implementation

[0036] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0037] The following description, with reference to the accompanying drawings, describes a test method, system, device, and computer-readable storage medium for lane departure warning according to embodiments of this application. Addressing the prior art mentioned in the background section, the use of simulation models and on-board systems for testing the triggering timing of lane departure warnings leads to inaccurate measurement results due to simulation model errors and performance limitations of the on-board system. This application provides a test method for lane departure warning. In this method, a set of aiming point position data collected by a positioning device according to a preset acquisition method is obtained, and alarm sound information of the lane departure warning collected by a sound capture device is obtained. The aiming point position data set contains a preset number of aiming point position data. A first lane action line and a second lane action line are generated based on the aiming point position data. All lane departure warning alarm sound information is obtained based on the alarm sound information. The alarm sound is emitted at a specific time and frequency. Based on the first and second lane action lines, vehicle driving information corresponding to each lane departure warning is calculated. The frequency and vehicle driving information corresponding to each alarm sound are compared with preset lane departure warning conditions, and lane departure warning test results are output. By using external third-party testing equipment to measure the data in the lane departure warning and outputting the corresponding lane departure warning test results, the lane departure warning test results obtained in this application, through actual vehicle measurement and external third-party testing equipment, are no longer limited by the performance of the test vehicle, making the final results more accurate.

[0038] Specifically, Figure 1 This is a schematic flowchart illustrating a lane departure warning test method provided in an embodiment of this application.

[0039] like Figure 1 As shown, the test method for this lane departure warning includes the following steps: In step S101, the aiming point position data set collected by the positioning device according to the preset acquisition method is obtained, and the alarm sound information of the lane warning collected by the sound capture device is obtained. The aiming point position data set contains a preset number of aiming point position data.

[0040] Specifically, the positioning device is a device that can obtain the location of the vehicle's tires, and the sound capture device is a device that can obtain sound within a certain range. The positioning device and the sound capture device are not limited. In one embodiment of this application, it is preferable to install the positioning device on the roof of the vehicle. In another embodiment of this application, the positioning device and the sound capture device are detachable devices. In a third embodiment of this application, the positioning device and the sound capture device can be selected from devices that can perform the same function and are located inside the vehicle.

[0041] It should be noted that in this embodiment, the information collected by the positioning device and the sound capture device is obtained to facilitate subsequent processing. The positioning device can be used to obtain aiming point position data without acquiring video data, and the time corresponding to the aiming point position data is also acquired. Furthermore, this application does not collect the initial electrical signal of the lane departure warning, but rather the corresponding alarm sound information, making this application more suitable for daily use.

[0042] Furthermore, the set of aiming point position data acquired by the positioning device according to a preset acquisition method specifically includes: A first driving mode and a second driving mode for the vehicle are preset, and the first driving mode and the second driving mode are sent to the vehicle; When the vehicle is traveling in the first driving mode, the positioning device collects the preset number of aiming point position data according to the preset collection method to obtain a first aiming point position data set. When the vehicle is traveling in the second driving mode, the positioning device collects the preset number of aiming point position data according to the preset collection method to obtain a second aiming point position data set. The first aiming point position data and the second aiming point position data collected by the positioning device are acquired in real time to obtain the aiming point position data set.

[0043] It should be noted that the vehicle is the test vehicle. In this embodiment, the aiming point position data set obtained by the positioning device includes a first aiming point position data set and a second aiming point position data set. The first aiming point position data set is collected by the positioning device when the vehicle is traveling in a first driving mode; the second aiming point position data set is collected by the positioning device when the vehicle is traveling in a second driving mode. The first and second aiming point position data sets are then combined to obtain the aiming point position data set. Both the first and second aiming point position data sets are collections of aiming point position data, containing a preset number of aiming point position data. This preset number is either set based on prior knowledge or set by the user. Therefore, both the first and second aiming point position data sets contain the same number of aiming point position data, which is the preset number. It is worth noting that in the lane departure warning test method described in this application, the vehicle is traveling within a set of lane lines. Furthermore, the first driving mode is to move forward when the vehicle is detected to be parked parallel to the lane line and the distance between the edge of the left front wheel and the left rear wheel of the vehicle and the lane line is within a preset threshold range; the second driving mode is to move forward when the vehicle is parked parallel to the lane line and the distance between the edge of the right front wheel and the right rear wheel of the vehicle and the lane line is within a preset threshold range.

[0044] It is understood that the vehicle driving mode is pre-set in the embodiments of this application, and the acquisition process of aiming point position data is included twice in each test, so that the test can be carried out for different directions in each test, thus making the whole test process more comprehensive.

[0045] Furthermore, when the vehicle is traveling in the first driving mode, the positioning device collects a preset number of aiming point position data according to a preset acquisition method to obtain a first aiming point position data set; when the vehicle is traveling in the second driving mode, the positioning device collects the preset number of aiming point position data according to a preset acquisition method to obtain a second aiming point position data set, specifically including: When the vehicle is traveling in the first driving mode, the positioning device collects the corresponding aiming point position data at preset distance intervals. When the number of corresponding aiming point position data reaches the preset number, the collection ends and the first aiming point position data set is obtained. When the vehicle is traveling in the second driving mode, the positioning device collects corresponding aiming point position data at preset distance intervals. When the number of corresponding aiming point position data reaches the preset number, the collection ends and the data is transferred to the second aiming point position data set.

[0046] Specifically, when the vehicle is traveling in the first driving mode, the positioning device collects a preset number of aiming point position data according to a preset acquisition method to obtain the first aiming point position data set. During this process, the vehicle must first be parked parallel to the lane line and the distance between the edges of the vehicle's left front wheel and left rear wheel and the lane line must be within a preset threshold range before it can move forward. At this time, the vehicle is between the two lane lines before it can move. During the vehicle's travel, the positioning device acquires one aiming point position data at every preset distance interval to obtain the first aiming point position data. The acquisition method for the second aiming point position data is the same as that for the first aiming point position data.

[0047] In one embodiment of this application, during the acquisition of the first aiming point position data set and the second aiming point position data set, the lane line that the vehicle initially approaches is the same lane line from a set of lane lines. The preset interval distance is determined based on prior knowledge or set by the user; the smaller the preset interval distance, the higher the accuracy of the test results.

[0048] Understandably, to obtain the first and second aiming point position data sets for Mr. Chen, it is necessary to ensure that the vehicle is in a suitable position before starting to drive. During the test, the vehicle's back-and-forth driving process is tested accordingly, making the entire test process more comprehensive. Furthermore, for each direction, the test ends after obtaining sufficient aiming point position data, thereby reducing the data processing pressure on this application and making the entire test process more convenient.

[0049] The aiming point position data in the first aiming point position data set is data obtained during the vehicle's driving process based on the position of the outer edge of the left front wheel tire. The aiming point position data in the second aiming point position data set is the data obtained during the vehicle's driving process based on the position of the outer edge of the right front tire of the vehicle.

[0050] It is understandable that when acquiring the first and second aiming point position data sets, the first aiming point position data in the first aiming point position data set is obtained when the vehicle is parked parallel to the lane, with the body parallel to the lane line and the edges of the left front and left rear wheels in contact with the inner side of the lane line. The position data obtained based on the location of the outermost edge of the left front tire is the first aiming point position data in the first aiming point position data set. Similarly, the first aiming point position data in the second aiming point position data set is obtained when the vehicle is parked parallel to the lane, with the body parallel to the lane line and the edges of the right front and right rear wheels in contact with the inner side of the lane line. The position data obtained based on the location of the outermost edge of the right front tire is the first aiming point position data in the second aiming point position data set. Therefore, in the lane departure warning test process, the focus is on the wheel closest to the lane line during vehicle movement. By acquiring information such as the position and speed of this wheel, the lane departure warning test results obtained in this application can be made more accurate.

[0051] In one embodiment of this application, by Figure 2 This will further describe the process of acquiring the aiming point position data set. For example... Figure 2As shown, when testing lane departure warning, the vehicle is first parked parallel to the lane line. After determining the vehicle's direction of travel, the vehicle is parked parallel to the lane line, with the left front wheel and left rear wheel edges touching the inside of the lane line. At this point, the measurement system aims at point 1. Then, the vehicle moves forward at a preset distance interval (in this embodiment, the preset distance interval is 5 meters), and then aims at point 2. Similarly, it aims at points 3, 4, ..., and so on, until 20 points are aimed at (in this embodiment, the preset number is 20). This yields the first aiming point position data set corresponding to the first lane action line. Correspondingly, after obtaining the first aiming point position data set, the vehicle is turned around, and the right front wheel and right rear wheel are used to touch the inside of the lane line while aiming at points 1', 2', ..., to obtain the corresponding second aiming point position data set.

[0052] In step S102, the first lane action line and the second lane action line are generated based on the aiming point position data.

[0053] Understandably, when testing lane departure warning systems, it's necessary to obtain lane action lines based on the vehicle's trajectory. These lane action lines are then used to acquire vehicle driving information.

[0054] Further, the step of generating the first lane action line and the second lane action line based on the aiming point position data specifically includes: Based on the first aiming point position data set, the aiming point position data corresponding to the first aiming point position data set is linearly fitted to obtain the first lane action line; Based on the second aiming point position data set, the aiming point position data corresponding to the second aiming point position data set are linearly fitted to obtain the second lane action line.

[0055] It should be noted that, after obtaining the first aiming point position data set, i.e., obtaining a large amount of first aiming point position data, in one embodiment of this application, the aiming point position data in the first aiming point position data set can be linearly fitted in a Cartesian coordinate system. The first aiming point position data in the first aiming point position data set is taken as the origin of the Cartesian coordinate system, the lane line on the left side of the vehicle is taken as the X-axis, the vehicle's driving direction is taken as the positive X-axis, and the vertical line segment perpendicular to the lane line and pointing to the right side of the vehicle is taken as the Y-axis. The Cartesian coordinate system is constructed, and the aiming point position data is input into the coordinate system to fit the corresponding first lane action line. Linear fitting is performed on the aiming point position data in the second aiming point position data set in a Cartesian coordinate system. The first aiming point position data in the second aiming point position data set is used as the origin of the Cartesian coordinate system. The lane line to the right of the vehicle is used as the X-axis, the vehicle's driving direction is used as the positive X-axis, and the line segment perpendicular to the lane line and pointing to the left of the vehicle is used as the Y-axis. The aiming point position data is then input into this coordinate system to fit the corresponding second lane action line. In one embodiment of this application, when fitting the first lane line and the second lane line, the correlation coefficient r of the linear fitting is required to be [value missing]. 2 The first and second lane lines will only be output if the value is greater than the predetermined coefficient value.

[0056] It is understandable that when obtaining the lane action line, it is not by acquiring a video to generate the corresponding lane action line, but by performing linear fitting through aiming point position data to obtain the corresponding lane action line. This allows the application to obtain the lane action line through multiple aiming point position data without acquiring a large amount of video data, thus reducing the pressure and resource consumption when processing data.

[0057] In step S103, the time and frequency of all alarm sounds are obtained according to the alarm sound information, and the vehicle driving information corresponding to each lane warning is calculated according to the first lane action line and the second lane action line.

[0058] It is understandable that each alarm sound corresponds to a lane warning. Therefore, the time and frequency of all alarm sounds can be obtained from the alarm sound information. Based on the corresponding time, it can be determined whether the vehicle is located in the first lane or the second lane, and further, its specific location. Since the alarm sound information is continuously acquired, it is recorded and analyzed together. When an alarm sound with a frequency reaching the expected frequency appears, it indicates that a lane warning has been triggered. Combined with the acquisition time of the aiming point position data, the vehicle's driving information at the time of the lane warning is obtained.

[0059] Furthermore, the step of obtaining the emission time and frequency of all alarm sounds based on the alarm sound information, and calculating the vehicle driving information corresponding to each lane warning based on the first lane action line and the second lane action line, specifically includes: The time and frequency of each alarm sound are obtained based on the alarm sound information; The vehicle speed at each time point is obtained, and the lateral distance and lateral speed of the vehicle at each time point are calculated based on the first lane line and the second lane line. The vehicle's speed, lateral distance, and lateral speed at each time point are summarized to obtain the vehicle's driving information for each lane warning.

[0060] Specifically, after obtaining the time and frequency of each alarm sound based on the alarm sound information, when the frequency meets the expected frequency, it is considered an alarm sound for lane warning, and the vehicle speed, lateral distance, and lateral velocity at that time are obtained accordingly. During vehicle testing, the corresponding record of vehicle speed and time is also obtained, thus allowing the vehicle speed at the time of each alarm sound. Furthermore, the first lane line serves as a reference line for calculating the relative lateral distance from the left wheel edge to the inside of the lane line when driving in the first driving mode, and the second lane line serves as a reference line for calculating the relative lateral distance from the right wheel edge to the inside of the lane line when driving in the second driving mode. Simultaneously, the lateral velocity v of the deviation is calculated based on the differential of the lateral distance ds and the time dt, where v = ds / dt.

[0061] In one embodiment, the vehicle driving information is shown in Table 1 below.

[0062]

[0063] Table 1. Vehicle Driving Information.

[0064] Understandably, after the corresponding alarm sound is obtained through the sound capture device, the corresponding vehicle driving data is obtained based on the time of the alarm sound and the lane action line. The vehicle driving data includes the vehicle's current speed, lateral speed, and distance, so that this application can better determine whether the lane departure warning meets the requirements based on the obtained vehicle driving speed.

[0065] In step S104, the frequency and vehicle driving information corresponding to each alarm sound are compared and judged with the preset lane departure warning conditions, and the lane departure warning test result information is output.

[0066] It can be understood that a preset lane departure warning condition is set in advance at the very beginning of the test. Therefore, after comparing and judging the frequency corresponding to each alarm sound and the vehicle driving information against the preset lane departure warning condition, lane departure warning test result information can be obtained.

[0067] Further, said performing comparison and judgment on the frequency corresponding to each alarm sound and the vehicle driving information against the preset lane departure warning condition, and outputting lane departure warning test result information according to the judgment result specifically comprises: setting the preset lane departure warning condition in advance, comparing the frequency corresponding to each alarm sound and the vehicle driving information against the preset lane departure warning condition, and judging whether each lane warning meets the preset lane departure warning condition; if the frequency corresponding to one alarm sound and the vehicle driving information meet the preset lane departure warning condition, then the current lane warning meets the preset lane departure warning condition; if the frequency corresponding to one alarm sound and the vehicle driving information do not meet the preset lane departure warning condition, then the current lane warning does not meet the preset lane departure warning condition; outputting lane departure warning test result information according to the comparison and judgment result of the frequency corresponding to each alarm sound and the vehicle driving information against the preset lane departure warning condition.

[0068] It should be noted that since one test includes two round-trip vehicle driving processes, there are multiple vehicle departure warnings in this process. For each vehicle departure warning, the corresponding frequency and vehicle driving information are compared against the preset lane departure warning condition to judge whether each lane warning meets the preset lane departure warning condition. After summarizing all results of whether the lane departure warnings meet the preset lane departure warning condition, when it is judged that the percentage of the number of times that meet the requirement in the total number of departure warnings exceeds the preset requirement, the lane departure warning test result is determined to be qualified, otherwise it is unqualified. In addition to outputting qualified and unqualified information in the lane departure warning test result information, the lane departure warning test result information further includes the corresponding vehicle driving information, and the frequency and time corresponding to the alarm sound.

[0069] In the present application, the frequency corresponding to each alarm sound and the lane driving information are judged, so that the obtained lane departure warning test result information not only performs corresponding judgment on vehicle departure, but also performs corresponding judgment on the vehicle alarm sound. The present application can detect lane departure and also detect whether the alarm sound meets the requirement, which makes the present application more practical.

[0070] This application employs a positioning device and a sound capture device to acquire initial aiming point position data and alarm sound information. Since the aiming point position data is acquired from the positioning device, the device does not need to collect excessive data, thus reducing system load. The sound capture device acquires the alarm sound, making the lane departure warning testing method provided in this application directly applicable to user needs. This eliminates the situation where the alarm signal is present but the corresponding alarm sound is inaudible to the user, making the lane departure warning obtained through this application more user-friendly. Furthermore, the vehicle used in the test embodiments of this application is not a pre-designed model vehicle; instead, an external third-party testing equipment combination is used to measure the data in the lane departure warning and output the corresponding lane departure warning test results. Therefore, by using actual vehicle measurements and external third-party testing equipment, the final lane departure warning test results obtained in this application are not limited by the performance of the test vehicle, resulting in more accurate final results. Furthermore, in this embodiment, when acquiring the lane action line, the lane action line is not generated by directly acquiring video information, but by generating the lane action line based on the aiming point position data acquired by the positioning device. This eliminates the need to acquire a large amount of video data; only the corresponding aiming point position data is required to generate the lane action line for lane departure warning testing. Consequently, this application processes less data, thereby reducing energy consumption during the lane departure warning testing process.

[0071] Next, a test system for lane departure warning according to an embodiment of this application is described with reference to the accompanying drawings.

[0072] Figure 3 This is a block diagram of a lane departure warning test system according to an embodiment of this application.

[0073] like Figure 3 As shown, the lane departure warning test system 10 includes: an information acquisition module 100, a lane action line generation module 200, a judgment information generation module 300, and a result output module 400.

[0074] Specifically, the information acquisition module 100 is used to acquire a set of aiming point position data collected by the positioning device according to a preset acquisition method, and to acquire the alarm sound information of the lane warning collected by the sound capture device, wherein the aiming point position data set contains a preset number of aiming point position data.

[0075] Lane action line generation module 200 is used to generate a first lane action line and a second lane action line based on the aiming point position data; The judgment information generation module 300 is used to obtain the emission time and frequency of all alarm sounds according to the alarm sound information, and to calculate the vehicle driving information corresponding to each lane warning according to the first lane action line and the second lane action line. The result output module 400 is used to compare and judge the frequency and vehicle driving information corresponding to each alarm sound with the preset lane departure warning conditions, and output the lane departure warning test result information.

[0076] Optionally, in one embodiment of this application, the information acquisition module 100 includes: a driving mode setting unit, a single aiming point position data set acquisition unit, and an aiming point position data set acquisition unit.

[0077] The driving mode setting unit is used to pre-set a first driving mode and a second driving mode for the vehicle, and send the first driving mode and the second driving mode to the vehicle.

[0078] A single aiming point position data set acquisition unit is used to acquire a preset number of aiming point position data according to a preset acquisition method when the vehicle is traveling in the first driving mode, to obtain a first aiming point position data set; and to acquire a second aiming point position data set when the vehicle is traveling in the second driving mode, by acquiring the preset number of aiming point position data according to a preset acquisition method.

[0079] The aiming point position data set acquisition unit is used to acquire the first aiming point position data and the second aiming point position data collected by the positioning device in real time, and obtain the aiming point position data set.

[0080] Optionally, in one embodiment of this application, a single aiming point position data set acquisition unit includes: a first aiming point position data set acquisition subunit and a second aiming point position data set acquisition subunit.

[0081] The first aiming point position data set acquisition subunit is used to collect corresponding aiming point position data at preset distance intervals when the vehicle is traveling in the first driving mode. When the number of corresponding aiming point position data reaches the preset number, the collection ends and the first aiming point position data set is obtained.

[0082] The second aiming point position data set acquisition subunit is used to collect corresponding aiming point position data at preset distance intervals when the vehicle is traveling in the second driving mode. When the number of corresponding aiming point position data reaches the preset number, the collection ends and is transferred to the second aiming point position data set.

[0083] Optionally, in one embodiment of this application, the aiming point position data in the first aiming point position data set is data obtained during the vehicle's driving process based on the position of the outer edge of the left front tire; the aiming point position data in the second aiming point position data set is data obtained during the vehicle's driving process based on the position of the outer edge of the right front tire.

[0084] Optionally, in one embodiment of this application, the lane action line generation module 200 includes: a first lane action line generation unit and a second lane action line generation unit.

[0085] The first lane action line generation unit is used to obtain the first lane action line by linearly fitting the aiming point position data corresponding to the first aiming point position data set according to the first aiming point position data set.

[0086] The second lane action line generation unit is used to obtain the second lane action line by linearly fitting the aiming point position data corresponding to the second aiming point position data set according to the second aiming point position data set.

[0087] Optionally, in one embodiment of this application, the determination information generation module 300 includes: a time and frequency acquisition unit, a vehicle preliminary driving information acquisition unit, and a vehicle driving information acquisition unit.

[0088] The time and frequency acquisition unit is used to acquire the time and frequency of each alarm sound based on the alarm sound information.

[0089] The vehicle preliminary driving information acquisition unit is used to acquire the vehicle speed at each time point and calculate the lateral distance and lateral speed of the vehicle at each time point based on the first lane line and the second lane line.

[0090] The vehicle driving information acquisition unit is used to summarize the vehicle's own speed, lateral distance, and lateral speed at each time point to obtain the vehicle driving information corresponding to each lane warning.

[0091] Optionally, in one embodiment of this application, the result output module 400 includes: a single lane warning judgment unit, a conformity unit, a non-conformity unit, and an output unit.

[0092] The single lane warning judgment unit is used to pre-set the preset lane departure warning conditions and compare the frequency and vehicle driving information corresponding to each alarm sound with the preset lane departure warning conditions to determine whether each lane warning meets the preset lane departure warning conditions.

[0093] The matching unit is used to determine if the frequency of one of the alarm sounds and the vehicle driving information meet the preset lane departure warning conditions, then the lane departure warning meets the preset lane departure warning conditions.

[0094] The non-compliance unit is used to determine that if the frequency of one of the alarm sounds and the vehicle driving information do not meet the preset lane departure warning conditions, then the lane departure warning does not meet the preset lane departure warning conditions.

[0095] The output unit is used to output lane departure warning test result information based on the comparison and judgment between the frequency corresponding to each alarm sound and the vehicle driving information and the preset lane departure warning conditions.

[0096] It should be noted that the explanation of the aforementioned test method embodiment for lane departure warning also applies to the test system for lane departure warning in this embodiment, and will not be repeated here.

[0097] To address the issue that testing lane departure warning triggering timing using simulation models and on-board systems can lead to inaccurate measurement results due to simulation model errors and on-board system performance limitations, this application provides a lane departure warning testing method. In this method, a positioning device and a sound capture device are used to acquire the relevant key data through a third-party device, thereby eliminating the problem of inaccurate measurement results caused by simulation model errors and on-board system performance limitations when using simulation models and on-board systems.

[0098] Figure 4 A schematic diagram of the device provided in an embodiment of this application. The device may include: The memory 501, the processor 502, and the computer program stored on the memory 501 and capable of running on the processor 502.

[0099] When the processor 502 executes the program, it implements the lane departure warning test method provided in the above embodiments.

[0100] Furthermore, the equipment also includes: Communication interface 503 is used for communication between memory 501 and processor 502.

[0101] The memory 501 is used to store computer programs that can run on the processor 502.

[0102] Memory 501 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0103] If the memory 501, processor 502, and communication interface 503 are implemented independently, then the communication interface 503, memory 501, and processor 502 can be interconnected via a bus to complete communication between them. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EIS) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of representation, Figure 4 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0104] Optionally, in a specific implementation, if the memory 501, processor 502, and communication interface 503 are integrated on a single chip, then the memory 501, processor 502, and communication interface 503 can communicate with each other through an internal interface.

[0105] Processor 502 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application.

[0106] This embodiment also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described test method for lane departure warning.

[0107] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0108] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0109] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0110] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable storage medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable storage medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable storage media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable storage medium could be paper or other suitable media on which the program can be printed, since the program can be obtained electronically by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0111] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0112] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0113] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0114] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

[0115] It should be understood that the application of this application is not limited to the examples above. Those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A method of testing a lane departure warning, characterized in that, The test method for the lane departure warning includes: The system acquires a set of aiming point position data collected by the positioning device according to a preset acquisition method, and acquires alarm sound information of lane warning collected by the sound capture device, wherein the aiming point position data set contains a preset number of aiming point position data. Generate the first lane action line and the second lane action line based on the aiming point position data; The time and frequency of all alarm sounds are obtained based on the alarm sound information, and the vehicle driving information corresponding to each lane warning is calculated based on the first lane action line and the second lane action line. The frequency and vehicle driving information corresponding to each alarm sound are compared and judged with the preset lane departure warning conditions, and the lane departure warning test result information is output. The step of comparing the frequency and vehicle driving information corresponding to each alarm sound with preset lane departure warning conditions, and outputting lane departure warning test result information based on the judgment result, specifically includes: The preset lane departure warning conditions are set in advance, and the frequency and vehicle driving information corresponding to each alarm sound are compared with the preset lane departure warning conditions to determine whether each lane warning meets the preset lane departure warning conditions. If the frequency of one of the alarm sounds and the vehicle driving information meet the preset lane departure warning conditions, then the lane departure warning meets the preset lane departure warning conditions. If the frequency and vehicle driving information corresponding to one of the alarm sounds do not meet the preset lane departure warning conditions, then the lane departure warning does not meet the preset lane departure warning conditions. Based on the comparison between the frequency of each alarm sound and the vehicle driving information and the preset lane departure warning conditions, the lane departure warning test result information is output.

2. The test method for lane departure warning according to claim 1, characterized in that, The set of aiming point position data acquired by the positioning device according to a preset acquisition method specifically includes: A first driving mode and a second driving mode for the vehicle are preset, and the first driving mode and the second driving mode are sent to the vehicle; When the vehicle is traveling in the first driving mode, the positioning device collects the preset number of aiming point position data according to the preset collection method to obtain a first aiming point position data set. When the vehicle is traveling in the second driving mode, the positioning device collects the preset number of aiming point position data according to the preset collection method to obtain a second aiming point position data set. The first aiming point position data and the second aiming point position data collected by the positioning device are acquired in real time to obtain the aiming point position data set.

3. The test method for lane departure warning according to claim 2, characterized in that, When the vehicle is traveling in the first driving mode, the positioning device collects a preset number of aiming point position data according to a preset acquisition method to obtain a first aiming point position data set. When the vehicle is traveling in the second driving mode, the positioning device collects the preset number of aiming point position data according to a preset acquisition method to obtain a second aiming point position data set, specifically including: When the vehicle is traveling in the first driving mode, the positioning device collects the corresponding aiming point position data at preset distance intervals. When the number of corresponding aiming point position data reaches the preset number, the collection ends and the first aiming point position data set is obtained. When the vehicle is traveling in the second driving mode, the positioning device collects corresponding aiming point position data at preset distance intervals. When the number of corresponding aiming point position data reaches the preset number, the collection ends and the data is transferred to the second aiming point position data set.

4. The test method for lane departure warning according to claim 2, characterized in that, The aiming point position data in the first aiming point position data set is the data obtained during the vehicle's driving process based on the position of the outer edge of the left front wheel tire of the vehicle; The aiming point position data in the second aiming point position data set is the data obtained during the vehicle's driving process based on the position of the outer edge of the right front tire of the vehicle.

5. The test method for lane departure warning according to claim 2, characterized in that, The step of generating the first lane action line and the second lane action line based on the aiming point position data specifically includes: Based on the first aiming point position data set, the aiming point position data corresponding to the first aiming point position data set is linearly fitted to obtain the first lane action line; Based on the second aiming point position data set, the aiming point position data corresponding to the second aiming point position data set are linearly fitted to obtain the second lane action line.

6. The test method for lane departure warning according to claim 1, characterized in that, The step of obtaining the emission time and frequency of all alarm sounds based on the alarm sound information, and calculating the vehicle driving information corresponding to each lane warning based on the first lane action line and the second lane action line, specifically includes: The time and frequency of each alarm sound are obtained based on the alarm sound information; Obtain the vehicle's speed at each time point, and calculate the lateral distance and lateral speed of the vehicle at each time point based on the first lane action line and the second lane action line. The vehicle's speed, lateral distance, and lateral speed at each time point are summarized to obtain the vehicle's driving information for each lane warning.

7. A lane departure warning testing system, characterized in that, The lane departure warning test system is used to implement the lane departure warning test method according to any one of claims 1-6, and the lane departure warning test system includes: The information acquisition module is used to acquire a set of aiming point position data collected by the positioning device according to a preset acquisition method, and to acquire the alarm sound information of the lane warning collected by the sound capture device, wherein the aiming point position data set contains a preset number of aiming point position data. The lane action line generation module is used to generate a first lane action line and a second lane action line based on the aiming point position data. The judgment information generation module is used to obtain the emission time and frequency of all alarm sounds based on the alarm sound information, and to calculate the vehicle driving information corresponding to each lane warning based on the first lane action line and the second lane action line. The result output module is used to compare and judge the frequency and vehicle driving information corresponding to each alarm sound with the preset lane departure warning conditions, and output the lane departure warning test result information.

8. A device, characterized in that, The device includes: a memory, a processor, and a lane departure warning test program stored in the memory and executable on the processor, wherein when the lane departure warning test program is executed by the processor, it implements the steps of the lane departure warning test method as described in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a lane departure warning test program, which, when executed by a processor, implements the steps of the lane departure warning test method as described in any one of claims 1-6.

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