Automatic lane change test method, device, equipment and storage medium

Abstract

The present application discloses an automatic lane change test method, device, equipment and storage medium, which relates to the field of assisted driving technology. The method of the present application includes: obtaining lane image information and vehicle image information around the vehicle to be tested through multiple cameras; obtaining the lateral distance, longitudinal distance, relative vehicle speed and pre-collision time between the vehicle to be tested and the target vehicle based on the vehicle image information; and performing an automatic lane change test on the vehicle to be tested using preset rules based on the lane image information, the lateral distance, the longitudinal distance, the relative vehicle speed and the pre-collision time. The problem of low efficiency of automatic lane change performance test is solved, and the efficiency and accuracy of automatic lane change performance test are improved.

Description

Technical Field

[0001] The present application relates to the field of assisted driving technology, and in particular to an automatic lane change test method, device, equipment and storage medium. Background Art

[0002] With the development of assisted driving technology, automatic lane change assistance technology has also received more and more attention. The ALC (Auto Lane Change) automatic lane change assistance function is a technical means to achieve autonomous lane change of vehicles based on camera visual recognition and vehicle-mounted side radar detection technology. However, when actually testing ALC-related performance, statistical success rate, commuting efficiency and other important indicators on public roads, it is impossible to accurately carry out ALC public road tests from the parameter design level based on actual road conditions due to the inability to obtain the true value parameters of public road lane lines, social vehicle speeds, lateral / longitudinal distances and other related ALC judgment conditions in real time. At present, ALC public road tests usually rely on manual subjective evaluation or multi-vehicle scenario simulation performance tests based on inertial navigation systems. This type of test method has a single test scenario, low test efficiency, insufficient verification, and the subjective evaluation of objective indicators is inherently less accurate.

[0003] Therefore, how to improve the efficiency of automatic lane change testing is a problem that needs to be solved urgently. Summary of the invention

[0004] The main purpose of the present application is to provide an automatic lane change test method, device, equipment and storage medium, aiming to solve the technical problem of low efficiency of automatic lane change performance testing.

[0005] To achieve the above objectives, the present application proposes an automatic lane change test method, the method comprising:

[0006] Acquire lane image information and vehicle image information around the vehicle to be tested through multiple cameras;

[0007] Based on the vehicle image information, the lateral distance, longitudinal distance, relative speed and pre-collision time between the vehicle to be tested and the target vehicle are obtained;

[0008] An automatic lane change test is performed on the vehicle to be tested using preset rules based on the lane image information, the lateral distance, the longitudinal distance, the relative vehicle speed, and the pre-collision time.

[0009] In one embodiment, the step of performing an automatic lane change test on the vehicle to be tested using a preset rule based on the lane image information, the lateral distance, the longitudinal distance, the relative vehicle speed, and the pre-collision time includes:

[0010] Obtaining preset automatic lane change parameters and preset lane change section conditions according to preset rules;

[0011] Comparing the lateral distance, the longitudinal distance, the relative vehicle speed, and the pre-collision time with the preset automatic lane change parameter to obtain a first comparison result;

[0012] When the first comparison result indicates that the vehicle to be tested meets the first lane change condition, the lane image information is compared with the preset lane change section condition to obtain a second comparison result;

[0013] An automatic lane change test is performed on the vehicle to be tested according to the second comparison result.

[0014] In one embodiment, the step of performing an automatic lane change test on the vehicle to be tested according to the second comparison result includes:

[0015] When the second comparison result is that the lane image information meets the preset lane change section condition, it is determined that the vehicle to be tested meets the second lane change condition, and the vehicle to be tested is allowed to perform an automatic lane change test.

[0016] In one embodiment, when the second comparison result is that the lane image information meets the preset lane change section condition, after determining that the vehicle to be tested meets the second lane change condition and allowing the vehicle to be tested to perform an automatic lane change test, the method further includes:

[0017] Acquiring automatic lane change status information of the vehicle to be tested;

[0018] Determining whether the tested vehicle has successfully changed lanes according to the automatic lane change status information, and counting lane change success data and lane change failure data of the tested vehicle;

[0019] The lane change success rate of the vehicle to be tested is calculated according to the lane change success data and the lane change failure data.

[0020] In one embodiment, after performing the automatic lane change test on the vehicle to be tested based on the lane image information, the lateral distance, the longitudinal distance, and the pre-collision time using a preset rule, the method further includes:

[0021] Determining whether the vehicle to be tested meets the commuting efficiency boundary;

[0022] When the vehicle to be tested meets the commuting efficiency boundary, counting commuting success data of the vehicle to be tested;

[0023] When the vehicle to be tested does not meet the commuting efficiency boundary, counting commuting failure data of the vehicle to be tested;

[0024] The commuting efficiency of the vehicle to be tested is calculated according to the commuting success data and the commuting failure data.

[0025] In one embodiment, the step of obtaining the lateral distance, longitudinal distance, relative speed and pre-collision time between the vehicle to be tested and the target vehicle based on the vehicle image information comprises:

[0026] Processing the vehicle image information to obtain the lateral distance, longitudinal distance and relative speed between the vehicle to be tested and the target vehicle;

[0027] The pre-collision time between the vehicle to be tested and the target vehicle is calculated according to the longitudinal distance and the relative vehicle speed.

[0028] In one embodiment, the step of obtaining the lateral distance, longitudinal distance and relative speed between the vehicle to be tested and the target vehicle by processing the vehicle image information comprises:

[0029] Processing the vehicle image information to obtain a depth map;

[0030] The depth image is processed in succession frames to obtain the lateral distance, longitudinal distance and relative vehicle speed between the vehicle to be tested and the target vehicle.

[0031] In addition, to achieve the above-mentioned purpose, the present application also proposes an automatic lane change test device, the device comprising:

[0032] An image acquisition module, used to acquire lane image information and vehicle image information around the vehicle to be tested through multiple cameras;

[0033] An information processing module, used for obtaining the lateral distance, longitudinal distance, relative vehicle speed and pre-collision time between the vehicle to be tested and the target vehicle based on the vehicle image information;

[0034] The automatic test module is used to perform an automatic lane change test on the vehicle to be tested using preset rules based on the lane image information, the lateral distance, the longitudinal distance, the relative vehicle speed and the pre-collision time.

[0035] In addition, to achieve the above-mentioned purpose, the present application also proposes an automatic lane change test device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, and the computer program is configured to implement the steps of the automatic lane change test method described above.

[0036] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by the processor, the steps of the automatic lane change test method described above are implemented.

[0037] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the steps of the automatic lane change test method described above are implemented.

[0038] The present application provides an automatic lane change test method, which uses multiple cameras to obtain lane image information and vehicle image information around the vehicle to be tested; based on the vehicle image information, the lateral distance, longitudinal distance, relative speed and pre-collision time between the vehicle to be tested and the target vehicle are obtained; based on the lane image information, the lateral distance, the longitudinal distance, the relative speed and the pre-collision time, the vehicle to be tested is automatically tested for lane change using preset rules. In summary, the present application processes the image information collected by multiple cameras in real time, and performs a vehicle automatic lane change performance test based on the processed data, thereby solving the problem of low efficiency in the automatic lane change performance test and improving the efficiency and accuracy of the automatic lane change performance test. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0040] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0041] Figure 1 A flowchart diagram of the first embodiment of the automatic lane change test method of the present application;

[0042] Figure 2 This is a schematic diagram of the connection between the automatic lane change test equipment and other equipment for this application;

[0043] Figure 3 A flowchart diagram of the second embodiment of the automatic lane change test method of the present application;

[0044] Figure 4 A flowchart diagram of a third embodiment of the automatic lane change test method of the present application;

[0045] Figure 5 This is a schematic diagram of the module structure of the automatic lane change test device according to an embodiment of the present application;

[0046] Figure 6 Schematic diagram of the device structure of the hardware operating environment involved in the automatic lane change test method in the embodiment of the present application.

[0047] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0048] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0049] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0050] The main solution of the embodiment of the present application is: obtaining lane image information and vehicle image information around the vehicle to be tested through multiple cameras; obtaining the lateral distance, longitudinal distance, relative speed and pre-collision time between the vehicle to be tested and the target vehicle based on the vehicle image information; and performing an automatic lane change test on the vehicle to be tested using preset rules based on the lane image information, the lateral distance, the longitudinal distance, the relative speed and the pre-collision time.

[0051] The automatic lane change assist function is a technical means to achieve autonomous lane change of vehicles based on camera visual recognition and on-board side radar detection technology. However, when actually testing ALC-related performance, statistical success rate, commuting efficiency and other important indicators on public roads, it is impossible to accurately carry out ALC public road tests from the parameter design level based on actual road conditions due to the inability to obtain the true value parameters of public road lane lines, social vehicle speeds, lateral / longitudinal distances and other related ALC judgment conditions in real time. At present, ALC public road tests usually rely on manual subjective evaluation or multi-vehicle scenario simulation performance tests based on inertial navigation systems. This type of test method has a single test scenario, low test efficiency, insufficient verification, and the subjective evaluation of objective indicators is inherently less accurate. Therefore, how to improve the efficiency of automatic lane change testing is a problem that needs to be solved urgently.

[0052] The present application solves the problem of low efficiency of automatic lane change performance testing by processing image information collected by multiple cameras in real time and performing a vehicle automatic lane change performance test based on the processed data, thereby improving the efficiency and accuracy of the automatic lane change performance test.

[0053] It should be noted that the execution subject of this embodiment can be an automatic lane change test system, or a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above-mentioned automatic lane change test function, etc., and this embodiment does not specifically limit this. The following takes the automatic lane change test system as an example to illustrate this embodiment and the following embodiments.

[0054] Based on this, the embodiment of the present application provides an automatic lane change test method, referring to Figure 1 and Figure 2 , Figure 1 This is a flow chart of the first embodiment of the automatic lane change test method of the present application. Figure 2 This is a schematic diagram of the connection between the automatic lane change test equipment and other equipment in this application.

[0055] In this embodiment, the automatic lane change test method includes steps S10 to S30:

[0056] Step S10: Acquire lane image information and vehicle image information around the vehicle to be tested through multiple cameras.

[0057] It should be noted that the camera in this embodiment is a binocular camera, which can provide more accurate three-dimensional spatial information by simulating human vision. Compared with a monocular camera, it has more advantages in distance measurement and object recognition. Figure 2 During the specific execution process, the automatic lane change test system is connected to the binocular cameras (at least two in a group) installed in front and behind the vehicle to be tested, and is also connected to the CAN bus of the vehicle to be tested. The automatic lane change test system can obtain image information through the binocular cameras and perform comparison processing.

[0058] In addition, it should be noted that the relative speed refers to the speed difference between the test vehicle and the target vehicle in the same driving direction. The pre-collision time is a measure of the time required for the test vehicle and the target vehicle to collide while maintaining the current relative speed and distance. The lane image information includes at least one of the lane line type, lane edge type, and lane line width. The vehicle image information refers to the vehicle image information around the test vehicle.

[0059] Step S20: obtaining the lateral distance, longitudinal distance, relative vehicle speed and pre-collision time between the vehicle to be tested and the target vehicle based on the vehicle image information.

[0060] It should be noted that the vehicle to be tested refers to the vehicle undergoing the automatic lane change test, and the target vehicle refers to the vehicles around the vehicle to be tested. In this step, the vehicle image information captured in step S10 is analyzed by an image processing algorithm to obtain data such as the lateral distance, longitudinal distance, relative speed, and pre-collision time (TTC) between the vehicle to be tested and the target vehicle (such as the vehicle in front, the vehicle coming from the side or rear, etc.).

[0061] In a feasible implementation manner, step S20 specifically includes:

[0062] Step S201: Processing the vehicle image information to obtain the lateral distance, longitudinal distance and relative speed between the vehicle to be tested and the target vehicle;

[0063] It should be noted that in this step, the system will first pre-process the image information collected by the camera. The pre-processing process generally includes noise reduction, enhancement, filtering, etc., to improve the accuracy of subsequent image processing. Then the system will obtain the lateral distance, longitudinal distance and relative speed between the test vehicle and the target vehicle through methods such as feature extraction, parallax calculation, and depth of field calculation.

[0064] In a feasible implementation manner, step S201 specifically includes:

[0065] Step A10: Processing the vehicle image information to obtain a depth map;

[0066] It should be noted that during the execution of this step, the binocular camera first synchronously collects the image information of the front and rear of the vehicle to be tested. Subsequently, the collected images are stereo matched through the image processing algorithm to generate a depth map containing depth information. Each pixel on the depth map corresponds to a point in the actual scene, and carries the distance information of the point relative to the camera, that is, the depth information. For example: when the vehicle to be tested is driving on the road, the binocular camera collects images of the road in front and behind in real time. The system will perform correction, stereo matching and other processing on the collected images, and finally generate a depth map, which contains the depth information of each point on the road.

[0067] In addition, it should be noted that the depth map is a two-dimensional image, but each pixel carries depth information, so it can reflect the actual three-dimensional space. This depth information is crucial for the subsequent calculation of the distance and relative speed between vehicles.

[0068] Step A20: performing continuous frame processing on the depth image to obtain the lateral distance, longitudinal distance and relative vehicle speed between the vehicle to be tested and the target vehicle;

[0069] It should be noted that the system will perform continuous frame processing on the depth map generated in step A10. By comparing the position changes of the same target vehicle in continuous frames and combining known camera parameters (such as focal length, viewing angle, etc.), the position changes of the target vehicle in the real world can be calculated, and then the lateral distance and longitudinal distance between the vehicle to be tested and the target vehicle can be obtained. At the same time, combined with the timestamp information, the relative speed of the target vehicle can be further calculated. For example: suppose that in two consecutive frames of depth map, the position of the same target vehicle has changed significantly. By comparing the position of the target vehicle in the two frames of images and combining the known camera parameters, the system can calculate the position change of the target vehicle in the real world. Combined with the timestamp information of the two frames of images, the relative speed of the target vehicle can be calculated. Similarly, the system can also calculate the lateral distance and longitudinal distance between the vehicle to be tested and the target vehicle.

[0070] In addition, it should be noted that continuous frame processing is a technical means in image processing. By comparing and analyzing continuous multiple frames of images, it can extract the motion information of the target in the image, such as position, speed, etc.

[0071] Step S202: Calculating the pre-collision time between the vehicle to be tested and the target vehicle according to the longitudinal distance and the relative vehicle speed.

[0072] It should be noted that in the specific implementation process, it is assumed that the vehicle to be tested is traveling at a speed of 50km / h, and there is a target vehicle in front of it traveling at a speed of 30km / h. The longitudinal distance between the two vehicles is 100 meters. The relative speed is 20km / h (i.e. 50km / h-30km / h), which is converted to meters per second as 5.56m / s. The pre-collision time is the longitudinal distance divided by the relative speed, and the pre-collision time is 18s. That is, if the two vehicles maintain their current speed and distance, a collision is expected to occur in 18 seconds.

[0073] In this embodiment, the distance between vehicles, relative vehicle speed and pre-collision time are calculated through the depth map and continuous frame processing data, which provides important data support for the subsequent ALC performance evaluation.

[0074] The above are only feasible implementations of step S20 provided in this embodiment, and this embodiment does not specifically limit the specific implementation of step S20.

[0075] Step S30: performing an automatic lane change test on the vehicle to be tested using a preset rule based on the lane image information, the lateral distance, the longitudinal distance, the relative vehicle speed, and the pre-collision time.

[0076] It should be noted that the preset rules are conditional parameters pre-set in the system for determining whether the vehicle is allowed to change lanes automatically. Specifically, after obtaining the lane image information and the lateral distance between the vehicles, the relative speed and the pre-collision time, the system determines whether automatic lane change is possible based on the preset automatic lane change rules, combined with the current lane conditions and the driving status of the vehicle to be tested. If the conditions for automatic lane change are met, the vehicle is controlled to perform an automatic lane change operation; if the conditions are not met, a corresponding prompt is given or the lane change operation is canceled. For example, the system determines through the lane line type that the current vehicle is in a section where lane change is allowed, the vehicle ahead is slow and far away, and other preset lane change conditions are met, then the vehicle is controlled to perform an automatic lane change operation, and the relevant data during the lane change process is recorded to verify the accuracy and reliability of the automatic lane change function.

[0077] This embodiment provides an automatic lane change test method, which uses multiple cameras to obtain lane image information and vehicle image information around the vehicle to be tested; based on the vehicle image information, the lateral distance, longitudinal distance, relative speed and pre-collision time between the vehicle to be tested and the target vehicle are obtained; based on the lane image information, the lateral distance, the longitudinal distance, the relative speed and the pre-collision time, the vehicle to be tested is automatically tested for lane change using preset rules. In summary, this application solves the problem of low efficiency of automatic lane change performance testing by processing image information collected by multiple cameras in real time, and performing a vehicle automatic lane change performance test based on the processed data, thereby improving the efficiency and accuracy of the automatic lane change performance test.

[0078] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can refer to the above introduction, and will not be repeated later. Figure 3 , Figure 3 This is a flow chart of the second embodiment of the automatic lane change test method of the present application, wherein step S30 further includes:

[0079] Step S301: Obtain preset automatic lane change parameters and preset lane change section conditions according to preset rules.

[0080] It should be noted that the preset rules refer to the conditions pre-set in the system for determining whether the vehicle can perform the automatic lane change test, including automatic lane change parameters and preset lane change section conditions. In this step, there are pre-set automatic lane change parameters in the system, which include but are not limited to the lateral distance, longitudinal distance, pre-collision time threshold and the relative speed range between the vehicle to be tested and the target vehicle. At the same time, there are also preset lane change section conditions, such as whether it is in the area, road section, speed range, lane line type, etc. where lane change is allowed. These preset parameters and conditions provide a clear basis for determination for the automatic lane change test. For example, when testing the automatic lane change function, the preset automatic lane change parameters can be set to the lateral boundary distance Y greater than 2 meters, the longitudinal boundary distance X greater than 50 meters, the TTC (pre-collision time) S greater than 2 seconds, and the relative speed difference ΔV between the vehicle to be tested and the target vehicle within the range of ±10km / h. The preset lane change section conditions include whether the vehicle is currently in the middle lane of the highway, whether the lane line type in the lane change direction is a dotted line, and the speed is between 80-120km / h.

[0081] Step S302: Compare the lateral distance, the longitudinal distance, the relative vehicle speed, and the pre-collision time with the preset automatic lane change parameters to obtain a first comparison result.

[0082] It should be noted that the first comparison result refers to the comparison result with the automatic lane change parameters preset in the system (i.e., the first lane change condition). In addition, it should be noted that in this step, the system calculates the lateral distance, longitudinal distance, relative speed, and pre-collision time between the vehicle to be tested and the front and rear vehicles in the target lane in real time, and compares these real-time data with the preset automatic lane change parameters. If all data meet the requirements of the preset parameters, the first comparison result is that the vehicle to be tested meets the first lane change condition; otherwise, the first lane change condition is not met.

[0083] Step S303: When the first comparison result indicates that the vehicle to be tested meets the first lane change condition, the lane image information is compared with the preset lane change section condition to obtain a second comparison result.

[0084] It should be noted that in this step, when the first comparison result satisfies the first lane change condition, the system compares the lane image information (such as lane line type, virtual and real state, etc.) with the preset lane change section condition. If the lane image information also satisfies the preset lane change section condition (i.e., the second lane change condition), the second comparison result is obtained. Otherwise, the second lane change condition is not met.

[0085] Step S304: performing an automatic lane change test on the vehicle to be tested according to the second comparison result.

[0086] It should be noted that the second comparison result refers to the comparison result between the lane image information and the preset lane change section condition in the system. Specifically, the lane image information is compared with the preset lane change section condition to obtain the second comparison result. If the second comparison result is that the second lane change condition is met, the system controls the vehicle to be tested to perform an automatic lane change operation; if it is not met, the system does not perform the automatic lane change operation, and can prompt the driver through sound or image that the lane change condition is not currently met.

[0087] In this embodiment, by continuously collecting and calculating key parameters such as lane image information, lateral distance, longitudinal distance, relative vehicle speed, and pre-collision time, and comparing them with preset automatic lane change parameters and road change section conditions in real time, efficient execution of the automatic lane change test and accuracy of the data are ensured.

[0088] Based on the first and second embodiments of the present application, in the third embodiment of the present application, the same or similar contents as those of the first and second embodiments can be referred to the above description, and will not be described in detail later. Figure 4 , Figure 4 This is a flowchart of the third embodiment of the automatic lane change test method of the present application. After step S30, the following steps are further included:

[0089] Step S40: Acquire the automatic lane change status information of the vehicle to be tested.

[0090] It should be noted that the automatic lane change status information is the data information obtained by the vehicle during the entire process of lane change. Specifically, the system will obtain the automatic lane change status information of the vehicle under test in real time through interfaces such as the CAN bus. This information includes but is not limited to: whether the vehicle has started the lane change, whether the vehicle has completed the lane change, whether an abnormality occurs during the lane change process, and whether the lane change has been completed.

[0091] Step S50: determining whether the tested vehicle has successfully changed lanes according to the automatic lane change status information, and collecting statistics on lane change success data and lane change failure data of the tested vehicle.

[0092] It should be noted that in this step, the system will determine whether the tested vehicle has successfully changed lanes based on the automatic lane change status information obtained in step S40. If the vehicle successfully completes the lane change and no abnormalities occur during the lane change process, the system will record the lane change as successful; otherwise, it will be recorded as a failure. In addition, it should be noted that the system will count the data of successful automatic lane changes and failed lane changes, which include detailed parameters such as the time, speed, distance, steering angle, etc. of each automatic lane change, as well as statistics on the number of successful and failed lane changes.

[0093] It is understandable that during the conventional automatic lane change test, the data on successful and failed automatic lane changes are not collected and analyzed and processed. Therefore, the purpose of this step is to enable the system to analyze the performance of subsequent vehicle lane changes and optimize the automatic lane change algorithm by collecting statistics on the success and failure data of the automatic lane change test.

[0094] Step S60: Calculating the lane change success rate of the vehicle to be tested according to the lane change success data and the lane change failure data.

[0095] It should be noted that the system will calculate the lane change success rate of the tested vehicle based on the lane change success data and lane change failure data collected in step S50. This success rate reflects the stability and reliability of the vehicle's automatic lane change function and is an important indicator for evaluating the automatic lane change performance. For example, when calculating the success rate, the success rate = number of successes / (number of successes + number of failures) × 100%. At the same time, other parameters can also be combined for comprehensive analysis, such as considering the success rate at different speeds and different road conditions.

[0096] In a feasible implementation manner, after step S60, the method further includes:

[0097] Step B10: determining whether the vehicle to be tested meets the commuting efficiency boundary;

[0098] It should be noted that the commuting efficiency boundary refers to the commuting time calculated in real time during driving of the vehicle to be tested and obtained by the CAN module. Specifically, the calculation of the general commuting time takes into account different factors, such as the waiting time for traffic lights, the driving route and the road congestion, etc., which are not limited in this embodiment.

[0099] Step B20: when the vehicle to be tested meets the commuting efficiency boundary, counting the commuting success data of the vehicle to be tested;

[0100] It should be noted that the commuting success data refers to the number of times the commuting efficiency is successfully improved after changing lanes. In this step, the system will compare the commuting time of the vehicle under test after changing lanes with the commuting efficiency boundary. If the commuting time after changing lanes is less than the commuting efficiency boundary, the system will determine that the automatic lane change has successfully improved the commuting efficiency and record the commuting success data.

[0101] Step B30: when the vehicle to be tested does not meet the commuting efficiency boundary, counting commuting failure data of the vehicle to be tested;

[0102] It should be noted that the commuting failure data refers to the number of times the commuting efficiency is not improved after changing lanes. In this step, the system will compare the commuting time of the vehicle under test after changing lanes with the commuting efficiency boundary. If the commuting time after changing lanes is greater than or equal to the commuting efficiency boundary, the system will determine that the automatic lane change has failed to improve the commuting efficiency and record the commuting failure data.

[0103] Step B40: Calculating the commuting efficiency of the vehicle to be tested according to the commuting success data and the commuting failure data.

[0104] It should be noted that in this step, the system will calculate the probability of successfully improving the commuting efficiency after the automatic lane change of the tested vehicle based on the number of successful commuting and the number of failed commuting. The calculation method of commuting efficiency is based on the actual data currently collected. For example, the ratio of the number of successful lane changes to the total number of tests is used as an evaluation indicator of commuting efficiency. Assume that after 100 consecutive tests, the tested vehicle successfully changed lanes 79 times and failed 21 times, then its commuting efficiency is 79%.

[0105] In this embodiment, by real-time collection of commuting data before and after automatic lane changing and combining it with the setting of commuting efficiency boundaries, automatic calculation of the commuting efficiency after the vehicle changes lanes is achieved, and the commuting efficiency of automatic lane changing tests under different road conditions is statistically analyzed, thereby improving the statistical efficiency and accuracy of commuting efficiency.

[0106] In this embodiment, by acquiring the data of successful and failed lane changes of the vehicle in the automatic lane change test in real time and calculating the lane change success rate of the vehicle based on these data, the process of manual data collection is reduced, the efficiency of automatic lane change performance analysis is improved, and a data analysis basis is provided for subsequent optimization of algorithms and performance improvement.

[0107] This application also provides an automatic lane change test device, please refer to Figure 5 , the automatic lane change testing device comprises:

[0108] An image acquisition module 10 is used to acquire lane image information and vehicle image information around the vehicle to be tested through multiple cameras;

[0109] An information processing module 20 is used to obtain a lateral distance, a longitudinal distance, a relative vehicle speed and a pre-collision time between the vehicle to be tested and the target vehicle based on the vehicle image information;

[0110] The automatic test module 30 is used to perform an automatic lane change test on the vehicle to be tested using preset rules based on the lane image information, the lateral distance, the longitudinal distance, the relative vehicle speed and the pre-collision time.

[0111] The automatic lane change test device provided by the present application adopts the automatic lane change test method in the above embodiment, which can solve the technical problem of how to improve the efficiency of the automatic lane change test. Compared with the prior art, the beneficial effects of the automatic lane change test device provided by the present application are the same as the beneficial effects of the automatic lane change test method provided by the above embodiment, and the other technical features in the automatic lane change test device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0112] The present application provides an automatic lane change test device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the automatic lane change test method in the above-mentioned embodiment one.

[0113] Reference below Figure 6 , which shows a schematic diagram of the structure of an automatic lane-changing test device suitable for implementing the embodiment of the present application. The automatic lane-changing test device in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 6 The automatic lane change test device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0114] like Figure 6As shown, the automatic lane change test device may include a processing device 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the automatic lane change test device are also stored. The processing device 1001, ROM1002, and RAM1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the automatic lane change test device to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows an automatic lane change test device with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or have alternatively.

[0115] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code 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 device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0116] The automatic lane change test device provided by the present application adopts the automatic lane change test method in the above embodiment, which can solve the technical problem of how to improve the efficiency of the automatic lane change test. Compared with the prior art, the beneficial effects of the automatic lane change test device provided by the present application are the same as the beneficial effects of the automatic lane change test method provided by the above embodiment, and the other technical features in the automatic lane change test device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0117] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0118] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0119] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the automatic lane change test method in the above-mentioned embodiment.

[0120] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may 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 or 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 this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0121] The computer-readable storage medium may be included in the automatic lane-changing test device; or may exist independently without being assembled into the automatic lane-changing test device.

[0122] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the automatic lane change test device, the automatic lane change test device: obtains lane image information and vehicle image information around the vehicle to be tested through multiple cameras; obtains the lateral distance, longitudinal distance, relative vehicle speed and pre-collision time between the vehicle to be tested and the target vehicle based on the vehicle image information; and performs an automatic lane change test on the vehicle to be tested using preset rules based on the lane image information, the lateral distance, the longitudinal distance, the relative vehicle speed and the pre-collision time.

[0123] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0124] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the 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 square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square 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 square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart 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.

[0125] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0126] The readable storage medium provided in the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned automatic lane change test method, and can solve the technical problem of how to improve the efficiency of the automatic lane change test. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in the present application are the same as the beneficial effects of the automatic lane change test method provided in the above-mentioned embodiment, and will not be elaborated here.

[0127] The present application also provides a computer program product, including a computer program, which implements the steps of the automatic lane change test method as described above when executed by a processor.

[0128] The computer program product provided by the present application can solve the technical problem of how to improve the efficiency of the automatic lane change test. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as the beneficial effects of the automatic lane change test method provided by the above embodiment, which will not be repeated here.

[0129] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. An automatic lane change test method, characterized in that: The automatic lane change test method comprises: Acquire lane image information and vehicle image information around the vehicle to be tested through multiple cameras; Based on the vehicle image information, the lateral distance, longitudinal distance, relative speed and pre-collision time between the vehicle to be tested and the target vehicle are obtained; Performing an automatic lane change test on the vehicle to be tested using a preset rule based on the lane image information, the lateral distance, the longitudinal distance, the relative vehicle speed, and the pre-collision time; Determining whether the vehicle to be tested meets the commuting efficiency boundary; When the vehicle to be tested meets the commuting efficiency boundary, counting commuting success data of the vehicle to be tested; When the vehicle to be tested does not meet the commuting efficiency boundary, counting commuting failure data of the vehicle to be tested; The commuting efficiency of the vehicle to be tested is calculated according to the commuting success data and the commuting failure data.

2. The method according to claim 1, characterized in that The step of performing an automatic lane change test on the vehicle to be tested using a preset rule based on the lane image information, the lateral distance, the longitudinal distance, the relative vehicle speed, and the pre-collision time comprises: Obtaining preset automatic lane change parameters and preset lane change section conditions according to preset rules; Comparing the lateral distance, the longitudinal distance, the relative vehicle speed, and the pre-collision time with the preset automatic lane change parameter to obtain a first comparison result; When the first comparison result indicates that the vehicle to be tested meets the first lane change condition, the lane image information is compared with the preset lane change section condition to obtain a second comparison result; An automatic lane change test is performed on the vehicle to be tested according to the second comparison result.

3. The method according to claim 2, characterized in that The step of performing an automatic lane change test on the vehicle to be tested according to the second comparison result comprises: When the second comparison result is that the lane image information meets the preset lane change section condition, it is determined that the vehicle to be tested meets the second lane change condition, and the vehicle to be tested is allowed to perform an automatic lane change test.

4. The method according to claim 3, characterized in that When the second comparison result is that the lane image information meets the preset lane change section condition, after determining that the vehicle to be tested meets the second lane change condition and allowing the vehicle to be tested to perform an automatic lane change test, the method further includes: Acquiring automatic lane change status information of the vehicle to be tested; Determining whether the tested vehicle has successfully changed lanes according to the automatic lane change status information, and counting lane change success data and lane change failure data of the tested vehicle; The lane change success rate of the vehicle to be tested is calculated according to the lane change success data and the lane change failure data.

5. The method according to claim 1, characterized in that The step of obtaining the lateral distance, longitudinal distance, relative vehicle speed and pre-collision time between the vehicle to be tested and the target vehicle based on the vehicle image information comprises: Processing the vehicle image information to obtain the lateral distance, longitudinal distance and relative speed between the vehicle to be tested and the target vehicle; The pre-collision time between the vehicle to be tested and the target vehicle is calculated according to the longitudinal distance and the relative vehicle speed.

6. The method according to claim 5, characterized in that The step of processing the vehicle image information to obtain the lateral distance, longitudinal distance and relative speed between the vehicle to be tested and the target vehicle comprises: Processing the vehicle image information to obtain a depth map; The depth image is processed in succession frames to obtain the lateral distance, longitudinal distance and relative vehicle speed between the vehicle to be tested and the target vehicle.

7. An automatic lane change test device, characterized in that: The device comprises: An image acquisition module, used to acquire lane image information and vehicle image information around the vehicle to be tested through multiple cameras; An information processing module, used for obtaining the lateral distance, longitudinal distance, relative vehicle speed and pre-collision time between the vehicle to be tested and the target vehicle based on the vehicle image information; An automatic testing module is used to perform an automatic lane change test on the vehicle to be tested using preset rules based on the lane image information, the lateral distance, the longitudinal distance, the relative vehicle speed and the pre-collision time; determine whether the vehicle to be tested meets the commuting efficiency boundary; when the vehicle to be tested meets the commuting efficiency boundary, count the commuting success data of the vehicle to be tested; when the vehicle to be tested does not meet the commuting efficiency boundary, count the commuting failure data of the vehicle to be tested; and calculate the commuting efficiency of the vehicle to be tested based on the commuting success data and the commuting failure data.

8. An automatic lane change test device, characterized in that: The device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the automatic lane change test method according to any one of claims 1 to 6.

9. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the automatic lane change test method as described in any one of claims 1 to 6 are implemented.

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