A sentinel mode real vehicle testing method, device, electronic device and storage medium

Abstract

The present application relates to the field of vehicle technology, and discloses a sentinel mode real vehicle testing method, device, electronic device and storage medium, the method comprising: setting multiple azimuth lines based on the vehicle, and setting multiple azimuth points on each azimuth line; wherein the distance between the azimuth points on each azimuth line and the vehicle is different; when the target object moves around the vehicle, the response result of the sentinel mode is obtained; based on the moving direction of the target object when it moves around the vehicle, the positional relationship between the moving area of ​​the target object when it moves around the vehicle and the azimuth points, the response result of the sentinel mode is detected. The present application can improve the accuracy of the sentinel mode.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a sentinel mode real vehicle testing method, device, electronic device and storage medium. Background Art

[0002] Sentry mode is a practical vehicle function developed to prevent accidental damage to the vehicle while it is parked, but the cause of the damage cannot be tracked. It monitors the surrounding environment through on-board cameras, vibration sensors, etc., and records risk factors on the central control screen or feeds back to the user. In some solutions, the sentinel mode is prone to false detection and missed detection. False detection will occupy the storage resources of the vehicle and user terminals and increase data communication costs. Missed detection will cause damage to the vehicle, thus affecting the functional experience. Therefore, testing the sentinel mode is an important means to ensure the availability of vehicle functions, improve the damage detection rate, and reduce the missed detection rate and false detection rate. Summary of the invention

[0003] In view of the above problems, the present application provides a sentinel mode real vehicle testing method, device, electronic device and storage medium for testing the sentinel mode.

[0004] According to one aspect of the present application, a sentinel mode real vehicle testing method is provided, comprising: setting a plurality of orientation lines based on the vehicle, and setting a plurality of orientation points on each orientation line; wherein the distance between the orientation points on each orientation line and the vehicle is different; when a target object moves around the vehicle, obtaining a response result of the sentinel mode; and detecting the response result of the sentinel mode based on the moving direction of the target object when it moves around the vehicle, and the positional relationship between the moving area of ​​the target object when it moves around the vehicle and the orientation points.

[0005] In an optional manner, setting a plurality of orientation lines based on the vehicle and setting a plurality of orientation points on each orientation line further includes: obtaining a preset point position of the vehicle; wherein the preset point position includes a tangent point between the vehicle tires and the ground, and a preset point located directly in front of and directly behind the vehicle; drawing rays based on the preset point position of the vehicle to obtain the plurality of orientation lines; setting a plurality of orientation points on each orientation line; wherein the distance between each point position and the vehicle is not zero.

[0006] In one implementable manner, the detection of the response result of the sentinel mode based on the moving direction of the target object when it moves around the vehicle and the positional relationship between the moving area and the azimuth point when the target object moves around the vehicle further includes: if no collision occurs between the target object and the vehicle, obtaining the moving time of the target object when it moves around the vehicle; determining the target response result of the sentinel mode based on the moving direction, the moving time and the positional relationship between the moving area and the azimuth point, and detecting the response result of the sentinel mode by comparing the target response result and the response result.

[0007] In one implementable manner, the moving direction includes a first direction of moving between two first azimuth points on the same side of the vehicle and located on different azimuth lines, and a second direction of moving between two second azimuth points on an azimuth line, and the two first azimuth points are at the same distance from the vehicle; determining the target response result of the sentinel mode based on the moving direction, the moving time, and the positional relationship between the moving area and the azimuth points further includes: obtaining a first moving time of the target object moving within a first preset area; wherein the first preset area is an area between the two first azimuth points and / or an area between the two second azimuth points; if the first moving time is greater than a first time threshold corresponding to the first preset area, the target response result is triggering a sentinel function; wherein the first time thresholds corresponding to different first preset areas are different.

[0008] In an implementable manner, the moving direction includes a third direction of moving between two third-party points on the same side of the vehicle and located on different azimuth lines, and a fourth direction of moving between two fourth azimuth points on different sides of the vehicle, and the distances between the two second azimuth points and the vehicle are different; determining the target response result of the sentinel mode based on the moving direction, the moving time, and the positional relationship between the moving area and the azimuth points further includes: obtaining a second moving time of the target object moving within a second preset area; wherein the second preset area is an area formed between the two third-party points and two fifth azimuth points and / or an area formed between the two fourth azimuth points and two sixth azimuth points, the two fifth azimuth points are respectively located on the azimuth lines where the two third-party points are located, and the two sixth azimuth points are respectively located on the azimuth lines where the two fourth azimuth points are located; if the second moving time is greater than a second time threshold corresponding to the second preset area, the target response result is triggering a sentinel function; wherein the second time thresholds corresponding to different second preset areas are different.

[0009] In one implementable manner, the comparing the target response result and the response result and detecting the response result of the sentinel mode further includes: if the target response result is to trigger the sentinel function, and the response result is not to trigger the sentinel function, then the detection result of the response result of the sentinel mode represents a missed detection; if the target response result is not to trigger the sentinel function, and the response result is to trigger the sentinel function, then the detection result of the response result of the sentinel mode represents a false detection.

[0010] In one implementable manner, the correctness of the response result of the sentinel mode is detected based on the moving direction of the target object when it moves around the vehicle and the positional relationship between the moving area and the azimuth point when the target object moves around the vehicle, and further includes: if a collision occurs between the target object and the vehicle, obtaining the vibration value of the vehicle and the moving time of the target object when it moves around the vehicle; determining the target response result of the sentinel mode based on the vibration value, the moving time and the positional relationship between the moving area and the azimuth point, and detecting the response result of the sentinel mode by comparing the target response result and the response result.

[0011] According to another aspect of the present application, a sentinel mode real vehicle testing device is provided, including: an orientation point setting module, used to set a plurality of orientation lines based on the vehicle, and set a plurality of orientation points on each orientation line; wherein the distance between the orientation points on each orientation line and the vehicle is different; a response result acquisition module, used to acquire a response result of the sentinel mode when a target object moves around the vehicle; and a detection module, used to detect the response result of the sentinel mode based on the moving direction of the target object when it moves around the vehicle, and the positional relationship between the moving area of ​​the target object when it moves around the vehicle and the orientation points.

[0012] According to one aspect of the present application, an electronic device is provided, comprising: a controller; and a memory for storing one or more programs, which, when executed by the controller, executes the above-mentioned sentry mode real vehicle testing method.

[0013] According to one aspect of the present application, a computer-readable storage medium is also provided, on which computer-readable instructions are stored. When the computer-readable instructions are executed by a processor of a computer, the computer executes the above-mentioned sentry mode real vehicle testing method.

[0014] According to one aspect of the present application, a computer program product or a computer program is also provided, the computer program product or the computer program comprising computer instructions, the computer instructions being stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the above-mentioned sentry mode real vehicle testing method.

[0015] The present application sets compass points around the vehicle, moves the target object around the vehicle, confirms whether the sentinel mode is triggered, and detects whether the sentinel mode has missed detection or false detection based on the direction and position of movement. This fully tests the sentinel mode and can effectively ensure the functional quality of the sentinel mode. The sentinel mode can be optimized based on the test results to reduce the risk of false alarms and missed detections in the sentinel mode.

[0016] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0018] Figure 1 It is an implementation environment diagram shown in an exemplary embodiment of the present application.

[0019] Figure 2 It is a flowchart of a sentry mode real vehicle testing method shown in an exemplary embodiment of the present application.

[0020] Figure 3 It is a schematic diagram of orientation lines on both sides of a vehicle shown in an exemplary embodiment of the present application.

[0021] Figure 4 It is a schematic diagram of the orientation lines directly in front of and directly behind a vehicle shown in an exemplary embodiment of the present application.

[0022] Figure 5 It is a schematic diagram of an orientation point shown in an exemplary embodiment of the present application.

[0023] Figure 6 is based on Figure 2 The exemplary embodiment shown is a flow chart of another sentry mode real vehicle testing method.

[0024] Figure 7 It is a schematic diagram of a second preset area shown in an exemplary embodiment of the present application.

[0025] Figure 8 It is a schematic diagram of a ground laying structure shown in an exemplary embodiment of the present application.

[0026] Fig. 9 It is a structural schematic diagram of a sentry mode real vehicle testing device shown in an exemplary embodiment of the present application.

[0027] Fig.10 It is a structural diagram of a computer system of an electronic device shown in an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0028] Here, exemplary embodiments will be described in detail, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are only examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims.

[0029] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities may be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0030] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0031] The term "multiple" as used in this application refers to two or more than two. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the related objects are in an "or" relationship.

[0032] The existing sentinel mode has problems with missed detection and false detection, which affects the functional experience. To this end, one aspect of the present application provides a sentinel mode real vehicle testing method to verify whether the vehicle's sentinel mode has problems with missed detection or false detection, so that the sentinel mode can be optimized and improved.

[0033] Please refer to Figure 1 , Figure 1 An implementation scenario diagram proposed for this embodiment includes a vehicle, wherein a sentinel mode unit, sensors, and cameras are arranged inside the vehicle. The sentinel mode unit is used to obtain a response result of the sentinel mode. The sensors and cameras detect the environment in which the vehicle is located, and the detection result is sent to the sentinel mode unit, so that the sentinel mode unit obtains a response result of the sentinel mode.

[0034] In some embodiments, the implementation scenario also includes a server, which can be a server structure inside the vehicle or a server structure outside the vehicle. The server is connected to the sentinel mode unit, sensors, and cameras, and is used to perform sentinel mode real vehicle testing based on the response results obtained by the sentinel mode unit and the data sent by the sensors and cameras.

[0035] In some embodiments, the server sets a plurality of orientation lines based on the vehicle, and sets a plurality of orientation points on each orientation line; wherein the distance between the orientation points on each orientation line and the vehicle is different, and when the target object moves around the vehicle, the sensor and the camera obtain relevant data and send them to the sentinel mode unit and the server, so that the sentinel mode unit obtains a response result of the sentinel mode, and the server obtains the moving direction of the target object when it moves around the vehicle, and the positional relationship between the moving area of ​​the target object when it moves around the vehicle and the orientation points based on the relevant data, and then the sentinel mode unit sends the response result of the sentinel mode to the server, and the server detects the correctness of the response result of the sentinel mode based on the moving direction of the target object when it moves around the vehicle, and the positional relationship between the moving area of ​​the target object when it moves around the vehicle and the orientation points.

[0036] In other embodiments, the moving direction of the target object when it moves around the vehicle, and the positional relationship between the moving area of ​​the target object when it moves around the vehicle and the orientation point obtained by the server may not be obtained by processing the data sent by the sensor or camera, but may be obtained through pre-input data, that is, the target object performs a corresponding movement method based on the pre-input data (including the moving direction, the positional relationship between the moving area of ​​the target object when it moves around the vehicle and the orientation point, etc.).

[0037] The server can be an independent physical server or a server cluster or distributed system composed of multiple physical servers, where multiple servers can form a blockchain and the server is a node on the blockchain. The server can also be a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN (Content Delivery Network) and big data and artificial intelligence platforms, and this section does not restrict this.

[0038] Understandably, Figure 1 Although an implementation scenario diagram is shown, it is for illustrative purposes only. In other embodiments, there may be other implementation scenarios, which are not specifically limited here.

[0039] One aspect of the present application provides a sentry mode real vehicle testing method. Figure 2 , Figure 2 1 is a flow chart of a sentinel mode real vehicle testing method shown in an exemplary embodiment of the present application. The sentinel mode real vehicle testing method at least includes S210 to S230, which are described in detail as follows:

[0040] S210: Setting a plurality of orientation lines based on the vehicle, and setting a plurality of orientation points on each orientation line.

[0041] The distances between the orientation points on each orientation line and the vehicle are different.

[0042] In this embodiment, the orientation points are representative orientation points around the vehicle from near to far. Target objects are set at these points, and the target objects are made to interact with the vehicle in a contact or non-contact manner, and the response of the vehicle's sentry mode can be observed.

[0043] Target objects can be traffic participants and irregular obstacles, such as pedestrians, motor vehicles and non-motor vehicles.

[0044] In some embodiments, the azimuth line may be obtained by presetting a point, which may include:

[0045] S10: Acquire preset points of the vehicle; wherein the preset points include the points where the tires of the vehicle touch the ground, and preset points located directly in front of and directly behind the vehicle.

[0046] In one embodiment, ensure that the vehicle is assembled correctly, return the steering wheel of the vehicle to the correct position, and place it still on the ground. Based on this, the point where the tire touches the ground is used as the preset point. The preset points obtained at this time are located on both sides of the vehicle (here, the direction pointed by the vehicle's headlights is taken as the front of the vehicle, and the direction pointed by the rear lights of the vehicle is taken as the rear of the vehicle). Therefore, the preset points in front of and behind the vehicle can also be used as preset points. In this way, there are preset points in front of, behind, and on both sides of the vehicle.

[0047] S11: Draw a ray based on the preset position of the vehicle to obtain multiple orientation lines.

[0048] In some implementations, multiple azimuth lines may be obtained by drawing rays outward from preset points. It is understandable that the number of azimuth lines is the same as the number of preset points.

[0049] like Figure 3 As shown, Figure 3 The figure shows the bearing lines on both sides of the vehicle, that is, the left side may include the bearing lines A and C. Figure 3 In the figure, it is marked as line A and line B. On the right side of the vehicle, it includes the B and D azimuth lines. Figure 3 Recorded as line C and line D.

[0050] like Figure 4 As shown, Figure 4 The azimuth lines located directly in front of and behind the vehicle are shown in FIG. 1 , that is, the azimuth lines E and F may be included directly in front of the vehicle. Figure 4 The E and F lines are marked in the middle, and the G and H bearing lines are included on the right side of the vehicle. Figure 4 They are marked as G line and H line.

[0051] In some embodiments, two auxiliary lines are drawn in the direction of the vehicle, that is, in the direction from the front to the rear. The two auxiliary lines can divide the vehicle into three equal parts. The intersection of the two auxiliary lines and the outer edge of the vehicle is the preset point directly in front and directly behind the vehicle. There are four preset points in total, including four preset points on both sides of the vehicle. There are a total of eight preset points, corresponding to eight orientation lines.

[0052] S12: setting a plurality of orientation points on each orientation line; wherein the distance between each orientation point and the vehicle is not zero.

[0053] In this embodiment, the bearing line serves an auxiliary function, and a plurality of bearing points are set for each bearing line. The distances between the bearing points on a bearing line and the vehicle are different, and the distance between the bearing points and the vehicle is not zero.

[0054] In some embodiments, for a bearing point a on one bearing line, a bearing point b can be found on another bearing line, and the distances between bearing point a and bearing point b and the vehicle are the same, that is, on at least two bearing lines, the number of bearing points is the same, and the setting method is the same, and each has a bearing point set at a certain position away from the vehicle. Of course, in other embodiments, the number and setting method of the bearing points on any two bearing lines may be different.

[0055] In some embodiments, along eight azimuth lines A to H, denoted as line X (X = A to H), starting from their respective origins, azimuth points are established at 50 cm (centimeter), 100 cm, 200 cm, and 300 cm from the vehicle, respectively, and are named X i (i∈[1,4] is rounded to the integer). Taking the azimuth point on the A azimuth line as an example, the four azimuth points are A1, A2, A3, and A4, and the preset point of the A azimuth line is recorded as A0.

[0056] like Figure 5 As shown, in X-ray, X i is the azimuth point, and X0 is the preset point.

[0057] certainly, Figure 5 The above is only an example. A bearing point may be set at other positions on a bearing line away from the vehicle, and other numbers of position points may be set. These may be set based on empirical parameters and are not specifically limited here.

[0058] Figure 5 The compass point structure diagram shown in the figure shows that 32 compass points are set for subsequent sentry mode actual vehicle testing.

[0059] S220: When the target object moves around the vehicle, a response result of the sentinel mode is obtained.

[0060] In this embodiment, during the sentinel mode real vehicle test, a target object is set to pass through different directions of the vehicle, and the response results obtained by the sentinel mode unit when the target object moves around the vehicle are obtained.

[0061] S230: Detecting the response result of the sentinel mode based on the moving direction of the target object when it moves around the vehicle, the positional relationship between the moving area of ​​the target object when it moves around the vehicle, and the azimuth point.

[0062] In this embodiment, when conducting a real-vehicle test of the sentinel mode, the moving direction of the target object can be set to control lateral movement (movement perpendicular to the azimuth line), longitudinal movement (movement along the azimuth line), and oblique movement (superposition of lateral movement and longitudinal movement). When the target object moves, the positional relationship between the moving area of ​​the target object and the azimuth point is obtained. In this way, the target response result of the sentinel mode can be judged by the moving direction and the positional relationship. The target response result is the correct response result when the sentinel mode is operating normally and accurately. In this way, based on the target response result and the response result, it can be judged whether the sentinel mode of the vehicle has missed detection or false detection.

[0063] Of course, in some embodiments, the target object may collide with the vehicle during movement, and thus, different sentinel mode response result detection methods are set for the two situations of collision and non-collision.

[0064] In one embodiment, if there is no collision between the target object and the vehicle, the movement time of the target object when it moves around the vehicle is obtained; based on the movement direction, movement time, and the positional relationship between the movement area and the orientation point, the target response result of the sentinel mode is determined, and the target response result and the response result are compared to detect the response result of the sentinel mode.

[0065] In another embodiment, if there is no collision between the target object and the vehicle, the vibration value of the vehicle and the movement time of the target object when it moves around the vehicle are obtained; based on the vibration value, the movement time, and the positional relationship between the moving area and the azimuth point, the target response result of the sentinel mode is determined, and the response result of the sentinel mode is detected by comparing the target response result and the response result.

[0066] It can be understood that regardless of whether a collision occurs between the target object and the vehicle, if the target response result is to trigger the sentinel function, and the response result is not to trigger the sentinel function, then the detection result of the response result of the sentinel mode represents a missed detection; if the target response result is not to trigger the sentinel function, and the response result is to trigger the sentinel function, then the detection result of the response result of the sentinel mode represents a false detection.

[0067] In this embodiment, compass points are set around the vehicle, and the target object is moved around the vehicle to confirm whether the sentinel mode is triggered. Based on the direction and position of movement, it is detected whether the sentinel mode has missed detection or false detection. The sentinel mode is fully tested in this way, which can effectively ensure the functional quality of the sentinel mode. The sentinel mode is optimized based on the test results to reduce the risks of false alarms and missed alarms in the sentinel mode. Through comprehensive testing around the vehicle, the sentinel blind spots are reduced, the accuracy and reliability of the alarm are improved, and the safety of the vehicle is ensured.

[0068] In another exemplary embodiment of the present application, a method for detecting the response result of the sentinel mode when the target object and the vehicle do not collide is described in detail. Figure 6 , Figure 6 is based on Figure 2 The exemplary embodiment shown is a flow chart of another sentry mode real vehicle testing method. Figure 2 The S230 shown further includes S610 to S620, which are described in detail as follows:

[0069] S610: If there is no collision between the target object and the vehicle, the moving time of the target object moving around the vehicle is obtained.

[0070] In this embodiment, if there is no collision between the target object and the vehicle, it can be determined whether the sentinel mode should trigger the sentinel function or not according to the moving time of the target object moving around the vehicle.

[0071] S620: Determine the target response result of the sentinel mode based on the moving direction, moving time, and the positional relationship between the moving area and the azimuth point, and detect the response result of the sentinel mode by comparing the target response result with the response result.

[0072] In this embodiment, the moving direction includes lateral movement, longitudinal movement and diagonal movement. Thus, when moving lateraly, the moving direction is the first direction of moving between two first azimuth points on the same side of the vehicle and on different azimuth lines, and the distances between the two first azimuth points and the vehicle are the same.

[0073] The same side can be any of the front, rear, left, and right sides of the vehicle. Figure 5 As shown in the figure, lateral movement is considered to be on the same side of the vehicle body and moving along the same point i. Taking the left side of the vehicle body as an example, the traffic participant is allowed to move at A i With C i For example, A2 moves back and forth with C2. The same is true for the front, rear, and right sides of the vehicle. i With C i即 are two first-position points.

[0074] When moving longitudinally, the moving direction can be regarded as the second direction of movement between two second azimuth points on an azimuth line. For example, taking the left side of the vehicle body as an example, it moves back and forth between A0 and A4 along line A, and A0 and A4 are two second azimuth points.

[0075] When moving obliquely, the moving direction can be regarded as a third direction moving between two third-party locations on the same side of the vehicle and located on different azimuth lines, and a fourth direction moving between two fourth azimuth locations on different sides of the vehicle, and the distances between the two third-party locations and the vehicle are different.

[0076] For the third direction, the same-side diagonal movement is moving between two lines on the same side of the vehicle. For example, the left side is from point A on line A to point A on line A. i Point C on line C j Move (i≠j), such as moving from A1 to C4, A1 and C4 are two third-party sites.

[0077] For the fourth direction, the opposite side oblique movement is moving between two lines on different sides of the vehicle. Taking the left side and the front side as an example, the C line is C i Towards E line j Move (i=j, i≠j), such as moving from C4 to E0, and then from C4 to E4, C4 and E0 are two fourth orientation points, and C4 and E4 are two fourth orientation points.

[0078] In this embodiment, the target object may be a pedestrian, a non-motor vehicle, or a motor vehicle. A plurality of 4 target objects are set to comprehensively judge whether the function of the sentry mode is correct in accordance with the actual scene.

[0079] In some embodiments, different movement modes are set for the target object, such as fast passing and nearby wandering, so as to comprehensively judge whether the sentry mode functions correctly based on the possible interactions between the vehicle and the target object in the actual scene.

[0080] For example, for lateral movement, when the target object is a pedestrian, the movement mode can be fast passing: the pedestrian passes by A i To C i (or by C i To A i ) runs quickly (i is 1, 2, 3, 4 respectively). To adapt to pedestrians of different ages and genders, men and women of different ages can be randomly selected to run through at their normal running speed. The movement mode can be wandering nearby: pedestrians in A i and C i It moves back and forth at its normal speed and can stop and stand at any point. View the response results of Sentry Mode.

[0081] For lateral movement, when the target object is a non-motor vehicle, the movement mode can be fast passing: a person driving a non-motor vehicle from A i To C i (or by C i To A i, i is 1, 2, 3, 4 respectively) and passes quickly at 10km / h (kilometers per hour), 15km / h, 20km / h; the movement mode can be wandering nearby: people and non-motor vehicles are from A i To C i (or by C i To A i , i takes 1, 2, 3, 4 respectively) and passes at 2km / h, 4km / h, 6km / h, 8km / h. The vehicle can be parked at any point. Check the response results of the sentry mode.

[0082] For lateral movement, the target object is a motor vehicle, and the movement mode can be fast passing: a person driving a motor vehicle from A i To C i (or by C i To A i , i is 1, 2, 3, 4 respectively) and passes quickly at 10km / h, 15km / h, 20km / h, 30km / h, 40km / h; the movement mode can be wandering nearby: a person driving a motor vehicle from A i To C i (or by C i To A i , i takes 1, 2, 3, 4) respectively, passes at 4km / h and 8km / h, and can park at any point. Check the response results of the sentry mode.

[0083] Generally speaking, when moving laterally, no collision between the target object and the vehicle occurs.

[0084] For longitudinal movement, when the target object is a pedestrian, the movement mode can be non-collision: the pedestrian moves along the X line between X4 and X0 at normal speed and fast speed respectively, without colliding with the vehicle, and the pedestrian can stay at any position on the route for any time; the movement mode can be collision: the pedestrian moves along the X line between X4 and X0 at normal speed and fast speed respectively, and collides with the vehicle. Check the response results of the sentinel mode.

[0085] For longitudinal movement, when the target object is a non-motor vehicle, the movement mode can be non-collision: the non-motor vehicle moves at different speed levels along the X line between X4 and X0, without colliding with the vehicle, and the non-motor vehicle can stay at any position on the route for any time; the movement mode can be collision: the non-motor vehicle moves at different speed levels along the X line between X4 and X0, and collides with the vehicle. View the response results of the sentinel mode.

[0086] For longitudinal movement, when the target object is a motor vehicle, the movement mode can be non-collision: the motor vehicle moves at different speed levels along the X line between X4 and X0, without colliding with the vehicle, and the pedestrian can stay at any position on the route for any time; the movement mode can be collision: the motor vehicle moves at different speed levels along the X line between X4 and X0, and collides with the vehicle. View the response results of the sentinel mode.

[0087] For diagonal movement, move diagonally on the same side: Take the left side as an example, make pedestrians / non-motor vehicles / motor vehicles in A i With C j (Example) Move at different speed levels (i≠j), when i or j is 0, you can choose whether to collide with the vehicle; move diagonally to the opposite side: take the left side and the front side as an example, so that pedestrians / non-motor vehicles / motor vehicles are in C i With E j (Exemplary) Move at different speed levels, when i or j is 0, you can choose whether to collide with the vehicle. Check the response results of the sentry mode.

[0088] In some embodiments, for a situation where the moving direction is the first direction and the second direction, that is, lateral movement or longitudinal movement, and no vehicle collision occurs, the target response result may be determined in the following manner:

[0089] S20: Obtain a first movement time of the target object moving in a first preset area; wherein the first preset area is an area between two first orientation points and / or an area between two second orientation points.

[0090] In this embodiment, if the target object moves horizontally, the first preset area is the area between the two first orientation points. i With C i If A moves back and forth i With C i The area between is the first preset area; if it moves longitudinally, the first preset area is the area between the two second orientation points. If the target object moves back and forth between X2 and X3, the area between X2 and X3 is the first preset area.

[0091] S21: If the first moving time is greater than the first time threshold corresponding to the first preset area, the target response result is triggering the sentinel function; wherein the first time thresholds corresponding to different first preset areas are different.

[0092] In this embodiment, the first time threshold in the first preset area is determined by the azimuth point farthest from the vehicle in the first preset area, that is, at X i In the example, the first time threshold may include T i, when the azimuth point farthest from the vehicle in the first preset area is X3, the corresponding first time threshold is T3. It can be understood that at T i There are only T1, T2, T3, and T4 (T1<T2<T3<T4). It can be understood that if the azimuth point farthest from the vehicle in the first preset area is greater than the distance between X3 and the vehicle, it is considered that the target object is too far away at this time. No matter how long it stays, the sentinel function will not be triggered. Therefore, the value of T4 can be infinite.

[0093] For example, in some embodiments, when the target object is within the range of X2 to X3 (X=A to H, the same below) and the wandering time is greater than T3, the target response result is to trigger the sentinel function; when the target object is within the range of X1 to X2 and the wandering time is greater than T2, the target response result is to trigger the sentinel function; when the target object is within the range of X0 to X1 and the wandering time is greater than T1, the target response result is to trigger the sentinel function; when the target object wanders outside X3, such as X4 point or further, the sentinel function should not be triggered, and the triggering can be regarded as a false detection; or when the target object is within X3, but the wandering time does not exceed the corresponding threshold T i (i=1,2,3), the target response result is not to trigger the sentinel function.

[0094] In some embodiments, for the second direction and the third direction, that is, moving obliquely without colliding with the vehicle, the target response result can be determined by:

[0095] S30: Obtain a second movement time of the target object moving within a second preset area; wherein the second preset area is an area formed between two third-party locations and two fifth orientation locations and / or an area formed between two fourth orientation locations and two sixth orientation locations, the two fifth orientation locations are respectively located on the orientation lines where the two third-party locations are located, and the two sixth orientation locations are respectively located on the orientation lines where the two fourth orientation locations are located.

[0096] In this embodiment, for the same-side oblique movement, the second preset area is the area formed between the two third-party points and the two fifth azimuth points, and the two fifth azimuth points are respectively located on the azimuth lines where the two third-party points are located. That is, if the two third-party points are X i , Y j (X, Y = A ~ H), at this time X, Y are on the same side, so the two fifth points are X j , Y i , at this time, the first preset area is a rectangle, and if the different sides move obliquely, the second preset area is the area formed by the two fourth azimuth points and the two sixth azimuth points, and the two sixth azimuth points are respectively located on the azimuth lines where the two fourth azimuth points are located. Similarly, if the two fourth azimuth points are X i , Y j(X, Y = A ~ H), at this time X, Y are on different sides, so the two sixth points are X j , Y i The second preset area is a trapezoid. Of course, the two fourth azimuth points are X i , Y i , at this time, X i-1 , Y i-1 Enter X for the two sixth points i , Y i With X i-1 , Y i-1 The enclosed area is the second preset area.

[0097] For different lateral oblique movements, please refer to Figure 7 , the target object moves between A2 and E2, and the trapezoidal area enclosed by A2, E2, E1, and A1 is the second preset area.

[0098] S31: If the second moving time is greater than the second time threshold corresponding to the second preset area, the target response result is triggering the sentinel function; wherein the second time thresholds corresponding to different second preset areas are different.

[0099] In this embodiment, similarly, the second time threshold in the second preset area is determined by the azimuth point farthest from the vehicle in the second preset area, that is, i In the example, the second time threshold may include t i , when the azimuth point farthest from the vehicle in the second preset area is X3, the corresponding second time threshold is t3. It can be understood that at t i There are only t1, t2, t3, and t4 (t1<t2<t3<t4). It can be understood that if the azimuth point farthest from the vehicle in the second preset area is greater than the distance between X3 and the vehicle, it is considered that the target object is too far away at this time. No matter how long it stays, the sentinel function will not be triggered. Therefore, the value of t4 can be infinite.

[0100] In this embodiment, the first preset time threshold may be the same as the second preset time threshold, and the first preset time threshold and the second preset time threshold may be set with reference to empirical values.

[0101] For longitudinal movement and collision between the target object and the vehicle, the target response result can be determined by the following methods:

[0102] S40: If a collision occurs between the target object and the vehicle, a vibration value of the vehicle and a moving time of the target object moving around the vehicle are obtained.

[0103] The vibration value can be obtained by a sensor.

[0104] S41: Determine the target response result of the sentinel mode based on the vibration value, the moving time, and the positional relationship between the moving area and the azimuth point, and detect the response result of the sentinel mode by comparing the target response result and the response result.

[0105] In this embodiment, if the vibration value is greater than the vibration threshold H, the target response result of the sentinel mode is to trigger the sentinel function. If the vibration value is not greater than the vibration threshold H, then refer to the processing method of longitudinal movement and the target object does not collide with the vehicle, that is, refer to S20 to S21 to determine whether the first movement time is greater than the first time threshold corresponding to the first preset area during longitudinal movement. If greater, the target response result is to trigger the sentinel function.

[0106] like Figure 8 A ground laying structure is shown, which can be used multiple times to avoid repeated drawing of lines and points to determine the orientation lines and orientation points, wherein ① is a plurality of orientation points, ② is a limit line connecting E0F0, A0C0, B0D0, and G0H0, which is used to assist vehicle parking, and ③ is an area carrying the orientation points and orientation lines, within which the target object can move for sentinel mode testing, wherein ③ can be a carpet, which is laid on the ground, and after the vehicle is parked according to the limit line, the tester can conduct a sentinel mode real vehicle test according to the points described by the carpet; or the elements shown in the figure ①② can be spray-painted on the ground to establish a sentinel mode real vehicle test site.

[0107] Another aspect of the present application also provides a sentinel mode real vehicle testing device, such as Fig. 9 As shown, Fig. 9 900 is a schematic diagram of the structure of a sentinel mode real vehicle test device according to an exemplary embodiment of the present application. The sentinel mode real vehicle test device 900 includes:

[0108] The orientation point setting module 910 is used to set a plurality of orientation lines based on the vehicle, and to set a plurality of orientation points on each orientation line; wherein the distances between the orientation points on each orientation line and the vehicle are different.

[0109] The response result acquisition module 930 is used to acquire the response result of the sentinel mode when the target object moves around the vehicle.

[0110] The detection module 950 is used to detect the response result of the sentinel mode based on the moving direction of the target object when it moves around the vehicle, and the positional relationship between the moving area of ​​the target object when it moves around the vehicle and the azimuth point.

[0111] In an optional manner, the position setting module 910 further includes:

[0112] The preset point acquisition unit is used to acquire the preset point of the vehicle; wherein the preset point includes the contact point between the vehicle tire and the ground, and the preset points located directly in front of and behind the vehicle.

[0113] The orientation line acquisition unit is used to make rays based on the preset point positions of the vehicle to obtain multiple orientation lines.

[0114] The orientation point setting unit is used to set a plurality of orientation points on each orientation line; wherein the distance between each orientation point and the vehicle is not zero.

[0115] In one implementation, the detection module 950 further includes:

[0116] The first parameter acquisition unit is used to acquire the moving time of the target object when it moves around the vehicle if there is no collision between the target object and the vehicle.

[0117] The first detection unit is used to determine the target response result of the sentinel mode based on the moving direction, moving time and the positional relationship between the moving area and the azimuth point, so as to compare the target response result with the response result and detect the response result of the sentinel mode.

[0118] In an implementable manner, the moving direction includes a first direction of moving between two first orientation points on the same side of the vehicle and located on different orientation lines, and a second direction of moving between two second orientation points on one orientation line, and the distances between the two first orientation points and the vehicle are the same; the first detection unit further includes:

[0119] The first parameter acquisition section is used to acquire a first movement time of the target object moving in a first preset area; wherein the first preset area is an area between two first orientation points and / or an area between two second orientation points.

[0120] The first target response result acquisition section is used to trigger the sentinel function if the first moving time is greater than the first time threshold corresponding to the first preset area; wherein the first time thresholds corresponding to different first preset areas are different.

[0121] In an implementable manner, the moving direction includes a third direction of moving between two third-party points on the same side of the vehicle and located on different orientation lines, and a fourth direction of moving between two fourth orientation points on different sides of the vehicle, and the distances between the two second orientation points and the vehicle are different; the first detection unit further includes:

[0122] The second parameter acquisition section is used to obtain the second movement time of the target object moving within the second preset area; wherein the second preset area is the area formed between the two third-party locations and the two fifth locations and / or the area formed between the two fourth locations and the two sixth locations, the two fifth locations are respectively located on the azimuth lines where the two third-party locations are located, and the two sixth locations are respectively located on the azimuth lines where the two fourth locations are located.

[0123] The second target response result acquisition section is used to trigger the sentinel function if the second moving time is greater than the second time threshold corresponding to the second preset area; wherein the second time thresholds corresponding to different second preset areas are different.

[0124] In one possible implementation, the first detection unit further includes:

[0125] The missed detection section is used to indicate that if the target response result is to trigger the sentinel function, and the response result is not to trigger the sentinel function, the detection result of the response result of the sentinel mode represents a missed detection.

[0126] The false detection section is used to detect that if the target response result is not triggering the sentinel function, and the response result is triggering the sentinel function, the detection result of the response result of the sentinel mode represents a false detection.

[0127] In one implementation, the detection module 950 further includes:

[0128] The second parameter determination unit is used to obtain the vibration value of the vehicle and the moving time of the target object when it moves around the vehicle if a collision occurs between the target object and the vehicle.

[0129] The second detection unit is used to determine the target response result of the sentinel mode based on the vibration value, the moving time, and the positional relationship between the moving area and the azimuth point, so as to compare the target response result and the response result and detect the response result of the sentinel mode.

[0130] The sentry mode real vehicle testing device of the present application sets azimuth points around the vehicle, and confirms whether the sentry mode is triggered by moving the target object around the vehicle. Based on the direction and position of movement, it detects whether the sentry mode has missed detection or false detection, so that the sentry mode can be optimized and improved.

[0131] It should be noted that the sentinel mode real vehicle testing device provided in the above embodiment and the sentinel mode real vehicle testing method provided in the aforementioned embodiment belong to the same concept, wherein the specific manner in which each module and unit performs operations has been described in detail in the method embodiment and will not be repeated here.

[0132] Another aspect of the present application provides an electronic device, including: a controller; a memory for storing one or more programs, which, when executed by the controller, executes the above-mentioned sentry mode real vehicle testing method.

[0133] See also Fig.10 , Fig.10 1 is a schematic diagram of the structure of a computer system of an electronic device shown in an exemplary embodiment of the present application, which shows a schematic diagram of the structure of a computer system of an electronic device suitable for implementing an embodiment of the present application.

[0134] It should be noted that Fig.10 The computer system 1000 of the electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0135] like Fig.10 As shown, the computer system 1000 includes a central processing unit (CPU) 1001, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 1002 or the program loaded from the storage part 1008 to the random access memory (RAM) 1003, such as executing the method in the above embodiment. In the RAM 1003, various programs and data required for system operation are also stored. The CPU 1001, the ROM 1002 and the RAM 1003 are connected to each other through the bus 1004. The input / output (I / O) interface 1005 is also connected to the bus 1004.

[0136] The following components are connected to the I / O interface 505: an input section 1006 including a keyboard, a mouse, etc.; an output section 1007 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 1008 including a hard disk, etc.; and a communication section 1009 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 1009 performs communication processing via a network such as the Internet. A drive 1010 is also connected to the I / O interface 1005 as needed. A removable medium 1011, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 1010 as needed so that a computer program read therefrom is installed into the storage section 1008 as needed.

[0137] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication section 1009, and / or installed from a removable medium 1011. When the computer program is executed by a central processing unit (CPU) 1001, various functions defined in the system of the present application are executed.

[0138] It should be noted that the computer-readable medium shown in the embodiment of the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it. In the present application, a computer-readable signal medium can include a data signal propagated in a baseband or as a part of a carrier wave, wherein a computer-readable computer program is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, which may send, propagate, or transmit programs for use by or in conjunction with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0139] The flowchart and block diagram in the accompanying drawings illustrate the possible architecture, functions and operations of the system, method and computer program product according to various embodiments of the present application. Wherein, each box in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0140] The units involved in the embodiments described in this application may be implemented by software or hardware, and the units described may also be set in a processor. The names of these units do not, in some cases, constitute limitations on the units themselves.

[0141] Another aspect of the present application further provides a computer-readable storage medium having a computer program stored thereon, which implements the sentry mode real vehicle testing method as described above when the computer program is executed by a processor. The computer-readable storage medium may be included in the electronic device described in the above embodiment, or may exist independently without being assembled into the electronic device.

[0142] Another aspect of the present application also provides a computer program product or a computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the sentry mode real vehicle test method provided in each of the above embodiments.

[0143] According to one aspect of an embodiment of the present application, a computer system is also provided, including a central processing unit (CPU), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) or a program loaded from a storage portion into a random access memory (RAM), such as executing the method in the above embodiment. In RAM, various programs and data required for system operation are also stored. CPU, ROM and RAM are connected to each other via a bus. An input / output (I / O) interface is also connected to the bus.

[0144] The following components are connected to the I / O interface: an input part including a keyboard, a mouse, etc.; an output part including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker; a storage part including a hard disk, etc.; and a communication part including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication part performs communication processing via a network such as the Internet. A drive is also connected to the I / O interface as needed. Removable media, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., are installed on the drive as needed so that the computer program read therefrom is installed into the storage part as needed.

[0145] The above content is only a preferred exemplary embodiment of the present application and is not intended to limit the implementation scheme of the present application. A person skilled in the art can easily make corresponding changes or modifications based on the main concept and spirit of the present application. Therefore, the scope of protection of the present application shall be based on the scope of protection required by the claims.

Claims

1. A sentry mode real vehicle testing method, characterized in that: include: A plurality of orientation lines are set based on the vehicle, and a plurality of orientation points are set on each orientation line; wherein the distance between the orientation points on each orientation line and the vehicle is different; When the target object moves around the vehicle, obtaining a response result of the sentinel mode; Based on the moving direction of the target object when it moves around the vehicle and the positional relationship between the moving area of ​​the target object when it moves around the vehicle and the azimuth point, the response result of the sentinel mode is detected, the moving direction includes a third direction for moving between two third-party points on the same side of the vehicle and located on different azimuth lines, and a fourth direction for moving between two fourth azimuth points on different sides of the vehicle, the two third-party points are at different distances from the vehicle, the third direction and the fourth direction are directions corresponding to oblique movement, the moving direction includes a first direction for moving between two first azimuth points on the same side of the vehicle and located on different azimuth lines, and a second direction for moving between two second azimuth points on an azimuth line, the two first azimuth points are at the same distance from the vehicle, and the first direction is a direction corresponding to lateral movement; the detecting of the response result of the sentinel mode based on the moving direction of the target object when it moves around the vehicle and the positional relationship between the moving area of ​​the target object when it moves around the vehicle and the azimuth point further includes: If no collision occurs between the target object and the vehicle, obtaining a moving time of the target object moving around the vehicle; Based on the moving direction, the time threshold, the moving time, and the positional relationship between the moving area and the azimuth point, the target response result of the sentinel mode is determined, and the response result of the sentinel mode is detected by comparing the target response result and the response result. Different moving directions have corresponding moving areas, and different moving areas have corresponding time thresholds. The moving area includes a first preset area and a second preset area, the first preset area is the area between the two first orientation points and / or the area between the two second orientation points, the second preset area is the area formed between the two third-party orientation points and the two fifth orientation points and / or the area formed between the two fourth orientation points and the two sixth orientation points, the two fifth orientation points are respectively located on the orientation lines where the two third-party orientation points are located, and the two sixth orientation points are respectively located on the orientation lines where the two fourth orientation points are located.

2. The method according to claim 1, characterized in that The method further comprises: setting a plurality of orientation lines based on the vehicle and setting a plurality of orientation points on each orientation line; Acquire preset points of the vehicle; wherein the preset points include the contact points between the tires of the vehicle and the ground, and preset points located directly in front of and behind the vehicle; Drawing rays based on the preset points of the vehicle to obtain the multiple orientation lines; A plurality of orientation points are set on each orientation line; wherein the distance between each orientation point and the vehicle is not zero.

3. The method according to claim 1, characterized in that The determining of the target response result of the sentinel mode based on the moving direction, the moving time, and the positional relationship between the moving area and the azimuth point further includes: Acquire a first moving time of the target object moving in a first preset area; If the first moving time is greater than the first time threshold corresponding to the first preset area, the target response result is triggering the sentinel function; wherein the first time thresholds corresponding to different first preset areas are different.

4. The method according to claim 1, characterized in that: The determining of the target response result of the sentinel mode based on the moving direction, the moving time, and the positional relationship between the moving area and the azimuth point further includes: Acquire a second moving time of the target object moving in a second preset area; If the second moving time is greater than the second time threshold corresponding to the second preset area, the target response result is triggering the sentinel function; wherein the second time thresholds corresponding to different second preset areas are different.

5. The method according to claim 1, characterized in that The comparing the target response result and the response result, and detecting the response result of the sentinel mode, further comprises: If the target response result is to trigger the sentinel function, and the response result is not to trigger the sentinel function, then the detection result of the response result of the sentinel mode represents a missed detection; If the target response result is not triggering the sentinel function, and the response result is triggering the sentinel function, then the detection result of the response result of the sentinel mode represents a false detection.

6. The method according to claim 1, characterized in that The detecting the correctness of the response result of the sentinel mode based on the moving direction of the target object when it moves around the vehicle, the positional relationship between the moving area of ​​the target object when it moves around the vehicle and the azimuth point, further comprises: If a collision occurs between the target object and the vehicle, a vibration value of the vehicle and a moving time of the target object when it moves around the vehicle are obtained; Based on the vibration value, the movement time, and the positional relationship between the movement area and the azimuth point, the target response result of the sentinel mode is determined, and the response result of the sentinel mode is detected by comparing the target response result with the response result.

7. A sentry mode real vehicle testing device, characterized in that: include: A bearing point setting module, used for setting a plurality of bearing lines based on the vehicle, and setting a plurality of bearing points on each bearing line; wherein the distance between the bearing points on each bearing line and the vehicle is different; A response result acquisition module, used to acquire a response result of the sentinel mode when the target object moves around the vehicle; A detection module, for detecting a response result of the sentinel mode based on a moving direction of the target object when it moves around the vehicle, and a positional relationship between a moving area and an azimuth point when the target object moves around the vehicle, wherein the moving direction includes a third direction for moving between two third-party points on the same side of the vehicle and located on different azimuth lines, and a fourth direction for moving between two fourth azimuth points on different sides of the vehicle, the two third-party points are at different distances from the vehicle, the third direction and the fourth direction are directions corresponding to oblique movement, the moving direction includes a first direction for moving between two first azimuth points on the same side of the vehicle and located on different azimuth lines, and a second direction for moving between two second azimuth points on one azimuth line, the two first azimuth points are at the same distance from the vehicle, and the first direction is a direction corresponding to lateral movement; the detection module includes: a first parameter acquisition unit, configured to acquire a moving time of the target object when it moves around the vehicle if no collision occurs between the target object and the vehicle; The first detection unit is used to determine the target response result of the sentinel mode based on the moving direction, the time threshold, the moving time, and the positional relationship between the moving area and the azimuth point, so as to compare the target response result and the response result, and detect the response result of the sentinel mode, where different moving directions have corresponding moving areas, and different moving areas have corresponding time thresholds; wherein, The moving area includes a first preset area and a second preset area, the first preset area is the area between the two first orientation points and / or the area between the two second orientation points, the second preset area is the area formed between the two third-party orientation points and the two fifth orientation points and / or the area formed between the two fourth orientation points and the two sixth orientation points, the two fifth orientation points are respectively located on the orientation lines where the two third-party orientation points are located, and the two sixth orientation points are respectively located on the orientation lines where the two fourth orientation points are located.

8. An electronic device, characterized in that: include: Controller; The memory is used to store one or more programs. When the one or more programs are executed by the controller, the controller implements the sentry mode real vehicle testing method described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: Computer-readable instructions are stored thereon, and when the computer-readable instructions are executed by a processor of a computer, the computer is caused to execute the sentry mode real vehicle testing method according to any one of claims 1 to 6.

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