Vehicle testing method, device and vehicle

Abstract

This application provides a vehicle testing method, apparatus, and vehicle. Different test scenarios are set up, and the vehicle performs lane changes in these scenarios, acquiring target data during the lane change process. Based on the target data for each scenario, it is determined whether the test for each scenario is passed. Then, based on the pass rate for each scenario, the vehicle's pass rate is obtained, and based on the pass rate, it is determined whether the vehicle currently passes the test. In this application embodiment, by setting different test scenarios to test the vehicle's lane change performance, the lane change performance of the vehicle under different environments and conditions can be comprehensively evaluated, potential problems during the lane change process can be identified and resolved, and the vehicle's lane change performance can be continuously optimized.

Description

Technical Field

[0001] This application relates to the field of automotive engineering, and more particularly to a vehicle testing method, apparatus, and vehicle. Background Technology

[0002] Changing lanes is a common maneuver while driving and a high-risk area for traffic accidents. To improve vehicle safety and reduce traffic accidents, the stability and handling performance of vehicles during lane changes are typically evaluated, leading to continuous optimization of vehicle design and improved driving safety.

[0003] In related technologies, vehicle dynamics models are typically used to simulate the lateral and longitudinal movements of a vehicle, thereby simulating the dynamic characteristics of the vehicle during lane changes and evaluating its lane-changing performance. However, this evaluation method is not accurate enough. Summary of the Invention

[0004] This application provides a vehicle testing method, apparatus, and vehicle for accurately evaluating a vehicle's lane-changing performance, thereby improving the safety of the vehicle's lane-changing process.

[0005] In a first aspect, embodiments of this application provide a vehicle testing method, comprising: acquiring target data of a vehicle changing lanes from its original lane to a target lane in at least one test scenario; determining, based on the target data corresponding to each scenario in the test scenario, whether the vehicle passes the performance test of that scenario; obtaining the performance test pass rate of the vehicle based on the number of scenarios in the test scenario in which the vehicle passes the performance test and the total number of test scenarios; and determining whether the vehicle passes the test based on the performance test pass rate.

[0006] In some optional implementations, each test scenario is provided with different types of test roads, and each type of test road is provided with different lane-changing scenarios; the lane-changing scenarios include at least one of the following: lane changing without obstacles, lane changing with obstacles.

[0007] In some optional implementations, the target data includes: distance data and duration data; based on the target data corresponding to the scenario, determining whether the vehicle has passed the scenario performance test includes: if the difference between the distance data and the preset distance is within the preset distance range, and the difference between the duration data and the preset duration is within the preset duration range, determining that the vehicle has passed the scenario performance test;

[0008] If the difference between the distance data and the preset distance is not within the preset distance range, and / or the difference between the duration data and the preset duration is not within the preset duration range, it is determined that the vehicle has failed the performance test of the scenario.

[0009] In some alternative implementations, the distance data includes at least one of the following:

[0010] The distance the front of the vehicle moves out of lane is the longitudinal distance the vehicle travels from the start of the lane change until the front of the vehicle is completely in the target lane.

[0011] Lane change convergence distance is the longitudinal distance a vehicle travels from the start of a lane change until it fully enters the target lane.

[0012] Lane change straightening distance is the longitudinal distance traveled by a vehicle from the start of a lane change until it reaches the target point in the target lane, while the angle between the vehicle and the target lane is less than a first preset angle.

[0013] Duration data includes at least one of the following:

[0014] The lane change duration is the time it takes for the front of the vehicle to completely enter the target lane from the start of the lane change.

[0015] Lane change convergence time is the time it takes for a vehicle to fully enter the target lane from the start of the lane change.

[0016] Lane change straightening time and lane change straightening distance are the time elapsed from the start of the lane change until the vehicle reaches the target point in the target lane, and the angle between the vehicle and the target lane is less than the first preset angle.

[0017] In some optional implementations, when the lane change scenario is set as lane change over an obstacle, the distance data also includes: the stationary limit lane change distance, which is the closest distance between the vehicle and the obstacle when the vehicle is stationary before the lane change.

[0018] In some optional implementations, the vehicle passes the performance test of the scenario based on the target data corresponding to the scenario, including: if the difference between the distance data and the preset distance is within the preset distance range, the difference between the duration data and the preset duration is within the preset duration range, and the stationary limit change distance is less than or equal to the preset change distance, the vehicle passes the performance test of the scenario.

[0019] If at least one of the following conditions is met, the vehicle is determined to have failed the performance test in that scenario:

[0020] The difference between the distance data and the preset distance is not within the preset distance range;

[0021] The difference between the duration data and the preset duration is not within the preset duration range;

[0022] The static limit distance is greater than the preset distance.

[0023] In some optional implementations, the vehicle testing method provided in this application further includes: for each scenario, obtaining a first time when the angle between the vehicle and the lane is greater than or equal to a second preset angle and the first coordinate of the vehicle; determining the first time as the time when the vehicle begins to change lanes; determining the first coordinate as the coordinate when the vehicle begins to change lanes; and determining target data based on the first time and the first coordinate.

[0024] In some optional implementations, determining whether a vehicle passes the test based on the performance test pass rate includes: for each scenario in the test scenario, determining whether the vehicle passes the functional test for that scenario; obtaining the functional test pass rate for the vehicle based on the number of scenarios that pass the functional test and the total number of test scenarios; and determining whether the vehicle passes the test based on the functional test pass rate and the performance test pass rate.

[0025] In some optional implementations, for each scenario in the test scenario, determining whether the vehicle has passed the scenario functional test includes: for each scenario, obtaining the second coordinates when the vehicle ends the lane change; based on the second coordinates, determining whether the vehicle has changed lanes to the target point in the target lane; if it is determined that the vehicle has changed lanes to the target point in the target lane, then determining that the vehicle has passed the scenario functional test.

[0026] Secondly, embodiments of this application provide a vehicle testing apparatus, comprising:

[0027] The acquisition module is used to acquire target data of the vehicle during the process of changing lanes from the original lane to the target lane in the test scenario;

[0028] The determination module is used to determine whether a vehicle passes the performance test for each scenario in the test scenario, based on the target data corresponding to the scenario.

[0029] The acquisition module is also used to: obtain the performance test pass rate of the vehicle based on the number of scenarios that pass the performance test and the total number of test scenarios;

[0030] The determination module is also used to: determine whether a vehicle passes the test based on the performance test pass rate.

[0031] Thirdly, embodiments of this application provide an electronic device, including: at least one processor and a memory; the memory stores computer execution instructions; the at least one processor executes the computer execution instructions stored in the memory, causing the at least one processor to perform the vehicle testing method as provided in the first aspect.

[0032] Fourthly, embodiments of this application provide a vehicle, including a front end, a body, and at least one processor and a memory;

[0033] The memory stores instructions that the computer executes;

[0034] At least one processor executes computer execution instructions stored in memory, causing at least one processor to execute the vehicle testing method as provided in the first aspect.

[0035] Fifthly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the vehicle testing method provided in the first aspect.

[0036] In a sixth aspect, embodiments of this application provide a computer program product, including computer instructions that, when executed by a processor, implement the vehicle testing method provided in the first aspect.

[0037] The vehicle testing method, apparatus, and vehicle provided in this application embodiment include setting different test scenarios. The vehicle performs lane changes in these test scenarios and acquires target data during the lane change process. Based on the target data for each scenario, it is determined whether the test for each scenario is passed. Then, based on the pass rate for each scenario, the vehicle's pass rate is obtained, and based on the pass rate, it is determined whether the current vehicle passes the test. In this application embodiment, by setting different test scenarios to conduct lane change tests on the vehicle, the lane change performance of the vehicle under different environments and conditions can be comprehensively evaluated, potential problems during the lane change process can be discovered and resolved, and the vehicle's lane change performance can be continuously optimized. Attached Figure Description

[0038] Figure 1(a) is a schematic diagram of an application scenario provided by an embodiment of this application;

[0039] Figure 1(b) illustrates an application scenario provided by an embodiment of this application. Figure 2 ;

[0040] Figure 2 A schematic flowchart of a vehicle testing method provided in this application embodiment;

[0041] Figure 3(a) is a schematic diagram of an obstacle-free lane-changing scenario provided by an embodiment of this application;

[0042] Figure 3(b) is a schematic diagram of a single obstacle lane-changing scenario provided in an embodiment of this application;

[0043] Figure 3(c) is a schematic diagram of a multi-obstacle lane-changing scenario provided in an embodiment of this application;

[0044] Figure 4(a) is a schematic diagram of the principle of a vehicle lane-changing process provided in an embodiment of this application;

[0045] Figure 4(b) is a schematic diagram of the principle of a vehicle lane-changing process provided in an embodiment of this application. Figure 2 ;

[0046] Figure 4(c) is a schematic diagram of the principle of a vehicle lane-changing process provided in an embodiment of this application;

[0047] Figure 4(d) is a schematic diagram of the principle of a vehicle lane-changing process provided in an embodiment of this application;

[0048] Figure 4(e) is a schematic diagram of the principle of a vehicle lane-changing process provided in an embodiment of this application. Figure 5 ;

[0049] Figure 5 A flowchart illustrating a vehicle testing method provided in this application embodiment. Figure 2 ;

[0050] Figure 6 This is a schematic diagram of the structure of a vehicle testing device provided in an embodiment of this application;

[0051] Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0052] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0053] Changing lanes is a common maneuver while driving and a high-risk area for traffic accidents. To improve vehicle safety and reduce traffic accidents, the stability and handling performance of vehicles during lane changes are typically evaluated, leading to continuous optimization of vehicle design and improved driving safety.

[0054] In related technologies, vehicle dynamics models are typically used to simulate the lateral and longitudinal movements of a vehicle, thereby simulating the dynamic characteristics of the vehicle during lane changes and evaluating its lane-changing performance. However, this evaluation method is not accurate enough.

[0055] In view of this, embodiments of this application provide a vehicle testing method. Different test scenarios are set up, and the vehicle performs lane changes in these scenarios, acquiring target data during the lane change process. Based on the pass rate of each scenario, the vehicle's pass rate is obtained, and based on the pass rate, it is determined whether the vehicle passes the test. In these embodiments, by setting different test scenarios to test the vehicle's lane change performance, the lane change performance of the vehicle under different environments and conditions can be comprehensively evaluated, potential problems during the lane change process can be identified and resolved, and the vehicle's lane change performance can be continuously optimized.

[0056] It should be noted that the vehicle testing method provided in this application embodiment can be applied to actual lane-changing scenarios of vehicles, as well as to simulation testing scenarios.

[0057] In some embodiments, the testing methods provided in this application can be applied to the research and development and testing of autonomous vehicles.

[0058] It should be understood that actual lane-changing scenarios refer to various real-world test scenarios set up on closed test tracks or open roads, using real vehicles for lane-changing tests. In this scenario, the vehicle testing method of this application embodiment can be applied to a vehicle or an electronic device that is communicatively connected to the vehicle. When applied to a vehicle, it can be applied to the vehicle, the vehicle's infotainment system, control chip, or chip module, etc. When applied to an electronic device that is communicatively connected to the vehicle, the electronic device can acquire test data of the vehicle during the lane-changing process, and the electronic device tests the vehicle's lane-changing performance according to the vehicle testing method provided in this application embodiment.

[0059] In simulation testing scenarios, the embodiments of this application can be applied to electronic devices that undergo simulation testing. For example, they can be applied to electronic devices, chips of electronic devices, chip modules, etc., and use simulation software to create a variety of virtual test scenarios, such as urban roads, highways, rural roads, parking spaces, cross roads, longitudinal roads, approach bridges, etc.

[0060] The aforementioned electronic devices can be terminals or servers. Terminals can be personal digital assistant (PDA) devices, handheld devices with wireless communication capabilities (such as smartphones and tablets), computing devices (such as personal computers (PCs)), in-vehicle devices, etc.

[0061] The technical solutions provided by the various embodiments of this application are described in detail below with reference to the accompanying drawings.

[0062] Please refer to Figures 1(a) and 1(b), where Figure 1(a) is a schematic diagram of an application scenario provided by an embodiment of this application. It should be understood that this application scenario is an actual lane-changing scenario. As shown in Figure 1(a), this application scenario includes: a test vehicle.

[0063] The test vehicle can perform lane change tests on actual roads and acquire test data during the lane change process. The test vehicle (or its vehicle infotainment system, control chip, chip module, etc.) then determines whether the test vehicle has passed the test based on the test data and outputs the test results.

[0064] In some embodiments, the application scenario also includes an electronic device that communicates with the vehicle. When the test vehicle changes lanes on a real road, the electronic device can acquire test data of the vehicle during the lane change process, determine whether the vehicle passes the test based on the test data, and output the test result.

[0065] Figure 1(b) illustrates an application scenario provided by an embodiment of this application. Figure 2 It should be understood that this application scenario is a simulation test scenario. As shown in Figure 1(b), this application scenario includes electronic devices.

[0066] Specifically, when testing the lane-changing performance of a vehicle, the relevant parameters of the test vehicle and the scenario-related parameters during the lane-changing process can be set through electronic devices. This allows the corresponding test vehicle to perform simulated lane-changing tests according to the scenario-related parameters. Based on the test data of the test vehicle during the simulation test, it can be determined whether the test vehicle passes the test.

[0067] Vehicle-related parameters include, but are not limited to, vehicle type and vehicle model.

[0068] The vehicle types include, but are not limited to, passenger vehicles or freight vehicles.

[0069] Optionally, passenger vehicles may include, but are not limited to, cars, buses, etc.; freight vehicles may include, but are not limited to, container trucks, trailers, etc.

[0070] Scene-related parameters include: test road type, lane change scenario (e.g., whether there are obstacles, number of obstacles, location of obstacles, etc.), the vehicle's current lane, the target lane the vehicle is changing to, the target point the vehicle needs to reach after successfully changing lanes, the speed range of the lane change process, etc.

[0071] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0072] Figure 2 This is a schematic flowchart of a vehicle testing method provided in an embodiment of this application. Figure 2 As shown, the vehicle testing method provided in this application includes the following steps:

[0073] S201. Obtain target data of the vehicle during the process of changing lanes from the original lane to the target lane in at least one test scenario.

[0074] It should be noted that the test scenario can be the actual lane-changing scenario and / or the simulation test scenario mentioned above.

[0075] When the test scenario is a real-world lane-changing scenario, a lane-change detection device can be used to identify the vehicle's lane-changing behavior, and a data acquisition device can be used to collect data on the vehicle during the lane-changing process in real time, thereby obtaining the target data. The lane-change detection device and the data acquisition device can be sensors on the test vehicle, or other devices with data acquisition capabilities, such as lidar, infrared detection devices, etc.

[0076] When the test scenario is a simulation test scenario, simulation software can be used to obtain target data of the vehicle during the lane change process.

[0077] The present application does not impose any particular limitation on the type of target data. For example, the target data may be position data, time data (e.g., the time to start lane change, the time to complete lane change, the time to reach a certain position, and the duration of the lane change process), speed data, obstacle data, vehicle control data (e.g., steering angle, throttle and brake, transmission status, etc.), vehicle dynamics data (e.g., tire slip ratio, suspension system status, etc.), vehicle trajectory data, etc.

[0078] S202. For each scenario in the test scenario, determine whether the vehicle passes the scenario performance test based on the target data corresponding to the scenario.

[0079] Each test scenario has set conditions for passing the test. When the target data for a certain scenario is obtained, the target data is analyzed according to the conditions to determine whether the test vehicle passes the test for that scenario.

[0080] For example, taking time data as an example, a judgment condition in a certain test scenario can be set as "the time spent in the lane change process cannot exceed S minutes". If the time spent by a test vehicle in the lane change process exceeds S minutes, then the test vehicle fails the test of that scenario.

[0081] It should be noted that when a scenario has multiple judgment conditions, it can be considered that the test of the scenario is passed only if all the judgment conditions of the scenario are met, or it can be considered that the test of the scenario is passed only if a certain percentage of the judgment conditions of the scenario are met.

[0082] S203. Based on the number of scenarios in which the vehicle passes the performance test and the total number of test scenarios, obtain the vehicle's performance test pass rate.

[0083] Specifically, the performance test pass rate is the ratio of the number of scenarios that pass the performance test to the total number of test scenarios.

[0084] For example, the test vehicle performed lane change tests in test scenario 1, test scenario 2, ... test scenario M. If the test vehicle passed the performance test in m1 scenarios, then the performance test pass rate of the test vehicle is 100%.

[0085] S204. Determine whether the vehicle passes the test based on the performance test pass rate.

[0086] Specifically, the vehicle's pass rate can be determined based on the performance test pass rate and the preset performance pass rate.

[0087] For example, if the performance test pass rate of a test vehicle is greater than or equal to the preset performance pass rate, the test vehicle is determined to have passed the test.

[0088] It should be understood that the present application does not impose any particular limitation on the preset pass rate.

[0089] In the testing method provided in this application embodiment, by setting different test scenarios to conduct lane change tests on the vehicle, the lane change performance of the vehicle under different environments and conditions can be comprehensively evaluated, potential problems in the lane change process can be discovered and solved, and the lane change performance of the vehicle can be continuously optimized.

[0090] Furthermore, since different test scenarios can simulate various potential dangerous situations, setting different test scenarios can help identify and resolve potential safety hazards that vehicles may encounter during lane changes, ensuring that the lane-changing behavior of vehicles is safe and reliable in different scenarios in actual applications.

[0091] In addition, obtaining test data during vehicle lane-changing processes through different test scenarios can provide important support for the research and development and optimization of autonomous driving technology and driver assistance systems. This not only helps improve the overall performance of vehicles, but also provides a scientific basis for the formulation of industry standards.

[0092] In some alternative implementations, each test scenario is set up with different types of test roads, and each type of test road is set up with different lane-changing scenarios;

[0093] The types of test roads include, but are not limited to, one or more of the following: cross roads, longitudinal roads, approach bridges, parking spaces, highways, urban roads, rural roads, wet and slippery roads, gravel roads, muddy roads, icy and snowy roads, ramps, off-road roads, tunnels, or bridges.

[0094] Among them, lane-changing scenarios include, but are not limited to, at least one of the following: lane-changing scenarios without obstacles, lane-changing scenarios with obstacles, etc.

[0095] It should be noted that the test scenario can be any combination of the test road and lane-changing scenarios mentioned above. For example, the test scenario can be set as lane changing without obstacles on a cross road, lane changing with obstacles on a cross road, lane changing without obstacles at a parking space, lane changing with obstacles on a cross road, etc., etc., which will not be elaborated here.

[0096] In some embodiments, an obstacle-free lane change scenario means that there are no obstacles in the direction of the vehicle's lane change. An obstacle-free lane change scenario may further include: a lane change scenario to the left and a lane change scenario to the right.

[0097] In some embodiments, an obstacle-based lane change scenario indicates that there is an obstacle in the direction the vehicle is changing lanes, and the vehicle must overcome the obstacle to change lanes. For example, obstacle-based lane change scenarios may include single-obstacle lane change scenarios and multi-obstacle lane change scenarios.

[0098] For easier understanding, please refer to Figures 3(a) to 3(c) Figure 3(a) is a schematic diagram of an obstacle-free lane change scenario (changing lanes to the right) provided in an embodiment of this application. As shown in Figure 3(a), when there are no obstacles, the test vehicle changes lanes to the right from position 1 of the original lane, the vehicle body completely enters the target lane, and reaches position 2 of the target lane, thus completing a complete obstacle-free lane change test.

[0099] Figure 3(b) is a schematic diagram of a single obstacle lane change scenario provided in an embodiment of this application. As shown in Figure 3(b), when there is an obstacle, the test vehicle changes lanes to the right from position 1 of the original lane, passes the obstacle, and the vehicle body completely enters the target lane and reaches position 2 of the target lane, thus completing a complete single obstacle lane change test.

[0100] Figure 3(c) is a schematic diagram of a multi-obstacle lane change scenario provided in an embodiment of this application. As shown in Figure 3(c), when there are two obstacles, the test vehicle starts changing lanes from position 1 in the original lane, passes obstacle 1, reaches position 2, then changes lanes to the right, passes obstacle 2, and the vehicle body completely enters the target lane and reaches position 3 in the target lane, thus completing a complete double-obstacle lane change test.

[0101] It should be understood that other similar lane-changing scenarios (e.g., changing lanes to the left, or changing lanes with three or more obstacles) will not be described in detail in this application embodiment.

[0102] In some alternative implementations, the target data (i.e., test data) mentioned above includes distance data and duration data.

[0103] The distance data includes at least one of the following: the distance the car moves out of lane, the lane change convergence distance, or the lane change straightening distance.

[0104] Correspondingly, the duration data includes at least one of the following: the time it takes for the car to exit the lane, the time it takes for the lane to converge, or the time it takes for the lane to straighten out.

[0105] Below, in conjunction with Figures 4(a) to 4(c) The above target data will be explained in detail.

[0106] ① The distance the vehicle travels before changing lanes is the longitudinal distance the vehicle travels from the start of the lane change until the front of the vehicle is fully inside the target lane.

[0107] It should be noted that for vehicles where the front and body can be clearly distinguished, "the front of the vehicle is completely in the target lane" means that the front of the vehicle is completely within the boundary of the target lane and no longer overlaps with the original lane or other lanes.

[0108] For vehicles where the front and body cannot be clearly distinguished, the complete entry of the front of the vehicle into the target lane can be defined as a preset point on the vehicle being located within the boundary of the target lane and no longer overlapping with the original lane or other lanes. In other words, when this preset point is located within the boundary of the target lane, it indicates that the front of the vehicle has successfully entered the target lane. The location of the preset point varies depending on the vehicle type, and this application does not limit this.

[0109] Please refer to Figure 4(a), which is a schematic diagram of a vehicle lane-changing process according to an embodiment of this application. It should be noted that the distance the vehicle head moves out of the lane can be the distance between the target point on the vehicle when the vehicle is in position 1 (the position where the vehicle begins to change lanes) and position 2 (the position when the vehicle head is fully in the target lane).

[0110] Correspondingly, the lane change duration is the time elapsed from the start of the lane change until the front of the vehicle is fully inside the target lane. Please refer to Figure 4(a), where the lane change duration can be the time elapsed from position 1 (the position where the vehicle begins to change lanes) to position 2 (the position where the front of the vehicle is fully inside the target lane).

[0111] ② Lane change convergence distance can be defined as the longitudinal distance a vehicle travels from the start of a lane change until it fully enters the target lane.

[0112] It should be noted that "vehicle fully entering the target lane" can mean that the entire vehicle body is completely within the boundary of the target lane and no longer overlaps with the original lane or other lanes.

[0113] For ease of understanding, please refer to Figure 4(b), which is a schematic diagram of the principle of a vehicle lane-changing process provided in an embodiment of this application. Figure 2 It should be noted that the lane change convergence distance can be the distance between the target point on the vehicle when it is in position 1 (the position where the vehicle begins to change lanes) and position 2 (the position when the vehicle is fully in the target lane).

[0114] Correspondingly, the lane change convergence time is the time it takes for a vehicle to move from the start of the lane change until it is fully inside the target lane. Please refer to Figure 4(b), where the lane change convergence time is the time it takes for a vehicle to move from position 1 (the position where the vehicle begins to change lanes) to position 2 (the position where the vehicle is fully inside the target lane).

[0115] ③ Lane change straightening distance can be the longitudinal distance traveled by the vehicle from the start of lane change to the time when the vehicle reaches the target point in the target lane and the angle between the vehicle and the target lane is less than the first preset angle.

[0116] It should be noted that the size of the first preset angle is not particularly limited in this application embodiment. For example, the first preset angle can be set to any value from 0.015 radians to 0.035 radians; for example, the first preset angle can be 0.025 radians, 0.015 radians, 0.030 radians, 0.035 radians, etc.

[0117] For ease of understanding, please refer to Figure 4(c), which is a schematic diagram of the principle of a vehicle lane-changing process provided in an embodiment of this application. It should be noted that the lane-changing straightening distance can be the longitudinal distance between the target point on the vehicle when the vehicle is in position 1 (the position where the vehicle begins to change lanes) and position 2 (the process when the vehicle body is fully in the target lane and the angle between the vehicle and the target lane is less than the first preset angle). The longitudinal direction is parallel to the road.

[0118] Correspondingly, the stationary limit exit distance is the shortest distance between the vehicle and the obstacle when the vehicle is stationary before changing lanes. Referring to Figure 4(c), the stationary limit exit distance is the time taken for the vehicle to move from position 1 (the position where the vehicle begins to change lanes) to position 2 (the position where the vehicle is fully inside the target lane and parallel to the target lane).

[0119] It should be noted that the target points on the vehicle mentioned above can be the vehicle's center point, the center point of the front of the vehicle, the center point of the body of the vehicle, etc. It should be understood that... Figures 4(a) to 4(c) The example shown is based on the center point of the vehicle, but it is not a limitation.

[0120] In some optional implementations, when the lane change scenario is set as an obstacle lane change, the above distance data also includes: the stationary limit lane change distance.

[0121] The stationary limit distance for lane change is the closest distance between the vehicle and the obstacle when the vehicle is stationary before changing lanes. Please refer to Figure 4(d), which is a schematic diagram of the principle of a vehicle lane change process provided in an embodiment of this application. As shown in Figure 4, the stationary limit distance for lane change can be the distance between the front of the test vehicle and the rear end of the obstacle when the test vehicle is stationary.

[0122] It should be noted that when a test vehicle performs multiple tests in the same scenario, the target data can be any of the minimum, average, or maximum values ​​corresponding to each test data point. For example, when a test vehicle performs n lane change tests in an unobstructed parking scenario, the distance the vehicle's front end makes during each lane change in that scenario can be obtained (i.e., n front end distances can be obtained in that scenario). In this embodiment of the application, the target data can be the minimum, average, or maximum value among the n front end distances.

[0123] It should be understood that other test data in other scenarios are similar, and will not be elaborated on here.

[0124] In some optional embodiments, when obtaining target data of the vehicle changing lanes from the original lane to the target lane in at least one test scenario in step S201 above, the following steps are specifically included:

[0125] S1. For each scenario, obtain the first time and first coordinates when the vehicle begins to change lanes.

[0126] Specifically, on the one hand, sensors can be used to obtain the aforementioned first time and first coordinates.

[0127] On the other hand, the system can obtain the first time and the first coordinates of the vehicle when the angle between the vehicle and the lane is greater than or equal to a second preset angle. When the angle between the vehicle and the lane is greater than or equal to the second preset angle, it is considered that the vehicle has begun to change lanes, and this lane can be either the original lane or the target lane.

[0128] Please refer to Figure 4(e), which is a schematic diagram of the principle of a vehicle lane-changing process provided in an embodiment of this application. Figure 5 As shown in Figure 4(e), the angle between the vehicle and the lane can be obtained in real time (the angle between the vehicle and the original lane is shown as an example in the figure). When the angle reaches the second preset angle, it is considered that the vehicle has started to change lanes, and the first time and the first coordinates of the vehicle's current position are obtained.

[0129] It should be noted that the size of the second preset angle can be set according to actual testing needs, and this application embodiment does not impose any special limitations.

[0130] S2. Determine the target data based on the first time and the first coordinate.

[0131] Specifically, please refer to Figure 4(a). When obtaining the distance of the vehicle's front end changing direction, the distance of the vehicle's front end changing direction can be obtained based on the coordinates of the vehicle at position 2 (the position when the front end of the vehicle is fully in the target lane) and the first coordinate (the coordinates of the vehicle at position 1).

[0132] Accordingly, when obtaining the duration of the vehicle's front end appearing, the duration of the vehicle's front end appearing can be obtained based on the time the vehicle was in position 2 and the first time (the time the vehicle was in position 1).

[0133] It should be noted that for other target data acquisition methods, please refer to the methods for obtaining the distance and duration of the vehicle's front end in Figure 4(a), which will not be elaborated here.

[0134] In some optional implementations, in step S202 above, for each scenario in the test scenario, determining whether the vehicle passes the performance test of the scenario based on the target data corresponding to the scenario includes the following steps:

[0135] S1. Determine whether the difference between the distance data and the preset distance is within the preset distance range;

[0136] It should be noted that each distance data point corresponds to a different preset distance range. For example, the preset distance range corresponding to the distance the car makes a lane change (distance data) is "s1~s2", and the preset distance range corresponding to the lane change convergence distance (distance data) is "s3~s4"...

[0137] S2. Determine whether the difference between the duration data and the preset duration is within the preset duration range;

[0138] It should be noted that each distance data point corresponds to a different preset distance range. For example, the preset distance range corresponding to the time it takes for the car to change direction (duration data) is "t1~t2", and the preset distance range corresponding to the lane change convergence time (duration data) is "t3~t4"...

[0139] S3. If the difference between the distance data and the preset distance is within the preset distance range, and the difference between the duration data and the preset duration is within the preset duration range, determine the performance test of the vehicle passing through the scenario.

[0140] It should be noted that "the difference between the distance data and the preset distance is within the preset distance range" means that each distance data (e.g., the distance the car turns out, the lane change convergence distance, and the lane change straightening distance) is within its corresponding preset distance range. If any one of them is not within its corresponding preset distance, it means that the difference between the distance data of the vehicle in this scenario and the preset distance is not within the preset distance range.

[0141] Accordingly, "the difference between the duration data and the preset duration is within the preset duration range" means that each duration data (e.g., the time for the vehicle to exit, the time for lane change to converge, and the time for lane change to straighten) is within its corresponding preset duration. If any one of them is not within its corresponding preset duration, it means that the difference between the distance duration of the vehicle in this scenario and the preset duration is not within the preset duration range.

[0142] It should be noted that the preset distance and preset duration can be set based on experience; or, they can be set based on the test results of the previous version of the vehicle. For example, the preset distance in the current test process can be set to be less than or equal to the minimum distance in the previous test version, and the preset duration in the current test process can be set to be less than or equal to the minimum duration in the previous test version.

[0143] S4. If the difference between the distance data and the preset distance is not within the preset distance range, and / or the difference between the duration data and the preset duration is not within the preset duration range, it is determined that the vehicle has failed the performance test of the scenario.

[0144] It should be noted that the embodiments of this application do not impose any special limitations on the preset distance and preset duration.

[0145] Understandably, when the test scenario is an obstacle lane-changing scenario, the judgment of whether the vehicle passes the performance test in this scenario includes the following two situations:

[0146] Case 1: If the difference between the distance data and the preset distance is within the preset distance range, the difference between the duration data and the preset duration is within the preset duration range, and the stationary limit change distance is less than or equal to the preset change distance, determine the performance test of the vehicle passing through the scenario.

[0147] Scenario 2: If at least one of the following conditions is met, the vehicle is deemed to have failed the performance test in that scenario:

[0148] The difference between the distance data and the preset distance is not within the preset distance range;

[0149] The difference between the duration data and the preset duration is not within the preset duration range;

[0150] The static limit distance is greater than the preset distance.

[0151] In some alternative implementations, when testing the lane-changing performance of different types of vehicles, different distance and time data can be used to evaluate the lane-changing performance of the vehicles.

[0152] In Example 1, for vehicles whose front and body can be clearly distinguished (e.g., container trucks, trailers, trucks, etc.), one or more of the following can be used to evaluate their lane change performance: front change distance, front change duration, lane change convergence distance, lane change straightening distance, lane change convergence duration, and lane change straightening duration.

[0153] In Example 2, for vehicles where the front and body cannot be clearly distinguished (e.g., passenger vehicles such as sedans and buses), lane change performance can be evaluated using only one or more of the following: lane change convergence distance, lane change straightening distance, lane change convergence time, and lane change straightening time. The front change distance and front change time are not used to evaluate lane change performance.

[0154] In this embodiment of the application, by comparing the actual distance data with the preset distance, the performance of the vehicle in a specific scenario can be effectively evaluated, ensuring that it meets the expected safety and performance standards. Furthermore, by comprehensively considering test data from multiple dimensions, the lane-changing performance of the vehicle can be evaluated more comprehensively.

[0155] In addition, testing the vehicle's lane-changing performance through multiple test scenarios can ensure the vehicle's safety and reliability in various situations. At the same time, automated performance testing can reduce human error and improve testing efficiency and accuracy.

[0156] Figure 5 A flowchart illustrating a vehicle testing method provided in this application embodiment. Figure 2 .like Figure 5 As shown, the vehicle testing method provided in this application includes the following steps:

[0157] S501. Acquire target data of the vehicle during the process of changing lanes from one lane to the target lane in at least one test scenario.

[0158] S502. For each scenario in the test scenario, determine whether the vehicle passes the performance test of the scenario based on the target data corresponding to the scenario.

[0159] S503. Based on the number of scenarios in which the vehicle passes the performance test and the total number of test scenarios, obtain the vehicle's corresponding performance test pass rate.

[0160] It should be noted that the implementation methods and beneficial effects of steps S501 to S503 are described in the above embodiments and will not be repeated here.

[0161] S504. For each scenario in the test scenario, determine whether the vehicle passes the scenario's functional test.

[0162] Specifically, it includes the following steps S5031 to S5032 (not shown in the figure):

[0163] S5041. For each scenario, obtain the second coordinates when the vehicle finishes changing lanes.

[0164] It should be noted that, referring to Figure 4(c), the second coordinate is the coordinate when the vehicle body is fully inside the target lane and the angle between the vehicle and the lane is less than the first preset angle. That is, the second coordinate is the coordinate of the vehicle at position 2 in Figure 4(c). The lane can be the original lane or the target lane.

[0165] S5042. Based on the second coordinate, determine whether the vehicle has changed lanes to the target point in the target lane.

[0166] The target point is determined before the test, that is, the position that the vehicle should reach after completing the lane change operation.

[0167] When determining whether a vehicle has changed lanes to the target point in the target lane, it can be determined whether the preset position on the vehicle (e.g., the center point of the vehicle, the center point of the front of the vehicle, etc.) coincides with the target point. If they coincide, it is determined that the vehicle has successfully changed lanes to the target point in the target lane.

[0168] Alternatively, it can be determined whether the preset position on the vehicle has reached the preset range corresponding to the target point. If the preset position on the vehicle has reached the preset range corresponding to the target point, then it is determined that the vehicle has successfully changed lanes to the target point in the target lane.

[0169] It should be noted that the size of the preset range is not limited in this embodiment. For example, taking the preset range corresponding to the target point as the range of ±0.07 meters around the target point, when the preset position on the vehicle reaches within ±0.07 meters around the target point, the vehicle is considered to have successfully changed lanes to the target point of the target lane.

[0170] S5043. If it is determined that the vehicle changes lanes to the target point in the target lane, then the functional test of the vehicle passing through the scenario is determined.

[0171] S505. Based on the number of scenarios that pass the functional test and the total number of test scenarios, obtain the functional test pass rate for the vehicle.

[0172] Specifically, the functional test pass rate is the ratio of the number of scenarios that pass the functional test to the total number of test scenarios.

[0173] For example, the test vehicle performed lane change tests in test scenario 1, test scenario 2... test scenario M respectively. If the test vehicle passed the functional test in m2 scenarios, then the functional test pass rate of the test vehicle is 100%.

[0174] S506. Determine whether a vehicle passes the tests based on the pass rates of functional tests and performance tests.

[0175] Specifically, a vehicle's performance test pass rate can be determined based on the performance test pass rate and the preset performance pass rate. For example, if the test vehicle's performance test pass rate is greater than or equal to the preset performance pass rate, the test vehicle is considered to have passed the performance test.

[0176] Accordingly, the pass rate of a vehicle's functional test can be compared with the preset functional pass rate to determine whether the vehicle has passed the functional test. For example, if the pass rate of a test vehicle's functional test is greater than or equal to the preset functional pass rate, the test vehicle is deemed to have passed the functional test.

[0177] Furthermore, for the same test vehicle, passing both the performance test and the functional test indicates that the vehicle has passed the test. Conversely, if the same test vehicle fails any one or both of the performance test or the functional test, the vehicle has failed the test.

[0178] It should be understood that the embodiments of this application do not impose any special limitations on the magnitude of the preset performance pass rate and the preset function pass rate.

[0179] In this embodiment of the application, the lane-changing performance of the vehicle is evaluated from different perspectives through performance testing and functional testing, which can provide more comprehensive and reliable test results, thereby comprehensively evaluating the overall performance of the vehicle during the lane-changing process and ensuring the reliability of the testing process.

[0180] refer to Figure 6 , Figure 6 This is a schematic diagram of the vehicle testing device provided in an embodiment of this application. Figure 6 As shown, the vehicle testing apparatus 600 provided in this application embodiment includes:

[0181] The acquisition module 601 is used to acquire target data of the vehicle during the process of changing lanes from the lane to the target lane in the test scenario;

[0182] The determination module 602 is used to determine whether the vehicle passes the performance test of each scenario in the test scenario, based on the target data corresponding to the scenario.

[0183] The acquisition module 601 is also used to: obtain the performance test pass rate of the vehicle based on the number of scenarios that pass the performance test and the total number of test scenarios;

[0184] The determination module 602 is also used to: determine whether the vehicle has passed the test based on the performance test pass rate.

[0185] In some optional implementations, each test scenario is provided with different types of test roads, and each type of test road is provided with different lane-changing scenarios; the lane-changing scenarios include at least one of the following: lane changing without obstacles, lane changing with obstacles.

[0186] In some alternative implementations, the target data includes: distance data and duration data;

[0187] The determination module 602 is specifically used to: determine the performance test of the vehicle passing the scenario if the difference between the distance data and the preset distance is within the preset distance range, and the difference between the duration data and the preset duration is within the preset duration range; and determine the performance test of the vehicle failing the scenario if the difference between the distance data and the preset distance is not within the preset distance range, and / or the difference between the duration data and the preset duration is not within the preset duration range.

[0188] In some alternative implementations, the distance data includes at least one of the following:

[0189] The distance the front of the vehicle moves out of lane is the longitudinal distance the vehicle travels from the start of the lane change until the front of the vehicle is completely in the target lane.

[0190] Lane change convergence distance is the longitudinal distance a vehicle travels from the start of a lane change until it fully enters the target lane.

[0191] Lane change straightening distance is the longitudinal distance traveled by a vehicle from the start of a lane change until it reaches the target point in the target lane, while the angle between the vehicle and the target lane is less than a first preset angle.

[0192] Duration data includes at least one of the following:

[0193] The lane change duration is the time it takes for the front of the vehicle to completely enter the target lane from the start of the lane change.

[0194] Lane change convergence time is the time it takes for a vehicle to fully enter the target lane from the start of the lane change.

[0195] Lane change straightening time and lane change straightening distance are the time elapsed from the start of the lane change until the vehicle reaches the target point in the target lane, and the angle between the vehicle and the target lane is less than the first preset angle.

[0196] In some optional implementations, when the lane change scenario is set as an obstacle lane change, the distance data also includes:

[0197] The stationary limit distance is the shortest distance between a vehicle and an obstacle when the vehicle is stationary before changing lanes.

[0198] In some optional implementations, the determining module 602 is specifically used to: determine the performance test of the vehicle passing through the scenario if the difference between the distance data and the preset distance is within the preset distance range, the difference between the duration data and the preset duration is within the preset duration range, and the static limit change distance is less than or equal to the preset change distance.

[0199] If at least one of the following conditions is met, the vehicle is determined to have failed the performance test in that scenario:

[0200] The difference between the distance data and the preset distance is not within the preset distance range;

[0201] The difference between the duration data and the preset duration is not within the preset duration range;

[0202] The static limit distance is greater than the preset distance.

[0203] In some optional implementations, the acquisition module 601 is further configured to: for each scenario, acquire the first time when the angle between the vehicle and the lane is greater than or equal to a second preset angle, and the first coordinates of the vehicle.

[0204] The determination module 602 is also used to: determine the first time as the time when the vehicle begins to change lanes; determine the first coordinate as the coordinate when the vehicle begins to change lanes; and determine the target data based on the first time and the first coordinate.

[0205] In some optional implementations, the determining module 602 is specifically used to: determine whether the vehicle passes the functional test for each scenario in the test scenario; obtain the functional test pass rate corresponding to the vehicle based on the number of scenarios that pass the functional test and the total number of test scenarios; and determine whether the vehicle passes the test based on the functional test pass rate and the performance test pass rate.

[0206] In some optional implementations, the determining module 602 is further configured to: for each scenario, obtain the second coordinates of the vehicle when it ends the lane change;

[0207] The determination module 602 is specifically used to: determine whether the vehicle has changed lanes to the target point in the target lane based on the second coordinate; if it is determined that the vehicle has changed lanes to the target point in the target lane, then determine the functional test of the vehicle passing through the scenario.

[0208] It should be noted that the functions performed by each module in the vehicle testing device provided in this application embodiment are similar to the technical solutions in the aforementioned corresponding method embodiments, and their implementation principles and technical effects are similar, so they will not be repeated here.

[0209] refer to Figure 7 , Figure 7This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. It should be noted that the electronic device provided in this embodiment can be either the electronic device in the actual lane-changing scenario described above, or the electronic device in the simulation test scenario described above; this embodiment does not impose any limitations.

[0210] like Figure 7 As shown, the electronic device 700 includes: at least one processor 701 ( Figure 7 Only one processor is shown in the diagram; and a memory 702 communicatively connected to at least one processor. The memory 702 stores instructions executable by at least one processor 701, which, when executed by at least one processor 701, enable the electronic device 700 to perform the technical solutions of any of the foregoing method embodiments.

[0211] Optionally, the memory 702 can be either standalone or integrated with the processor 701. The memory 702 can be implemented using any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The processor 701, coupled to the memory 702, executes the computer program in the memory 702 for performing the vehicle testing method portion of the above method embodiments.

[0212] It should be understood that the processor 701 described above can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly manifested as being executed by a hardware processor, or being executed by a combination of hardware and software modules within the processor.

[0213] Optionally, when the memory 702 is a device independent of the processor 701, the electronic device 700 further includes a bus 703 for connecting the memory 702 and the processor 701. The bus 703 can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses in the accompanying drawings are not limited to only one bus or one type of bus.

[0214] It should be noted that, Figure 7 The diagram only shows some components and does not imply that the electronic device 700 includes only these components. Figure 7 The components shown are described. In some embodiments, the electronic device 700 further includes other components such as a firewall, load balancer, communication components, and power supply components. Optionally, the electronic device 700 can be a mobile terminal, server, or other devices.

[0215] The aforementioned communication components are configured to facilitate wired or wireless communication between the device containing the communication components and other devices. The device containing the communication components can access wireless networks based on communication standards, such as WiFi, 2G, 3G, 4G / LTE, 5G, and other mobile communication networks, or combinations thereof. In one exemplary embodiment, the communication components receive broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, the communication components also include a Near Field Communication (NFC) module to facilitate short-range communication. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, Infrared Data Association (IrDA) technology, Ultra-Wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0216] It should be noted that the electronic device 700 provided in this application embodiment can execute the technical solution of any of the foregoing method embodiments, and its implementation principle and technical effect are similar, so they will not be repeated here.

[0217] Accordingly, embodiments of this application provide a vehicle, including: a front end, a body, and at least one processor and a memory;

[0218] Memory is used to store instructions that the computer executes;

[0219] At least one processor is configured to execute computer execution instructions stored in memory, such that the at least one processor performs the vehicle testing method as described in the above method embodiments.

[0220] It should be noted that the specific implementation schemes of the processor and memory can be found in the above-mentioned electronic devices, and will not be elaborated here.

[0221] Accordingly, this application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the technical solutions in any of the aforementioned method embodiments.

[0222] One example involves a storage medium coupled to a processor, enabling the processor to read information from and write information to the storage medium. Alternatively, the storage medium can be an integral part of the processor. Both the processor and the storage medium can reside in an Application Specific Integrated Circuit (ASIC). Of course, the processor and storage medium can also exist as discrete components in an electronic device.

[0223] Accordingly, this application provides a computer program product, including a computer program that, when executed by a processor, implements the technical solutions in any of the foregoing method embodiments.

[0224] Accordingly, this application also provides a chip or chip module, including: a processing module and a communication interface, wherein the processing module is capable of executing the technical solutions in the foregoing method embodiments.

[0225] Furthermore, the chip or chip module also includes a storage module (e.g., a memory), which is used to store instructions, and the processing module is used to execute the instructions stored in the storage module. The execution of the instructions stored in the storage module causes the processing module to execute the technical solution in the aforementioned method embodiment.

[0226] It should be understood that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions, and the aforementioned program can be stored in a readable memory. When the program is executed, it performs the steps of the above methods; and the aforementioned memory (storage medium) includes: read-only memory (ROM), RAM, flash memory, hard disk, solid-state hard disk, magnetic tape, floppy disk, optical disk, and any combination thereof.

[0227] This application describes embodiments with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer instruction products according to embodiments of this application. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer instructions. These computer instructions can be provided to a processing unit of a general-purpose computer, special-purpose computer, embedded processor, or other programmable terminal device to produce a machine, such that the instructions, executable by the processing unit of the computer or other programmable terminal device, create means for implementing the functions specified in one or more blocks of the flowchart illustrations and / or one or more blocks of the block diagrams.

[0228] These computer instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable terminal device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means that implement the functions specified in one or more flowcharts and / or one or more block diagrams.

[0229] These computer instructions may also be loaded onto a computer or other programmable terminal equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing steps for implementing the functions specified in one or more flowcharts and / or one or more blocks in a block diagram.

[0230] Obviously, those skilled in the art can make various modifications and variations to the embodiments of this application without departing from the spirit and scope of this application. Therefore, if these modifications and variations to the embodiments of this application fall within the scope of the claims of this application and their equivalents, this application also intends to include these modifications and variations.

[0231] In this application, the term "comprising" and its variations can refer to non-limiting inclusion; the term "or" and its variations can refer to "and / or"; the terms "first," "second," etc., are used to distinguish similar objects and do not necessarily describe a specific order or sequence; in this application, "multiple" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

Claims

1. A vehicle testing method, characterized in that, include: Acquire target data of a vehicle during a lane change from its original lane to a target lane in at least one test scenario. The target data includes distance data and duration data. For each scenario in the test scenario, based on the target data corresponding to the scenario, it is determined whether the vehicle passes the performance test of the scenario. Specifically, if the difference between the distance data and the preset distance is within the preset distance range, and the difference between the duration data and the preset duration is within the preset duration range, the vehicle passes the performance test of the scenario. If the difference between the distance data and the preset distance is not within the preset distance range, and / or the difference between the duration data and the preset duration is not within the preset duration range, the vehicle fails the performance test of the scenario. The performance test pass rate of the vehicle is obtained based on the number of scenarios in which the vehicle passes the performance test and the total number of test scenarios. Based on the performance test pass rate, determine whether the vehicle passes the test; The distance data includes the vehicle's headway departure distance, lane change convergence distance, and lane change straightening distance. The headway departure distance is the longitudinal distance traveled by the vehicle from the start of the lane change until the vehicle's headway is fully inside the target lane. The lane change convergence distance is the longitudinal distance traveled by the vehicle from the start of the lane change until the vehicle is fully inside the target lane. The lane change straightening distance is the distance traveled by the vehicle from the start of the lane change until the vehicle reaches the target point in the target lane, and the angle between the vehicle and the target lane is less than a first preset angle. The longitudinal distance traveled by the vehicle; the duration data includes the time for the vehicle to change lanes out, the time for lane change convergence, and the time for lane change straightening; the time for the vehicle to change lanes out is the time elapsed from the start of the lane change until the front of the vehicle is fully inside the target lane; the time for lane change convergence is the time elapsed from the start of the lane change until the vehicle is fully inside the target lane; the time for lane change straightening is the time elapsed from the start of the lane change until the vehicle reaches the target point in the target lane, and the angle between the vehicle and the target lane is less than the first preset angle.

2. The method according to claim 1, characterized in that, Each of the test scenarios is equipped with different types of test roads, and each type of test road is equipped with different lane-changing scenarios; The lane-changing scenarios include at least one of the following: lane changing without obstacles, and lane changing with obstacles.

3. The method according to claim 2, characterized in that, When the lane change scenario is set as lane change over an obstacle, the distance data also includes: the stationary limit lane change distance, which is the closest distance between the vehicle and the obstacle when the vehicle is stationary before the lane change; The step of determining the vehicle's performance test for the scenario based on the target data corresponding to the scenario includes: If the difference between the distance data and the preset distance is within the preset distance range, the difference between the duration data and the preset duration is within the preset duration range, and the static limit change distance is less than or equal to the preset change distance, then the vehicle's performance test in passing the scenario is determined. If at least one of the following conditions is met, the vehicle is determined to have failed the performance test for the specified scenario: The difference between the distance data and the preset distance is not within the preset distance range; The difference between the duration data and the preset duration is not within the preset duration range; The static limit deformation distance is greater than the preset deformation distance.

4. The method according to any one of claims 1 to 3, characterized in that, The step of determining whether the vehicle passes the test based on the performance test pass rate includes: For each scenario in the test scenario, determine whether the vehicle passes the functional test for that scenario; The functional test pass rate of the vehicle is obtained based on the number of scenarios in the test scenario that pass the functional test and the total number of test scenarios. Based on the pass rate of the functional test and the pass rate of the performance test, it is determined whether the vehicle passes the test.

5. A vehicle testing device, characterized in that, include: The acquisition module is used to acquire target data of a vehicle during the process of changing lanes from the original lane to the target lane in a test scenario. The target data includes distance data and duration data. The determination module is used to determine, for each scenario in the test scenario, whether the vehicle passes the performance test of the scenario based on the target data corresponding to the scenario. Specifically, if the difference between the distance data and a preset distance is within a preset distance range, and the difference between the duration data and a preset duration is within a preset duration range, the vehicle passes the performance test of the scenario. If the difference between the distance data and the preset distance is not within a preset distance range, and / or the difference between the duration data and the preset duration is not within a preset duration range, the vehicle fails the performance test of the scenario. The acquisition module is further configured to: obtain the performance test pass rate of the vehicle based on the number of scenarios that pass the performance test and the total number of test scenarios in the test scenario; The determining module is further configured to: determine whether the vehicle passes the test based on the performance test pass rate; The distance data includes the vehicle's headway departure distance, lane change convergence distance, and lane change straightening distance. The headway departure distance is the longitudinal distance traveled by the vehicle from the start of the lane change until the vehicle's headway is fully inside the target lane. The lane change convergence distance is the longitudinal distance traveled by the vehicle from the start of the lane change until the vehicle is fully inside the target lane. The lane change straightening distance is the distance traveled by the vehicle from the start of the lane change until the vehicle reaches the target point in the target lane, and the angle between the vehicle and the target lane is less than a first preset angle. The longitudinal distance traveled by the vehicle; the duration data includes the time for the vehicle to change lanes out, the time for lane change convergence, and the time for lane change straightening; the time for the vehicle to change lanes out is the time elapsed from the start of the lane change until the front of the vehicle is fully inside the target lane; the time for lane change convergence is the time elapsed from the start of the lane change until the vehicle is fully inside the target lane; the time for lane change straightening is the time elapsed from the start of the lane change until the vehicle reaches the target point in the target lane, and the angle between the vehicle and the target lane is less than the first preset angle.

6. An electronic device, characterized in that, include: At least one processor and memory; The memory stores computer-executed instructions; The at least one processor executes computer execution instructions stored in the memory, causing the at least one processor to perform the vehicle testing method as described in any one of claims 1 to 4.

7. A vehicle, characterized in that, include: The front end, the body, and at least one processor and memory; The memory stores computer-executed instructions; The at least one processor executes computer execution instructions stored in the memory, causing the at least one processor to perform the vehicle testing method as described in any one of claims 1 to 4.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, implement the vehicle testing method as described in any one of claims 1 to 4.

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