A whole vehicle automatic parking test method and test device

Abstract

The application discloses a kind of whole vehicle automatic parking test method and test equipment, the method includes by central control system monitoring measured vehicle, ground lane simulation system and the state of obstacle simulation system;The central control system controls or adjusts each simulation system according to parking test scene requirement, so that the ground lane simulation system and the obstacle simulation system simulate parking space line and parking obstacle respectively, to generate the parking test scene that meets the requirement of parking test scene;Start the automatic parking function of measured vehicle, so that measured vehicle carries out automatic parking test in parking test scene.The method of the application can facilitate the parking test scene switching and reproduction when whole vehicle carries out automatic parking test.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic parking, in particular to a whole vehicle automatic parking test method and test equipment. BACKGROUND

[0002] Currently, there are two test methods for automatic parking function test:

[0003] The first one is controller level parking function verification, which simulates parking scenarios through related equipment to verify the parking software function of the controller, such as hardware-in-the-loop test of the controller.

[0004] The second one is whole vehicle level parking function test, such as actual parking space scene test.

[0005] Among them, the whole vehicle parking is tested through actual parking space scene, which has the following problems:

[0006] 1) The parking scene arrangement is time-consuming, the scene switching is not convenient, and the test efficiency is affected;

[0007] 2) The parking test scene is not easy to maintain and reproduce, which affects the verification of the parking scheme;

[0008] 3) The parking scene is not rich enough to support more customized scenes;

[0009] 4) The more actual space is occupied by the real vehicle parking scene. SUMMARY

[0010] The present application aims to provide a whole vehicle automatic parking test method and test equipment, which facilitates the parking test scene switching and reproduction of the whole vehicle during automatic parking test.

[0011] To achieve the above purpose, the present application provides the following technical scheme:

[0012] In the first aspect, the present application provides a whole vehicle automatic parking test method, which comprises:

[0013] Monitoring the state of the measured vehicle, the ground lane simulation system and the obstacle simulation system through the central control system;

[0014] The central control system controls or adjusts each simulation system according to the requirements of the parking test scene, so that the ground lane simulation system and the obstacle simulation system simulate the parking space line and the parking obstacle respectively, to generate a parking test scene that meets the requirements of the parking test scene;

[0015] Turning on the automatic parking function of the measured vehicle, so that the measured vehicle performs automatic parking test in the parking test scene.

[0016] In a second aspect, the embodiments of the present application provide a vehicle automatic parking test device, the test device comprising: a central control system, a ground lane simulation system and an obstacle simulation system,

[0017] The central control system is configured to monitor the states of the vehicle under test, the ground lane simulation system and the obstacle simulation system, and send control instructions or adjustment instructions to each simulation system according to the requirements of a parking test scenario, so as to generate a parking test scenario meeting the requirements of the parking test scenario.

[0018] The ground lane simulation system is configured to receive the control instructions or adjustment instructions from the central control system, and simulate a parking lane according to the control instructions or adjustment instructions.

[0019] The obstacle simulation system is configured to receive the control instructions or adjustment instructions from the central control system, and simulate an obstacle according to the control instructions or adjustment instructions.

[0020] Further, the test device comprises a road simulation system,

[0021] The road simulation system is configured to support the wheels of the vehicle under test, so that the wheels can be steered and rotated.

[0022] The central control system comprises a central control unit and a sensor,

[0023] The sensor is configured to monitor the state information of the vehicle under test, the ground lane simulation system and the obstacle simulation system, and send the state information to the central control unit.

[0024] The central control unit is configured to control the ground lane simulation system, the obstacle simulation system and the road simulation system to work according to the requirements of the parking test scenario, and to adjust each system in real time according to the received state information, so as to generate a parking test scenario meeting the requirements of the parking test scenario.

[0025] In a third aspect, the embodiments of the present application further provide an electronic device comprising a memory, a processor and a computer program stored in the memory, wherein the processor executes the computer program or instructions to implement the steps of the vehicle automatic parking test method.

[0026] In a fourth aspect, the embodiments of the present application further provide a computer storage medium, wherein the computer storage medium stores a computer program or instructions, and the computer program or instructions are executed by a processor to implement the steps of the vehicle automatic parking test method.

[0027] In a fifth aspect, the embodiments of the present application further provide a computer program product comprising a computer program or instructions, and the computer program or instructions are executed by a processor to implement the steps of the vehicle automatic parking test method.

[0028] The technical effects and advantages of this invention are as follows: The testing equipment of this application is set up in an indoor environment. The road simulation system, obstacle simulation system, and ground lane simulation system are all monitored through a central control system. When parking scenario requirements are input, the central control system quickly generates and sets parameters, rapidly configuring the ground lane simulation system, obstacle simulation system, and road simulation system respectively, and quickly generating a customized parking test scenario indoors. Furthermore, the parameters of this scenario can be stored and quickly recalled through the central control system for the reproduction of parking test scenarios. As long as the input parking scenario requirements are sufficiently rich, the testing equipment of this application can create richer parking scenarios in a relatively small indoor environment, thus replacing actual parking scenarios that require a large amount of outdoor space indoors.

[0029] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures pointed out in the description, claims and drawings. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 This is a flowchart of a vehicle automatic parking test method according to an embodiment of the present invention;

[0032] Figure 2 This is a schematic diagram of the absolute coordinate system X0Y and the relative coordinate system X101Y1 in an embodiment of the present invention;

[0033] Figure 3 This is a schematic diagram a of the structural composition of an automatic parking test device for a whole vehicle according to an embodiment of the present invention;

[0034] Figure 4 This is a schematic diagram a of a vehicle automatic parking test device according to an embodiment of the present invention;

[0035] Figure 5 This is a schematic diagram (b) illustrating the structural composition of an automatic parking test device for a whole vehicle according to an embodiment of the present invention;

[0036] Figure 6 This is a schematic diagram (b) of a vehicle automatic parking test device according to an embodiment of the present invention;

[0037] Figure 7 Fig. 1 is a structural schematic diagram of an electronic device according to an embodiment of the present application;

[0038] Figure 8 Fig. 2 is a test flowchart of a whole vehicle automatic parking test according to an embodiment of the present application;

[0039] Figure 9 Fig. 3 is a test flowchart of a whole vehicle automatic parking test according to an embodiment of the present application. DETAILED DESCRIPTION

[0040] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0041] To solve the problems in the prior art, the embodiments of the present application disclose a whole vehicle automatic parking test method, as shown in Fig. 2, comprising the following steps: Figure 1

[0042] Step S1: monitoring the states of a vehicle to be tested, a ground lane simulation system and an obstacle simulation system by a central control system;

[0043] Step S2: controlling or adjusting each simulation system according to the requirements of a parking test scene by the central control system, so that the ground lane simulation system and the obstacle simulation system simulate a parking space line and a parking obstacle respectively to generate a parking test scene meeting the requirements of the parking test scene;

[0044] Step S3: starting an automatic parking function of the vehicle to be tested, so that the vehicle to be tested performs an automatic parking test in the parking test scene.

[0045] In some specific embodiments, step S1: monitoring the states of the vehicle to be tested, the ground lane simulation system and the obstacle simulation system by the central control system, specifically comprises:

[0046] In addition to the ground lane simulation system and the obstacle simulation system, the simulation system also comprises a road simulation system;

[0047] The central control system comprises a central control unit and a sensor, the central control system monitors various states of the vehicle to be tested, the road simulation system, the obstacle simulation system and the ground lane simulation system by the sensor; the central control system controls or adjusts the work of each simulation system by the central control unit.

[0048] ​The ground lane simulation system is used for simulating a parking space line, and provides a parking space line for a tested vehicle during a parking test. The ground lane simulation system can be used to adjust the shape, position, color, etc. of the parking space in real time.

[0049] The ground lane simulation system includes a display screen or a projection screen or any device for displaying a parking space line. The ground lane simulation system displays the simulated parking space line by using the display screen or the projection screen. For example, the display screen can be installed on the ground, and the display screen needs to be reinforced to avoid being cracked by the tested vehicle. The projection screen can also be installed on the ground, and the projector needs to be installed on the roof.

[0050] The parking space line includes a clear and complete parking space line, a clear and incomplete parking space line, a blurred and complete parking space line, and a blurred and incomplete parking space line.

[0051] The obstacle simulation system includes a group of various types of obstacle models and supports. The obstacle models are fixedly connected with the supports, and are moved by hoisting. After the central control system sends a control instruction to the obstacle simulation system, the obstacle simulation system controls the supports to hoist the obstacle models to move around the tested vehicle, so as to simulate parking obstacles.

[0052] The obstacle models can be used to simulate various static and dynamic parking obstacles, including vehicles, persons, animals, fences, and columns. The size and shape of the obstacle models are consistent with those of real obstacles. The surface of the obstacle models is coated with a visible light reflecting material, which can support pure visual camera recognition and laser radar recognition.

[0053] The surface of the obstacle models is coated with an ultrasonic wave reflecting material or a millimeter wave reflecting material, which can support ultrasonic wave radar and millimeter wave radar recognition.

[0054] The obstacle models are further provided with a heating resistor inside. The heating resistor can simulate infrared emission, which can support infrared camera recognition.

[0055] The moving direction of the obstacle models includes an X-axis direction, a Y-axis direction, and a Z-axis direction. The X-axis direction and the Y-axis direction can simulate planar motion, such as the motion of persons and objects on the ground. The Z-axis direction can simulate the height position, such as the protruding objects in space (exhaust pipe connected to the roof, etc.).

[0056] The road simulation system is used for supporting the wheels of the tested vehicle, and can support the steering and rotation of the wheels. The road simulation system can support the test of vehicles with different numbers of wheels, including 2 wheels, 4 wheels, 6 wheels, 8 wheels, etc. Generally, the road simulation system includes, but is not limited to, a roller, a chassis dynamometer, and a spherical ball.

[0057] In some specific embodiments, the state of the vehicle under test comprises vehicle speed or wheel speed, wheel steering, and vehicle position;

[0058] The road simulation system comprises rotation speed and steering;

[0059] The state of the obstacle simulation system comprises the position and temperature of the parking obstacle;

[0060] The state of the ground lane simulation system comprises the position, shape, and color of the parking space line.

[0061] In some specific embodiments, step S2: the central control system controls or adjusts each simulation system according to the requirements of the parking test scene, so that the ground lane simulation system and the obstacle simulation system simulate the parking space line and the parking obstacle respectively, to generate a parking test scene that meets the requirements of the parking test scene; comprises the following contents:

[0062] The requirements of the parking test scene are input into the central control system, and the central control system decomposes the requirements of the parking test scene to obtain scene ground requirements, obstacle requirements, and road requirements;

[0063] The central control unit in the central control system generates corresponding control instructions or adjustment instructions according to the scene ground requirements, obstacle requirements, and road requirements, and sends them to each simulation system, to realize control or real-time adjustment of the ground lane simulation system, the obstacle simulation system, and the road simulation system, and generate a parking test scene that meets the requirements of the parking test scene;

[0064] Wherein, after receiving the control instructions or adjustment instructions, the ground lane simulation system displays the parking space line on the ground according to the control instructions or adjustment instructions; the obstacle simulation system moves the obstacle model to the specified position according to the control instructions or adjustment instructions, and the distance between the obstacle model and the parking space line is a predetermined distance.

[0065] In the embodiments of the present application, the function of the road simulation system can be selected to be deleted or retained according to actual needs; that is, the user can select the following two situations of the parking test scene:

[0066] (1) In the case that the vehicle under test is stationary and the parking test scene changes in real time, the automatic parking function test of the whole vehicle is carried out;

[0067] (2) In the case that the parking test scene is stationary and the vehicle under test is moving, the automatic parking function test of the whole vehicle is carried out.

[0068] In some specific embodiments, after generating a parking test scene that meets the requirements of the parking test scene, the central control system can store the parameters of the parking test scene;

[0069] The central control system controls the ground lane simulation system, the obstacle simulation system and the road simulation system according to the stored parking test scene parameters, so as to realize calling or reproducing the corresponding parking test scene at any time.

[0070] In some specific embodiments, during the automatic parking test process in step S3, the positional relationship between the parking space line and the parking obstacle and the measured vehicle includes:

[0071] (1) Taking the wheel of the measured vehicle as the coordinate origin 0 and establishing an absolute coordinate system X0Y with the driving direction of the measured vehicle as the positive direction of the Y axis, and taking the center of the parking obstacle as the coordinate origin 01 to establish a relative coordinate system X101Y1, the initial coordinates of the coordinate origin 01 in the absolute coordinate system X0Y are (0X1, 0Y1), and the angle between the 01X1 axis and the 0X axis is θ1;

[0072] When the rotation angle of the wheel of the measured vehicle is α and the wheel speed is v, the new coordinates of the coordinate origin 01 in the absolute coordinate system X0Y after time t are (0X'1, 0Y'1), and the angle between the 01X1 axis and the 0X axis at this time is θ'1; wherein the new coordinates (0X'1, 0Y'1) and the angle θ'1 are respectively:

[0073] 0X'1=f1(0X1、0Y1、θ1、α、v、t),

[0074] 0Y'1=f2(0X1、0Y1、θ1、α、v、t),

[0075] θ'1=f3(0X1、0Y1、θ1、α、v、t),

[0076] wherein f1 represents a first horizontal coordinate conversion function, f2 represents a first vertical coordinate conversion function, and f3 represents a first angle conversion function; 0X1 represents the initial horizontal coordinate value of the coordinate origin 01 in the absolute coordinate system X0Y, and 0Y1 represents the initial vertical coordinate value of the coordinate origin 01 in the absolute coordinate system X0Y.

[0077] When the parking obstacle and the wheel of the measured vehicle have a relative independent additional motion, after time t, the parking obstacle is independently displaced in the X axis and the Y axis in the opposite direction relative to the wheel of the measured vehicle, and the independent rotation angle is θ m , m , m , then the new coordinates of the coordinate origin 01 in the absolute coordinate system X0Y are (0X"1, 0Y"1), and the angle between the 01X1 axis and the 0X axis at this time is θ"1; wherein the new coordinates (0X"1, 0Y"1) and the angle θ"1 are respectively:

[0078] 0X"1=f1(0X1、0Y1、θ1、α、v、t)+Xm ,

[0079] 0Y"1=f2(0X1, 0Y1, θ1, α, v, t) + Y m ,

[0080] θ"1=f3(0X1, 0Y1, θ1, α, v, t) + θ m ;

[0081] In the formula, f1 represents the first horizontal coordinate conversion function, f2 represents the first vertical coordinate conversion function, and f3 represents the first angle conversion function; 0X1 represents the initial horizontal coordinate value of the coordinate origin 01 in the absolute coordinate system X0Y, and 0Y1 represents the initial vertical coordinate value of the coordinate origin 01 in the absolute coordinate system X0Y.

[0082] (2) As shown in Figure 2 , the wheel of the measured vehicle is taken as the coordinate origin 0, and the absolute coordinate system X0Y is established with the driving direction of the measured vehicle as the positive direction of the Y axis; a point in the parking space line is taken as the coordinate origin 02 to establish the relative coordinate system X202Y2, and the initial coordinates of the coordinate origin 02 in the absolute coordinate system X0Y are (0X2, 0Y2), and the angle between the 02X2 axis and the 0X axis is θ2.

[0083] When the rotation angle of the wheel of the measured vehicle is α and the wheel speed is v, the new coordinates of the coordinate origin 02 in the absolute coordinate system X0Y after time t are (0X'2, 0Y'2), and the angle between the 02X2 axis and the 0X axis at this time is θ'2; wherein the new coordinates (0X'2, 0Y'2) and the angle θ'2 are respectively:

[0084] 0X'2=g1(0X2, 0Y2, θ2, α, v, t),

[0085] 0Y'2=g2(0X2, 0Y2, θ2, α, v, t),

[0086] θ'2=g3(0X2, 0Y2, θ2, α, v, t),

[0087] In the formula, g1 represents the second horizontal coordinate conversion function, g2 represents the second vertical coordinate conversion function, g3 represents the second angle conversion function, 0X2 represents the initial horizontal coordinate value of the coordinate origin 02 in the absolute coordinate system X0Y, and 0Y2 represents the initial vertical coordinate value of the coordinate origin 02 in the absolute coordinate system X0Y.

[0088] The embodiment of the application also discloses a whole vehicle automatic parking test device, as shown in Figure 3 and Figure 4 , the test device comprises a central control system, a ground lane simulation system and an obstacle simulation system,

[0089] The central control system is configured to monitor the states of the vehicle under test, the ground lane simulation system, and the obstacle simulation system, and send control instructions or adjustment instructions to the respective simulation systems according to the requirements of the parking test scene, so as to generate a parking test scene meeting the requirements of the parking test scene.

[0090] The ground lane simulation system is configured to receive the control instructions or adjustment instructions from the central control system, and simulate the parking space lines according to the control instructions or adjustment instructions.

[0091] The obstacle simulation system is configured to receive the control instructions or adjustment instructions from the central control system, and simulate the obstacles according to the control instructions or adjustment instructions.

[0092] In some specific embodiments, as shown in Figure 5 The test device further comprises a road simulation system,

[0093] The road simulation system is configured to support the wheels of the vehicle under test, so that the wheels can be steered and rotated.

[0094] As shown in Figure 6 The central control system comprises a central control unit and sensors, the sensors being configured to monitor the state information of the vehicle under test, the ground lane simulation system, and the obstacle simulation system, and send the state information to the central control unit.

[0095] The central control unit is configured to control the ground lane simulation system, the obstacle simulation system, and the road simulation system to work according to the requirements of the parking test scene, and to adjust the respective systems in real time according to the received state information, so as to generate a parking test scene meeting the requirements of the parking test scene.

[0096] The system in the embodiments, wherein the specific manner in which each unit module performs the operation has been described in detail in the embodiments of the method, and will not be described in detail here.

[0097] Based on the same inventive concept, the embodiments of the present application further provide an electronic device, as shown in Figure 7 The electronic device comprises a memory, a processor, and a computer program stored in the memory, and the processor executes the computer program or instructions to implement the aforementioned whole vehicle automatic parking test method.

[0098] Based on the same inventive concept, the embodiments of the present application further provide a computer storage medium, which stores a computer program or instructions, and the computer program or instructions are executed by a processor to implement the steps of the aforementioned whole vehicle automatic parking test method.

[0099] Based on the same inventive concept, embodiments of the present invention also provide a computer program product, including a computer program or instructions, which, when executed by a processor, implement the steps of the aforementioned automatic parking test method for a whole vehicle.

[0100] Automatic parking test example 1:

[0101] like Figure 5 As shown, when the vehicle automatic parking test equipment includes a central control system, a ground lane simulation system, an obstacle simulation system, and a road simulation system, i.e., when the vehicle is stationary and the parking test scenario changes in real time, the vehicle automatic parking function test is carried out; for example... Figure 8 The specific steps are as follows:

[0102] First, the drive wheel of the wheel under test is placed on the road simulation system. Then, the parking scenario requirements are input into the central control system. The central control system decomposes the parking scenario requirements into scenario ground requirements, obstacle requirements, and road requirements, and controls the ground lane simulation system, obstacle simulation system, and road simulation system respectively according to each requirement.

[0103] The central control system displays parking lines on the ground by controlling the ground lane simulation system, and manipulates the obstacle simulation system to move the support to the designated position at a certain distance from the parking line, thus initially forming a parking test scenario.

[0104] The test personnel then drove the test vehicle and activated the automatic parking function. The test vehicle automatically controlled the steering and speed of the vehicle wheels according to the parking space lines and nearby obstacles.

[0105] like Figure 6 As shown, the central control system can monitor wheel speed, wheel steering, vehicle position, parking obstacle position, parking obstacle temperature, parking space line position, and parking space line shape through sensors. The central control system uses the central controller unit to perform real-time calculations and control the ground lane simulation system and obstacle simulation system to make real-time adjustments to the parking space line position and parking obstacle position.

[0106] Through the above process, the test vehicle can remain stationary in its original position, but the positions of the parking space lines and parking obstacles around the test vehicle change with the wheel direction and wheel speed, thus ultimately verifying the automatic parking function of the whole vehicle.

[0107] In Example 1, only the vehicle under test and the road simulation system are stationary in the absolute coordinate system; the parking space lines and parking obstacles are in motion, and their trajectories need to be adjusted and changed in real time according to the wheel speed, wheel steering, time, etc. of the vehicle under test.

[0108] Automatic parking test example 2:

[0109] like Figure 3 As shown, the automatic parking test equipment includes a central control system, a ground lane simulation system, and an obstacle simulation system. The automatic parking function test is conducted when the parking test scenario is static and the vehicle under test is moving. Specific operations are as follows: Figure 9 As shown:

[0110] The parking scenario requirements are input into the central control system, which decomposes them into scenario ground requirements and obstacle requirements, and controls the ground lane simulation system and obstacle simulation system respectively according to each requirement.

[0111] like Figure 4 As shown, the central control system displays parking lines on the ground by controlling the ground lane simulation system, and manipulates the obstacle simulation system to move the support to the designated position, which is a certain distance away from the parking space line, thus initially forming a parking test scenario.

[0112] The test personnel then drove the test vehicle and activated the automatic parking function. The test vehicle automatically controlled the steering and speed of the vehicle wheels according to the parking space lines and nearby obstacles; ultimately, the automatic parking function of the whole vehicle was verified.

[0113] Therefore, in Example 2, the parking test scenario includes parking space lines and parking obstacles. In the absolute coordinate system, the parking space lines and parking obstacles are completely stationary, and only the vehicle under test is moving.

[0114] The testing equipment of this application is set up in an indoor environment. The road simulation system, obstacle simulation system, and ground lane simulation system are all monitored through a central control system. When parking scenario requirements are input, the central control system quickly generates and sets parameters, rapidly configuring the ground lane simulation system, obstacle simulation system, and road simulation system respectively, and quickly generating a custom parking test scenario indoors. The parameters of this scenario can be stored and quickly recalled through the central control system for the reproduction of parking test scenarios. As long as the input parking scenario requirements are sufficiently rich, the testing equipment of this application can create richer parking scenarios in a relatively small indoor environment, thus replacing actual parking scenarios that require a large amount of outdoor space.

[0115] Finally, it should be noted that the above only describes the preferred embodiments of the present application and is not intended to limit the present application. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art will appreciate that the technical solutions described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalent features, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for testing automatic parking of a vehicle, characterized in that, The testing method includes: The central control system monitors the status of the tested vehicle, the ground lane simulation system, and the obstacle simulation system. The status of the tested vehicle includes vehicle speed or wheel speed, wheel steering, and vehicle position. The status of the obstacle simulation system includes the position and temperature of parking obstacles. The status of the ground lane simulation system includes the position, shape, and color of parking space lines. The central control system controls or adjusts each simulation system according to the requirements of the parking test scenario, so that the ground lane simulation system and the obstacle simulation system simulate parking space lines and parking obstacles respectively, in order to generate a parking test scenario that meets the requirements of the parking test scenario. Enable the automatic parking function of the vehicle under test, and enable the vehicle under test to perform automatic parking tests in the parking test scenario. in, The testing method further includes: using a road simulation system to support the wheels of the vehicle under test, enabling the wheels to steer and rotate; and monitoring the status of the road simulation system through the central control system; wherein, the road simulation system supports vehicle testing with multiple numbers of wheels, and the status of the road simulation system includes speed and steering. The process of generating a parking test scenario that meets the requirements includes: inputting the parking test scenario requirements into a central control system; the central control system decomposing the parking test scenario requirements to obtain scenario ground requirements, obstacle requirements, and road requirements; the central control system controlling a ground lane simulation system to display parking space lines on the ground according to the scenario ground requirements; and the central control system controlling an obstacle simulation system to simulate the movement of parking obstacles according to the obstacle requirements, with a predetermined distance between the parking obstacles and the parking space lines. The testing method further includes: after generating a parking test scenario that meets the requirements of the parking test scenario, the central control system stores the parking test scenario parameters; the central control system controls the ground lane simulation system, obstacle simulation system and road simulation system according to the stored parking test scenario parameters, so as to realize the recall or reproduction of the corresponding parking test scenario at any time.

2. The method for testing automatic parking of a vehicle according to claim 1, characterized in that, The ground lane simulation system includes a display screen or projection screen, which displays simulated parking space lines. The parking space lines include: clear and complete parking space lines, clear and incomplete parking space lines, blurry and complete parking space lines, and blurry and incomplete parking space lines.

3. The method for testing automatic parking of a vehicle according to claim 1, characterized in that, The central control system controls the obstacle simulation system to simulate the movement of parking obstacles according to obstacle requirements, including: The obstacle simulation system includes various types of obstacle models and supports, with the obstacle models and supports fixedly connected. The central control system sends control commands to the obstacle simulation system according to the obstacle requirements. After receiving the control commands, the obstacle simulation system uses supports to hoist the obstacle model and move it near the vehicle under test to simulate the movement of parking obstacles. The movement directions of the obstacle model include the X-axis direction, the Y-axis direction, and the Z-axis direction; The parking obstacles simulated using obstacle models include static parking obstacles and dynamic parking obstacles, and the size and shape of the obstacle models are consistent with the real obstacles.

4. The method for testing automatic parking of a vehicle according to claim 3, characterized in that, During automatic parking testing, the positional relationship between the parking space lines, parking obstacles, and the vehicle under test includes: The wheels of the vehicle under test are used as the origin 0, and an absolute coordinate system X0Y is established with the direction of travel of the vehicle under test as the positive Y-axis; the center of the parking obstacle is used as the origin. Establish a relative coordinate system X101Y1. Then, the initial coordinates of the origin O1 in the absolute coordinate system X0Y are (0X1, 0Y1), and the angle between the 01X1 axis and the 0X axis is... ; When the rotation angle of the wheels of the vehicle being tested is Wheel speed is Time, after Back coordinate origin The new coordinates in the absolute coordinate system X0Y are: At this time, the angle between the 01X1 axis and the 0X axis is Among them, the new coordinates and included angle They are respectively: ， ， ， In the formula, This represents the function for transforming the first x-coordinate. This represents the transformation function for the first ordinate. This represents the transformation function for the first included angle; This represents the initial x-coordinate of the origin 01 in the absolute coordinate system X0Y. This represents the initial ordinate value of the origin O1 in the absolute coordinate system X0Y; When there is relatively independent additional motion between the parking obstacle and the wheels of the tested vehicle, the time elapsed... The obstacle behind the vehicle is independently displaced in opposite directions along the X and Y axes relative to the wheels of the vehicle being tested. , And the independent rotation angle is Then the origin of the coordinate system The new coordinates in the absolute coordinate system X0Y are: At this time, the angle between the 01X1 axis and the 0X axis is Among them, the new coordinates and included angle They are respectively: ， ， ； The wheels of the vehicle under test are used as the origin 0, and an absolute coordinate system X0Y is established with the direction of travel of the vehicle under test as the positive Y-axis; a point in the parking space line is used as the origin. Establish a relative coordinate system Then the origin of the coordinate system The initial coordinates in the absolute coordinate system X0Y are (0X2, 0Y2), and the angle between the 02X2 axis and the 0X axis is... ; When the rotation angle of the wheels of the vehicle being tested is Wheel speed is Time, after Back coordinate origin The new coordinates in the absolute coordinate system X0Y are: At this time, the angle between the 02X2 axis and the 0X axis is Among them, the new coordinates and included angle They are respectively: ， ， ， In the formula, This represents the function for transforming the second x-axis. This represents the transformation function for the second ordinate. This represents the transformation function for the second included angle. Represents the origin of the coordinate system The initial x-coordinate value in the absolute coordinate system X0Y Represents the origin of the coordinate system The initial ordinate value in the absolute coordinate system X0Y.

5. A vehicle automatic parking test device, characterized in that, The testing equipment includes: a central control system, a ground lane simulation system, and an obstacle simulation system. The central control system monitors the status of the vehicle under test, the ground lane simulation system, and the obstacle simulation system, and sends control or adjustment commands to each simulation system according to the requirements of the parking test scenario to generate a parking test scenario that meets the requirements of the parking test scenario. The status of the vehicle under test includes vehicle speed or wheel speed, wheel steering, and vehicle position; the status of the obstacle simulation system includes the position and temperature of parking obstacles; and the status of the ground lane simulation system includes the position, shape, and color of parking space lines. The ground lane simulation system is used to receive control commands or adjustment commands from the central control system and to simulate parking space lines according to the control commands or adjustment commands. The obstacle simulation system is used to receive control commands or adjustment commands from the central control system and simulate obstacles according to the control commands or adjustment commands. in, The testing equipment includes a road simulation system, which supports the wheels of the vehicle under test, enabling the wheels to steer and rotate; wherein, the road simulation system supports vehicle testing with various numbers of wheels; The central control system is used to monitor the status of the road simulation system, including its speed and steering. The process of generating a parking test scenario that meets the requirements includes: inputting the parking test scenario requirements into a central control system; the central control system decomposing the parking test scenario requirements to obtain scenario ground requirements, obstacle requirements, and road requirements; the central control system controlling a ground lane simulation system to display parking space lines on the ground according to the scenario ground requirements; and the central control system controlling an obstacle simulation system to simulate the movement of parking obstacles according to the obstacle requirements, with a predetermined distance between the parking obstacles and the parking space lines. After generating a parking test scenario that meets the requirements of the parking test scenario, the central control system stores the parking test scenario parameters. The central control system controls the ground lane simulation system, obstacle simulation system and road simulation system according to the stored parking test scenario parameters, so as to call up or reproduce the corresponding parking test scenario at any time.

6. The automatic parking test equipment for a whole vehicle according to claim 5, characterized in that, The testing equipment includes a road simulation system. The road simulation system is used to support the wheels of the vehicle under test, enabling the wheels to steer and rotate. The central control system includes a central control unit and sensors. The sensors are used to monitor the status information of the tested vehicle, the ground lane simulation system, the road simulation system, and the obstacle simulation system, and send the information to the central control unit. The central control unit is used to control the ground lane simulation system, obstacle simulation system, and road simulation system to work according to the requirements of the parking test scenario, and to make real-time adjustments to each system based on the received status information to generate a parking test scenario that meets the requirements of the parking test scenario.

Images