Vehicle data processing methods, systems, storage media, and vehicles

Abstract

This invention discloses a method, system, storage medium, and vehicle for processing vehicle data. The method relates to the field of vehicle testing and includes: responding to a received test command, controlling the movement of a test vehicle and a target vehicle according to the test conditions specified in the test command; acquiring sensor data collected by the sensors of the test vehicle, as well as ground truth data collected by multiple ground truth acquisition devices; comparing and analyzing the sensor data and ground truth data to determine the first test result of the test vehicle's sensors. This invention solves the technical problem of low accuracy in acquiring effective vehicle data in related technologies.

Description

Technical Field

[0001] This invention relates to the field of vehicle testing, and more specifically, to a method, system, storage medium, and vehicle for processing vehicle data. Background Technology

[0002] In the real-world driving phase, intelligent driving applications typically involve complex scenarios. Without substantial data support, it's difficult to troubleshoot problems, conduct subsequent analysis and optimization, and determine liability in accidents during the testing, verification, and market application phases of intelligent driving systems. In the field of vehicle big data technology, manufacturers, suppliers, and development and testing personnel are all actively seeking ways to collect various data during the intelligent driving process.

[0003] Currently, the mainstream technologies mainly involve deploying a series of sensors on vehicles, such as millimeter-wave radar, Inertial Measurement Units (IMUs, or inertial navigation systems), and lidar, to achieve high-precision positioning of the vehicle and its surrounding environment. However, as the number of sensors on a vehicle increases, the amount of data also increases. When processing vehicle data, the data collected by the sensors may contain a large amount of invalid and redundant data, which leads to low accuracy in obtaining valid vehicle data.

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

[0005] This invention provides a method, system, storage medium, and vehicle for processing vehicle data, in order to at least solve the technical problem of low accuracy in obtaining valid vehicle data in related technologies.

[0006] According to one aspect of the present invention, a method for processing vehicle data is provided, applied to a host computer, comprising: responding to receiving a test instruction, controlling a test vehicle and a target vehicle to drive according to the test conditions carried in the test instruction; acquiring sensor data collected by sensors of the test vehicle and truth data collected by multiple truth acquisition devices, wherein the sensor data is used to characterize the driving data of the test vehicle and the driving data of the target vehicle, and the truth data is used to characterize the true driving data of the test vehicle and the true driving data of the target vehicle; comparing and analyzing the sensor data and the truth data to determine a first test result of the sensor of the test vehicle, wherein the first test result is used to characterize whether the sensing accuracy of the sensor of the test vehicle meets a preset condition.

[0007] Optionally, acquiring truth data collected by multiple truth acquisition devices includes: acquiring true driving data of the test vehicle by acquiring data from a first truth acquisition device among the multiple truth acquisition devices, wherein the first truth acquisition device is installed on the test vehicle; and acquiring true driving data of the target vehicle by acquiring data from a second truth acquisition device among the multiple truth acquisition devices, wherein the second truth acquisition device is installed on the target vehicle.

[0008] Optionally, the sensor data and the true data are compared and analyzed to determine the first test result of the sensor of the test vehicle, including: determining the relative data between the test vehicle and the target vehicle based on the sensor data; determining the true relative data between the test vehicle and the target vehicle based on the true data; and comparing and analyzing the relative data with the true relative data to determine the first test result.

[0009] Optionally, a comparative analysis is performed on the relative data and the true relative data to determine the first test result, including: determining whether the relative data and the true relative data are successfully matched; in response to the successful match between the relative data and the true relative data, determining that the first test result characterizes the sensing accuracy as meeting the preset conditions; in response to the failure to match between the relative data and the true relative data, determining that the first test result characterizes the sensing accuracy as not meeting the preset conditions.

[0010] Optionally, after acquiring the sensor data collected by the sensors of the test vehicle and the truth data collected by the truth acquisition device, the method further includes: synchronizing the sensor data and the truth data in time to obtain synchronized sensor data and synchronized truth data; and comparing and analyzing the synchronized sensor data and the synchronized truth data to determine the first test result.

[0011] Optionally, if the first test result characterizes the sensing accuracy to meet preset conditions, the method further includes: determining the collision time between the test vehicle and the target vehicle based on sensor data; acquiring the current driving data of the test vehicle when the collision time reaches a time threshold; and determining whether the test vehicle should execute an acceleration / deceleration request based on the current driving data.

[0012] Optionally, based on sensor data, the collision time between the test vehicle and the target vehicle is determined, including: obtaining the lateral distance between the test vehicle and the target vehicle, the first speed of the test vehicle, and the second speed of the target vehicle from the sensor data; and determining the collision time based on the lateral distance, the first speed, and the second speed.

[0013] According to another aspect of the present invention, a vehicle data processing system is also provided, comprising: a test vehicle equipped with sensors for collecting sensor data of the test vehicle, wherein the sensor data is used to characterize the driving data of the test vehicle and the driving data of a target vehicle; a plurality of truth acquisition devices connected to the test vehicle and the target vehicle respectively, for collecting truth data, wherein the truth data is used to characterize the truth driving data of the test vehicle and the truth driving data of the target vehicle; and a host computer connected to the test vehicle, the target vehicle, and the plurality of truth acquisition devices, for responding to receiving a test command, controlling the driving of the test vehicle and the target vehicle according to the test conditions carried in the test command, and comparing and analyzing the sensor data and the truth data to determine a first test result of the sensor of the test vehicle, wherein the first test result is used to characterize whether the sensing accuracy of the sensor of the test vehicle meets a preset condition.

[0014] Optionally, the plurality of truth acquisition devices include: a first truth acquisition device, installed on the test vehicle, used to acquire data from the test vehicle to obtain the true driving data of the test vehicle; and a second truth acquisition device, installed on the target vehicle, used to acquire data from the target vehicle to obtain the true driving data of the target vehicle.

[0015] Optionally, the test vehicle further includes: a first wireless communication module connected to the sensor, the first truth acquisition device, and the host computer, for uploading the test vehicle's driving data and truth driving data to the host computer; the target vehicle further includes: a second wireless communication module connected to the second truth acquisition device and the host computer, for uploading the target vehicle's driving data and truth driving data to the host computer.

[0016] According to another aspect of the present invention, a vehicle is also provided, including: a vehicle data processing system according to various embodiments of the present invention.

[0017] According to another aspect of the present invention, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored executable program, wherein, when the executable program is executed, it controls the device where the computer-readable storage medium is located to perform the methods of various embodiments of the present invention.

[0018] According to another aspect of the present invention, a computer program product is also provided, including a computer program that, when executed by a processor, implements the methods of various embodiments of the present invention.

[0019] According to another aspect of the present invention, a computer program product is also provided, including a non-volatile computer-readable storage medium storing a computer program that, when executed by a processor, implements the methods of various embodiments of the present invention.

[0020] According to another aspect of the present invention, a computer program is also provided, which, when executed by a processor, implements the methods of the various embodiments of the present invention.

[0021] In this embodiment of the invention, in response to receiving a test command, the test vehicle and the target vehicle are controlled to drive according to the test conditions carried in the test command; sensor data collected by the sensors of the test vehicle and truth data collected by multiple truth acquisition devices are acquired, wherein the sensor data is used to characterize the driving data of the test vehicle and the driving data of the target vehicle, and the truth data is used to characterize the true driving data of the test vehicle and the true driving data of the target vehicle; the sensor data and the truth data are compared and analyzed to determine the first test result of the sensor of the test vehicle, wherein the first test result is used to characterize whether the sensing accuracy of the sensor of the test vehicle meets the preset conditions. It is easy to note that by comparing the sensor data with the truth data, the accuracy of the sensor of the vehicle that meets the preset conditions can be determined. Furthermore, by using a sensor that meets the preset conditions, the effective data of the vehicle can be accurately acquired, avoiding the acquisition of invalid data of the vehicle, thus achieving the goal of accurately acquiring effective data, thereby realizing the technical effect of accurately acquiring effective data of the vehicle, and solving the technical problem of low accuracy in acquiring effective vehicle data in related technologies. Attached Figure Description

[0022] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0023] Figure 1 This is a flowchart of a vehicle data processing method according to an embodiment of the present invention;

[0024] Figure 2 This is a schematic diagram of an optional vehicle data processing system according to an embodiment of the present invention;

[0025] Figure 3 This is a flowchart of an optional vehicle data processing method according to an embodiment of the present invention;

[0026] Figure 4 This is a schematic diagram of a vehicle data processing system according to an embodiment of the present invention. Detailed Implementation

[0027] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0028] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0029] Example 1

[0030] According to an embodiment of the present invention, a method for processing vehicle data is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0031] Figure 1 This is a flowchart of a vehicle data processing method according to an embodiment of the present invention, such as... Figure 1 As shown, this method is applied to a host computer and includes the following steps:

[0032] Step S102: In response to receiving the test instruction, control the test vehicle and the target vehicle to drive according to the test conditions carried in the test instruction.

[0033] The aforementioned test commands can be commands issued by the user to the host computer via the vehicle's communication module to control the movement of the test vehicle and the target vehicle. These test commands can be commands issued to the host computer by the terminal after the user speaks, after the terminal recognizes the speech, or commands issued to the host computer by the terminal after the user inputs text, but are not limited to these. It should be noted that the terminal can include, but is not limited to, personal computers, mobile phones, and personal tablets.

[0034] The aforementioned test conditions are used to test the sensor accuracy of the test vehicle under different operating conditions to ensure that the sensor accuracy meets the preset accuracy. These test conditions may include, but are not limited to: static testing, constant speed straight-line driving testing, acceleration and deceleration testing, curved road driving testing, testing under different road conditions, testing under different weather conditions, testing under different loads, long-term operation testing, temperature testing, and electromagnetic interference testing. Specifically, static testing involves testing sensor accuracy while the vehicle is stationary, which helps eliminate the influence of dynamic factors and ensures the accuracy of the test results. Constant speed straight-line driving testing involves testing sensor accuracy while the vehicle is traveling at a constant speed along a straight line; this condition helps evaluate the sensor's performance under stable driving conditions. Acceleration and deceleration testing involves testing sensor accuracy while the vehicle is accelerating and decelerating; this helps evaluate the sensor's response speed and accuracy under dynamically changing conditions. Curved road driving testing involves testing sensor accuracy while the vehicle is driving on a curved road; this helps evaluate the sensor's performance and stability during curved driving. Testing under different road conditions involves testing sensor accuracy on different types of road surfaces (such as asphalt, gravel, mud, etc.). This helps evaluate the sensor's adaptability and accuracy under different road conditions. The tests include: Different Weather Conditions Test: Sensor accuracy is tested under various weather conditions (e.g., sunny, rainy, snowy, foggy). This helps evaluate the sensor's performance and reliability under adverse weather conditions. Different Load Test: Sensor accuracy is tested under different vehicle loads. This helps evaluate the sensor's accuracy and stability under different load conditions. Long-Term Operation Test: Sensor accuracy is tested under conditions of prolonged operation. This helps evaluate the sensor's long-term stability and reliability. Temperature Test: Sensor accuracy is tested under different temperature conditions. This helps evaluate the sensor's performance in high or low temperature environments. Electromagnetic Interference Test: Sensor accuracy is tested under conditions of electromagnetic interference. This helps evaluate the sensor's anti-interference capability and performance in electromagnetic interference environments. Through these test conditions, the accuracy and performance of vehicle sensors can be comprehensively evaluated, ensuring their reliability and accuracy in practical applications.

[0035] The aforementioned test vehicle can be any vehicle whose sensor accuracy needs to be tested. The aforementioned target vehicle can be a pre-determined vehicle whose sensor accuracy meets a preset accuracy. The preset accuracy can be set by the user in advance, and the specific value is not limited in this embodiment. The user can set it according to actual needs.

[0036] It should be noted that this method is applied to the host computer, where... Figure 2 This is a schematic diagram of an optional vehicle data processing system according to an embodiment of the present invention, such as... Figure 2As shown, the system includes: a test vehicle 21, a target vehicle 22, a host computer system (hereinafter referred to as the host computer) 23, multiple wireless communication modules 24-1 and 24-2, multiple truth acquisition devices 25-1 and 25-2, and a data acquisition system 26, wherein the data acquisition system 26 includes a communication data acquisition module (not shown in the figure). Figure 2 As shown, test vehicle 21 is communicatively connected to wireless communication module 24-1, data acquisition system 26, and truth acquisition device 25-1. Target vehicle 22 is communicatively connected to wireless communication module 24-2 and truth acquisition device 25-2. Data acquisition system 26 is communicatively connected to test vehicle 21, wireless communication modules 24-1 and 24-2, host computer 23, truth acquisition devices 25-1 and 25-2, and external devices (not shown in the figure). The external devices can be the aforementioned terminals.

[0037] In one alternative embodiment, such as Figure 2 As shown, when the data acquisition system 26 receives a test command sent by the external device 27, for example, a test command stating "Test the sensor accuracy of the test vehicle under constant speed straight-line driving test conditions," the data acquisition system 26 can send the test command to the host computer 23 via a wireless network. After receiving the test command, the host computer 23 can control the test vehicle 21 and the target vehicle 22 to drive according to the test conditions based on the test command. It should be noted that the specific content of the above-mentioned test command is only an example, and the specific content of the test command is not limited to the content listed in this embodiment.

[0038] Step S104: Acquire sensor data collected by the sensors of the test vehicle and ground truth data collected by multiple ground truth acquisition devices. The sensor data is used to characterize the driving data of the test vehicle and the driving data of the target vehicle, and the ground truth data is used to characterize the ground truth driving data of the test vehicle and the ground truth driving data of the target vehicle.

[0039] The aforementioned sensor data includes driving data of the test vehicle and driving data of the target vehicle. The aforementioned ground truth data can be obtained through ground truth acquisition equipment, including ground truth driving data of the test vehicle and ground truth driving data of the target vehicle. Ground truth data typically refers to real-world data used in simulation testing in the field of autonomous driving to evaluate and verify the performance of autonomous driving systems. This data can include information such as the vehicle's position, speed, acceleration, direction, and distance from other vehicles or obstacles. The aforementioned driving data may include, but is not limited to, vehicle (test vehicle and target vehicle) speed, engine speed, fuel consumption, oil temperature, ambient temperature, voltage, pressure, acceleration, steering angle, driving distance, and environmental parameters.

[0040] In one optional embodiment, when the host computer controls the test vehicle and the target vehicle to drive according to the test conditions, such as... Figure 2 As shown, the data acquisition system 26 can acquire the real-time driving data of the test vehicle 21 collected by the sensors of the test vehicle 21 through the wireless communication module 24-1, and the real-time driving data of the target vehicle 22 collected by the sensors of the target vehicle 22 through the wireless communication module 24-2. At the same time, the data acquisition system 26 can also acquire the true driving data of the test vehicle 21 collected by the truth acquisition device 25-1, and the true driving data of the target vehicle 22 collected by the truth acquisition device 25-2.

[0041] It should be noted that before acquiring sensor data collected by the sensors of the test vehicle and ground truth data collected by multiple ground truth acquisition devices, it is necessary to ensure that the sensor accuracy of the test vehicle is normal and that the perception is accurate.

[0042] Step S106: Compare and analyze the sensor data with the true data to determine the first test result of the sensor of the test vehicle. The first test result is used to characterize whether the sensing accuracy of the sensor of the test vehicle meets the preset conditions.

[0043] The aforementioned preset conditions can be pre-set by the user to determine whether the sensing accuracy of the test vehicle's sensors meets the user's requirements. Specifically, if the first test result meets the preset conditions, it indicates that the sensing accuracy of the test vehicle's sensors meets the user's requirements; if the first test result does not meet the preset conditions, it indicates that the sensing accuracy of the test vehicle's sensors does not meet the user's requirements. The specific preset conditions can be set by the user according to actual needs. In this embodiment, it can be a preset sensor accuracy value, but it is not limited to this.

[0044] In one optional embodiment, given the acquisition of sensor data and ground truth data, a first test result for the test vehicle's sensors can be determined based on the sensor data and ground truth data. For example, relative data between the test vehicle's driving data and the target vehicle's driving data can be acquired. This can be achieved by calculating the relative data between the test vehicle's driving data and the target vehicle's driving data, or by inputting the test vehicle's driving data and the target vehicle's driving data into a pre-trained processing model to obtain the relative data, but is not limited to these methods.

[0045] Simultaneously, it can also acquire true relative data between the true driving data of the test vehicle and the true driving data of the target vehicle. Then, a first test result can be obtained based on the relative data and the true relative data. For example, if the relative data successfully matches the true relative data, the first test result can be determined as follows: the sensing accuracy of the test vehicle's sensor meets the preset conditions, that is, the sensing accuracy of the test vehicle's sensor meets the user's requirements. If the relative data fails to match the true relative data, the first test result can be determined as follows: the sensing accuracy of the test vehicle's sensor does not meet the preset conditions, that is, the sensing accuracy of the test vehicle's sensor does not meet the user's requirements. It should be noted that the method for acquiring the true relative data is the same as the method for acquiring relative data described above, and will not be repeated here.

[0046] It should be noted that the above-mentioned successful matching may include, but is not limited to: the relative data being equal to the true relative data, and the error range between the relative data and the true relative data being within a preset range. The preset range can be set by the user in advance; the specific range is not limited in this embodiment, and the user can set it according to actual testing needs.

[0047] In this embodiment of the invention, in response to receiving a test command, the test vehicle and the target vehicle are controlled to drive according to the test conditions carried in the test command; sensor data collected by the sensors of the test vehicle and truth data collected by multiple truth acquisition devices are acquired, wherein the sensor data is used to characterize the driving data of the test vehicle and the driving data of the target vehicle, and the truth data is used to characterize the true driving data of the test vehicle and the true driving data of the target vehicle; the sensor data and the truth data are compared and analyzed to determine the first test result of the sensor of the test vehicle, wherein the first test result is used to characterize whether the sensing accuracy of the sensor of the test vehicle meets the preset conditions. It is easy to note that by comparing the sensor data with the truth data, the accuracy of the sensor of the vehicle that meets the preset conditions can be determined. Furthermore, by using a sensor that meets the preset conditions, the effective data of the vehicle can be accurately acquired, avoiding the acquisition of invalid data of the vehicle, thus achieving the goal of accurately acquiring effective data, thereby realizing the technical effect of accurately acquiring effective data of the vehicle, and solving the technical problem of low accuracy in acquiring effective data of the vehicle in related technologies.

[0048] Optionally, acquiring truth data collected by multiple truth acquisition devices includes: acquiring true driving data of the test vehicle by acquiring data from a first truth acquisition device among the multiple truth acquisition devices, wherein the first truth acquisition device is installed on the test vehicle; and acquiring true driving data of the target vehicle by acquiring data from a second truth acquisition device among the multiple truth acquisition devices, wherein the second truth acquisition device is installed on the target vehicle.

[0049] In one alternative embodiment, such as Figure 2 As shown, data can be collected from the test vehicle 21 by the first truth acquisition device 25-1 among multiple truth acquisition devices to obtain the true driving data of the test vehicle 21. The first truth acquisition device 25-1 is installed on the test vehicle 21 and is communicatively connected to the test vehicle 21. Data can also be collected from the target vehicle 22 by the second truth acquisition device 25-2 among multiple truth acquisition devices to obtain the true driving data of the target vehicle 22. The second truth acquisition device 25-2 is installed on the target vehicle 22 and is communicatively connected to the target vehicle 22.

[0050] Optionally, the sensor data and the true data are compared and analyzed to determine the first test result of the sensor of the test vehicle, including: determining the relative data between the test vehicle and the target vehicle based on the sensor data; determining the true relative data between the test vehicle and the target vehicle based on the true data; and comparing and analyzing the relative data with the true relative data to determine the first test result.

[0051] The relative data mentioned above may include, but are not limited to: relative speed, relative distance, relative acceleration, relative steering angle, relative lane position, relative driving path, relative driving time, relative fuel consumption, and relative emissions.

[0052] In one optional embodiment, when sensor data is acquired, the relative data between the test vehicle and the target vehicle can be determined based on the sensor data. For example, the relative data between the test vehicle and the target vehicle can be obtained through a preset formula or a preset correspondence. However, it is not limited to this. The sensor data can also be input into a pre-trained processing model to obtain the relative data between the test vehicle and the target vehicle.

[0053] In another optional embodiment, if true value data is obtained, the relative true value data between the test vehicle and the target vehicle can be determined based on the true value data. The processing of the true value data is the same as the method for processing sensor data described above, and will not be repeated here.

[0054] In another optional implementation, given the relative data and true relative data, the relative data can be compared and analyzed with the true relative data to obtain a first test result. For example, the relative data can be compared and analyzed with the true relative data. If the relative data equals the true relative data, the first test result can be determined that the sensing accuracy of the test vehicle's sensor meets the preset conditions; otherwise, the first test result is that the sensing accuracy of the test vehicle's sensor does not meet the preset conditions. Alternatively, the difference between the relative data and the true relative data can be obtained. If all differences are within a preset range, the first test result can be determined that the sensing accuracy of the test vehicle's sensor meets the preset conditions; otherwise, the first test result is that the sensing accuracy of the test vehicle's sensor does not meet the preset conditions.

[0055] Optionally, a comparative analysis is performed on the relative data and the true relative data to determine the first test result, including: determining whether the relative data and the true relative data are successfully matched; in response to the successful match between the relative data and the true relative data, determining that the first test result characterizes the sensing accuracy as meeting the preset conditions; in response to the failure to match between the relative data and the true relative data, determining that the first test result characterizes the sensing accuracy as not meeting the preset conditions.

[0056] In one optional embodiment, when relative data and true relative data are obtained, the relative data can be matched with the true relative data. For example, it can be determined whether the relative data and the true relative data are equal. If the relative data and the true relative data are equal, it can be determined that the relative data and the true relative data are successfully matched, and the first test result can be determined as the sensing accuracy meeting the preset condition. If the relative data and the true relative data are not equal, it can be determined that the relative data and the true relative data are not matched, and the first test result can be determined as the sensing accuracy not meeting the preset condition.

[0057] Optionally, after acquiring the sensor data collected by the sensors of the test vehicle and the truth data collected by the truth acquisition device, the method further includes: synchronizing the sensor data and the truth data in time to obtain synchronized sensor data and synchronized truth data; and comparing and analyzing the synchronized sensor data and the synchronized truth data to determine the first test result.

[0058] In one optional embodiment, after obtaining sensor data and ground truth data, the sensor data and ground truth data can first be preprocessed separately, such as removing noise, filling missing values, and converting data types. Secondly, the sensor data and ground truth data can be synchronized in time using a ground truth acquisition device based on a synchronization benchmark (such as a common timestamp of the test vehicle and the target vehicle, or sensor readings) to obtain synchronized sensor data and synchronized ground truth data. Finally, the synchronized sensor data and synchronized ground truth data can be compared and analyzed by a host computer to determine the first test result.

[0059] Optionally, if the first test result characterizes the sensing accuracy to meet preset conditions, the method further includes: determining the collision time between the test vehicle and the target vehicle based on sensor data; acquiring the current driving data of the test vehicle when the collision time reaches a time threshold; and determining whether the test vehicle should execute an acceleration / deceleration request based on the current driving data.

[0060] The aforementioned time threshold can be set in advance by the user to determine whether to acquire the current driving data of the test vehicle. The current driving data may include, but is not limited to: current vehicle speed, current acceleration, and current driving trajectory.

[0061] In one optional embodiment, if the first test result indicates that the sensor's sensing accuracy meets the preset conditions, the collision time between the test vehicle and the target vehicle can also be determined based on the sensor data. For example, the collision time can be calculated from the sensor data, or the sensor data can be input into a pre-trained processing model to obtain the collision time, but this is not limited to these methods.

[0062] In another alternative embodiment, given the collision time, it can be compared with a time threshold. If the collision time reaches the time threshold, the current driving data of the test vehicle can be determined, and based on the current driving data, it can be determined whether the test vehicle should execute an acceleration / deceleration request. For example, if it is determined that the vehicle's current acceleration will cause the test vehicle to collide with the target vehicle prematurely, it can be determined that the test vehicle should execute a deceleration request, but this is not limited to that. If it is determined that the vehicle's current driving trajectory will prevent a collision between the test vehicle and the target vehicle, it can be determined that the test vehicle should execute an acceleration request, but this is not limited to that.

[0063] Optionally, based on sensor data, the collision time between the test vehicle and the target vehicle is determined, including: obtaining the lateral distance between the test vehicle and the target vehicle, the first speed of the test vehicle, and the second speed of the target vehicle from the sensor data; and determining the collision time based on the lateral distance, the first speed, and the second speed.

[0064] In one alternative embodiment, the lateral distance, the first speed of the test vehicle, and the first speed of the target vehicle can first be obtained from sensor data. Then, the lateral distance, the first speed, and the second speed are calculated to obtain the collision time, but this is not limited to this step. Alternatively, the lateral distance, the first vehicle speed, and the second speed can be input into a pre-trained processing model to obtain the collision time.

[0065] In one optional embodiment, the method for processing vehicle data is explained using the test scenarios of Adaptive Cruise Control (ACC) and Full-Speed ​​Adaptive Cruise Control (SACC) as examples. Figure 3 This is a flowchart of an optional vehicle data processing method according to an embodiment of the present invention, such as... Figure 3 As shown, the method includes the following steps:

[0066] Step S301: Select a specific test scenario and issue test instructions;

[0067] Step S302: According to the instructions of the test condition of adaptive cruise control / full-speed adaptive cruise control, the test vehicle and the target vehicle respond to the request to realize the condition, and upload the relative data of the two vehicles collected by the truth acquisition device to the host computer through the wireless communication module and the inertial navigation system.

[0068] Step S303: Output the relative data to the user interface (UI) of the host computer, and output the relative relationship between the two vehicles and the data required for evaluation through the corresponding calculation program;

[0069] Step S304: Based on the relative values ​​of the test vehicle and the target vehicle, compare them with the theoretical design values ​​of the controller to evaluate the key parameters of intelligent driving and realize the data acquisition and real-time analysis of functional tests.

[0070] The test process begins by ensuring the test vehicle's sensors are functioning correctly and accurately. Using data from the truth acquisition system, the lateral distance between the test and target vehicles is calculated, leading to the collision time. Based on the vehicle controller's performance settings, when the collision time reaches a threshold, fulfilling the acceleration / deceleration control request conditions, the vehicle's acceleration / deceleration behavior and related data are observed to confirm whether the ACC / SACC system has promptly implemented the appropriate acceleration / deceleration requests. Key parameters throughout the test include: the pose of the test and target vehicles; the relative distance and relative speed between them; and the acceleration and heading angle of both vehicles.

[0071] Optionally, according to Figure 2 The system shown first pre-sets the environment based on the intelligent driving scenario to be tested. Using pre-built ground truth acquisition devices 25-1 and 25-2, it acquires real-time data on the test vehicle 21, surrounding vehicles (i.e., the target vehicle) 22, and the environment, which is then stored on a host computer 23. The ground truth data is synchronized with the sensor data on the vehicle. The two sets of synchronized data are then correlated and matched again. The host computer 23 performs synchronous comparative analysis on the acquired data sets to determine the accuracy of the intelligent driving vehicle's onboard sensors. If the comparative analysis reveals discrepancies or inaccuracies in the data, further investigation is needed to identify the problematic aspect of the intelligent driving system.

[0072] Optionally, Figure 2 In the system shown, the test vehicle 21 also includes a power module (not shown), a wireless communication module 24, a host computer 23, and a data acquisition system 26. During intelligent driving testing, the test vehicle 21 sets up the test environment according to specific test scenarios and issues test commands. The inertial navigation system (not shown) transmits the collected position and pose data of the target vehicle 22 to the host computer 23 in real time via the wireless communication module 24. The host computer 23 calculates the relative data between the two vehicles and outputs it to the UI interface for data analysis and comparison.

[0073] The method provided in this invention addresses specific, sporadic, and poorly repeatable scenarios during intelligent driving vehicle testing. Based on this truth-based data acquisition technology, it can obtain real-time data of the test vehicle and its surrounding test environment, achieving the goals of reproducible, real-time recording, and real-time analysis of test data. This invention proposes an intelligent driving test data acquisition method based on a truth system, making intelligent driving test scenarios reproducible and analyzable in real time. By acquiring the pose data of the test vehicle and the target vehicle, this invention enables precise setting of the test scenario.

[0074] Example 2

[0075] According to another aspect of the present invention, a vehicle data processing system is also provided.

[0076] Figure 4 This is a schematic diagram of a vehicle data processing system according to an embodiment of the present invention, such as... Figure 4 As shown, the system includes: a test vehicle 41, multiple truth acquisition devices 42-1 and 42-2, a target vehicle 43, and a host computer 44. Figure 4 As shown, the test vehicle 41 is connected to the host computer 44 and the truth acquisition device 42-1, and the target vehicle 43 is connected to the host computer 44 and the truth acquisition device 42-2.

[0077] The test vehicle 41 is equipped with sensors (not shown in the figure) to collect sensor data, which is used to characterize the driving data of the test vehicle and the target vehicle. Multiple truth acquisition devices 42 are connected to the test vehicle 41 and the target vehicle 43 respectively to collect truth data, which is used to characterize the true driving data of the test vehicle 41 and the target vehicle 43. A host computer 44 is connected to the test vehicle 41, the target vehicle 43 and the multiple truth acquisition devices 42. In response to receiving a test command, the host computer controls the test vehicle 41 and the target vehicle 43 to drive according to the test conditions carried in the test command, and compares and analyzes the sensor data and the truth data to determine the first test result of the sensor of the test vehicle 41. The first test result is used to characterize whether the sensing accuracy of the sensor of the test vehicle 41 meets the preset conditions.

[0078] Optionally, the plurality of truth acquisition devices include: a first truth acquisition device, installed on the test vehicle, used to acquire data from the test vehicle to obtain the true driving data of the test vehicle; and a second truth acquisition device, installed on the target vehicle, used to acquire data from the target vehicle to obtain the true driving data of the target vehicle.

[0079] In one optional embodiment, the plurality of truth acquisition devices include: a first truth acquisition device and a second truth acquisition device, wherein the first truth acquisition device is installed on the test vehicle and is used to collect data from the test vehicle to obtain the true driving data of the test vehicle; the second truth acquisition device is installed on the target vehicle and is used to collect data from the target vehicle to obtain the true driving data of the target vehicle.

[0080] Optionally, the test vehicle further includes: a first wireless communication module connected to the sensor, the first truth acquisition device, and the host computer, for uploading the test vehicle's driving data and truth driving data to the host computer; the target vehicle further includes: a second wireless communication module connected to the second truth acquisition device and the host computer, for uploading the target vehicle's driving data and truth driving data to the host computer.

[0081] In one optional embodiment, the test vehicle further includes a first wireless communication module. This first wireless communication module is connected to the sensor, the first truth acquisition device, and the host computer, and is used to upload the test vehicle's driving data and truth driving data to the host computer.

[0082] In another optional embodiment, the target vehicle further includes a second wireless communication module. This second wireless communication module is connected to a second truth acquisition device and a host computer, and is used to upload the target vehicle's driving data and truth driving data to the host computer.

[0083] Example 3

[0084] Embodiments of this application also provide a vehicle, including: any of the vehicle data processing systems described in the above embodiments.

[0085] Example 4

[0086] Embodiments of this application also provide a computer-readable storage medium including a stored executable program, wherein, when the executable program is running, it controls the device where the computer-readable storage medium is located to perform the methods of various embodiments of the present invention.

[0087] Example 5

[0088] Embodiments of this application also provide a computer program product, including a computer program that, when executed by a processor, implements the methods of various embodiments of the present invention.

[0089] Example 6

[0090] Embodiments of this application also provide a computer program product, including a non-volatile computer-readable storage medium for storing a computer program that, when executed by a processor, implements the methods in various embodiments of the present invention.

[0091] Example 7

[0092] Embodiments of this application also provide a computer program that, when executed by a processor, implements the methods described in the various embodiments of the present invention.

[0093] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0094] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0095] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0096] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0097] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0098] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0099] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method of processing vehicle data, characterized by, The application is applied to an upper computer, and comprises: In response to receiving a test instruction, a test vehicle and a target vehicle are controlled to travel according to a test working condition carried in the test instruction, wherein the target vehicle is used to represent a vehicle whose sensor sensing accuracy meets a preset accuracy which has been determined; Sensor data collected by a sensor of the test vehicle and true value data collected by a plurality of true value collection devices are obtained, wherein the sensor data is used to represent travel data of the test vehicle and travel data of the target vehicle, and the true value data is used to represent true value travel data of the test vehicle and true value travel data of the target vehicle; The sensor data and the true value data are compared and analyzed to determine a first test result of the sensor of the test vehicle, wherein the first test result is used to represent whether the sensing accuracy of the sensor of the test vehicle meets a preset condition; The sensor data and the true value data are compared and analyzed to determine a first test result of the sensor of the test vehicle, wherein the first test result is used to represent whether the sensing accuracy of the sensor of the test vehicle meets a preset condition; In a case where the first test result represents that the sensing accuracy meets the preset condition, the method further comprises: determining a collision time between the test vehicle and the target vehicle based on the sensor data; in a case where the collision time reaches a time threshold, obtaining current travel data of the test vehicle; and determining whether the test vehicle executes a speed-up or speed-down request based on the current travel data.

2. The method of claim 1, wherein, The true value data collected by the plurality of true value collection devices comprises: The test vehicle is data-collected by a first true value collection device in the plurality of true value collection devices to obtain true value travel data of the test vehicle, wherein the first true value collection device is installed on the test vehicle; The target vehicle is data-collected by a second true value collection device in the plurality of true value collection devices to obtain true value travel data of the target vehicle, wherein the second true value collection device is installed on the target vehicle.

3. The method of claim 1, wherein, The comparison and analysis of the relative data and the true value relative data to determine the first test result comprises: It is determined whether the relative data and the true value relative data are successfully matched; In response to the successful matching of the relative data and the true value relative data, it is determined that the first test result represents that the sensing accuracy meets the preset condition; In response to the unsuccessful matching of the relative data and the true value relative data, it is determined that the first test result represents that the sensing accuracy does not meet the preset condition.

4. The method of claim 1, wherein, After obtaining sensor data collected by a sensor of the test vehicle and true value data collected by a true value collection device, the method further comprises: time synchronizing the sensor data and the true value data to obtain synchronized sensor data and synchronized true value data; comparing and analyzing the synchronized sensor data and the synchronized true value data to determine the first test result.

5. The method of claim 1, wherein, Based on the sensor data, determining a collision time between the test vehicle and the target vehicle, comprising: obtaining a lateral distance between the test vehicle and the target vehicle, a first vehicle speed of the test vehicle, and a second vehicle speed of the target vehicle from the sensor data; based on the lateral distance, the first vehicle speed and the second vehicle speed, determining the collision time.

6. A processing system of vehicle data, characterized by comprising: a test vehicle, a sensor being installed on the test vehicle, the sensor being used to collect sensor data of the test vehicle, wherein the sensor data is used to represent driving data of the test vehicle and driving data of a target vehicle, the target vehicle being used to represent a vehicle whose sensor sensing accuracy meets a preset accuracy; a plurality of true value collection devices, respectively connected with the test vehicle and the target vehicle, used to collect true value data, wherein the true value data is used to represent true value driving data of the test vehicle and true value driving data of the target vehicle; a host computer connected with the test vehicle, the target vehicle and the plurality of true value collection devices, used to control the test vehicle and the target vehicle to drive according to a test working condition carried in a test instruction in response to receiving the test instruction, and compare and analyze the sensor data and the true value data to determine a first test result of the sensor of the test vehicle, wherein the first test result is used to represent whether the sensing accuracy of the sensor of the test vehicle meets a preset condition; wherein, based on the sensor data, the host computer determines relative data between the test vehicle and the target vehicle, wherein the relative data comprises at least one of the following: relative speed, relative distance, relative acceleration, relative steering angle, relative lane position, relative driving path, relative driving time, relative fuel consumption and relative emission amount; based on the true value data, the host computer determines true value relative data between the test vehicle and the target vehicle; and by comparing and analyzing the relative data and the true value relative data, the host computer determines the first test result; wherein, when the first test result represents that the sensing accuracy meets the preset condition, based on the sensor data, the host computer determines a collision time between the test vehicle and the target vehicle; when the collision time reaches a time threshold, the host computer obtains current driving data of the test vehicle; and based on the current driving data, the host computer determines whether the test vehicle executes a speed request.

7. The system of claim 6, wherein, The plurality of true value collection devices comprise: a first true value collection device installed on the test vehicle, used to collect data of the test vehicle to obtain true value driving data of the test vehicle; A second true value acquisition device is installed on the target vehicle and used to acquire data of the target vehicle to obtain true value driving data of the target vehicle.

8. The system of claim 7, wherein, The test vehicle further comprises a first wireless communication module connected with the sensor, the first true value acquisition device and the host computer, and used to upload the driving data and the true value driving data of the test vehicle to the host computer. The target vehicle further comprises a second wireless communication module connected with the second true value acquisition device and the host computer, and used to upload the driving data and the true value driving data of the target vehicle to the host computer.

9. A vehicle characterized by comprising: The system comprises: The processing system of the vehicle data according to any one of claims 6 to 8.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium comprises a stored executable program, wherein the executable program controls the device where the storage medium is located to execute the method according to any one of claims 1 to 5 when the executable program is running.

11. A computer program product, characterised in that, The computer program comprises a computer program which, when executed by a processor, implements the method according to any one of claims 1 to 5.

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