An online truth value evaluation system and method for an intelligent speed assistance system

Abstract

The present invention discloses an online truth value evaluation system and method for an intelligent speed assistance system, and relates to the field of intelligent transportation technology. An online truth value evaluation system for an intelligent speed assistance system includes an image sensor module, a combined inertial navigation module, a processing and display module, a communication module, and an online evaluation software module. An online truth value evaluation method for an intelligent speed assistance system includes S100, preparation; S200, creating a test; S300, sensor configuration; S400, truth value evaluation; S500, data statistics; S600, data export. The present invention provides a scientific and reliable basis for the performance evaluation of an intelligent speed assistance ISA system, timely discovers problems existing in the system, and provides data support for subsequent optimization and improvement.

Description

Technical Field

[0001] The present invention relates to the field of intelligent transportation technology, and in particular to an online truth value evaluation system for an intelligent speed assistance system. Background Art

[0002] The Intelligent Speed ​​Assistance (ISA) system is an advanced driver assistance technology that uses various sensors and algorithms to monitor the vehicle's speed and the current road speed limit in real time, and based on this information, provides speed recommendations to the driver or directly intervenes in the vehicle's speed to prevent speeding. It is designed to help drivers comply with speed limits and improve road safety.

[0003] Intelligent speed assistance systems are an important part of modern automotive safety technology. With the development of intelligent networking and autonomous driving technologies, the application of such systems will become more and more extensive, bringing positive impacts to driving safety and traffic management. As countries' regulations on vehicle speed control become increasingly stringent, ISA-related regulations have been rapidly promoted, especially in the EU, where EU 2021 / 1958 requires all new cars to be equipped with ISA systems.

[0004] At present, the true value evaluation of ISA systems mainly relies on laboratory tests and simulations. Although they can reflect the theoretical performance of the system to a certain extent, it is difficult to fully and realistically simulate the complex situations in the actual driving environment. For example, laboratory tests often cannot cover all possible weather conditions, road types, and driving behaviors, while simulations are limited by the accuracy of the model and computing resources. In addition, the evaluation methods of existing technologies mostly focus on a single performance indicator, such as recognition accuracy or response time, and lack a comprehensive evaluation system.

[0005] Therefore, technicians in this field are committed to developing an online truth value evaluation system and method for an intelligent speed assistance system. Summary of the invention

[0006] In view of the above-mentioned defects of the prior art, the technical problem to be solved by the present invention is how to provide a scientific and reliable basis for the performance evaluation of the intelligent speed assisted ISA system, timely discover the problems existing in the system, and provide data support for subsequent optimization and improvement.

[0007] In one embodiment of the present invention, an online truth value evaluation system for an intelligent speed assistance system is provided, comprising:

[0008] Image sensor module, collecting road information and vehicle dashboard information;

[0009] Combined inertial navigation module, integrating the navigation technology of satellite positioning system and inertial measurement system, fusing the outputs of both to provide vehicle positioning and attitude information;

[0010] The processing and display module receives and processes the output data of the image sensor module and the combined inertial navigation module, and runs the online evaluation software module;

[0011] The communication module is responsible for the data communication between the image sensor module, the combined inertial navigation module and the processing and display module;

[0012] The online evaluation software module runs in the processing and display module, analyzes the intelligent speed assistance system, and performs true value evaluation and result display;

[0013] The image sensor module and the combined inertial navigation module communicate data with the processing and display module through the communication module respectively, and the online evaluation software module runs in the processing and display module.

[0014] Optionally, in the online truth value judgment system of the intelligent speed assistance system in the above embodiment, the image sensor module uses an industrial camera.

[0015] Furthermore, in the online truth value evaluation system of the intelligent speed assistance system in the above embodiment, the industrial camera includes an extravehicular camera and an in-cabin camera. The extravehicular camera is installed on the inside of the vehicle's front windshield to capture road information; the in-cabin camera is installed above the dashboard to capture vehicle dashboard information.

[0016] Furthermore, in the online truth value evaluation system of the intelligent speed assistance system in the above embodiment, the road information includes speed limit signs, road scenes, and traffic lights.

[0017] Furthermore, in the online truth value evaluation system of the intelligent speed assistance system in the above embodiment, the vehicle dashboard information includes the vehicle speed and the speed limit sign detection value.

[0018] Furthermore, in the online truth value judgment system of the intelligent speed assistance system in the above embodiment, the image sensor module also includes an industrial camera bracket, which connects and fixes the external camera and the internal camera to ensure the shooting angle and stability.

[0019] Optionally, in the online truth value evaluation system of the intelligent speed assistance system in any of the above embodiments, the combined inertial navigation module includes a satellite positioning system (GNSS) and an inertial navigation system (INS).

[0020] Optionally, in the online truth value evaluation system of the intelligent speed assistance system in any of the above embodiments, the processing and display module uses a laptop computer.

[0021] Optionally, in the online truth value evaluation system of the intelligent speed assistance system in any of the above embodiments, the communication module uses wired communication.

[0022] Furthermore, in the online truth value evaluation system of the intelligent speed assistance system in the above embodiment, wired communication uses a USB interface for communication, the extravehicular camera and the intravehicular camera use a USB interface to communicate with the processing and display module, and the combined inertial navigation module uses a USB interface to communicate with the processing and display module.

[0023] Optionally, in the online truth value judgment system of the intelligent speed assistance system in any of the above embodiments, the online judgment software module is based on the front-end page and the back-end database structure.

[0024] Furthermore, in the online truth value judgment system of the intelligent speed assistance system in the above embodiment, the online judgment software module records the marking point information in the test section, that is, the moment when the speed limit sign is about to disappear in the field of view of the extravehicular camera, and the speed limit sign detection value corresponding to the marking point, that is, the prompt information of the ISA system in the dashboard.

[0025] Optionally, in the online truth value judgment system of the intelligent speed assistance system in any of the above embodiments, the functions of the online judgment software module include:

[0026] Test creation: enter the test name, tester and data storage path, select the test country, and make and save the test plan;

[0027] Sensor configuration: automatically identify and configure image sensor module parameters, and automatically identify and configure the address of the combined inertial navigation module;

[0028] True value judgment, record and store the punctuation information during the test;

[0029] Data statistics: view the dimensions and results of the multi-dimensional data statistics of the test;

[0030] Data playback: playback the video data of the external camera and the internal camera 5 seconds before and after each marking point, and view the corresponding marking point information;

[0031] Data export: export the test report of this test in the specified format for further analysis of the operation of the ISA system in the test country.

[0032] Furthermore, in the online truth value judgment system of the intelligent speed assistance system in the above embodiment, the test plan includes the test name, test time, tester, test country, and data storage path.

[0033] Optionally, in the online truth value evaluation system of the intelligent speed assistance system in any of the above embodiments, test creation also includes automatically matching and displaying the speed limit sign legend and the speed limit sign true value in the laws and regulations of the test country, the speed limit sign legend is a graphic representation of different speed limit signs, and the speed limit sign true value is the speed limit value represented by the speed limit sign legend.

[0034] Furthermore, in the online truth value judgment system of the intelligent speed assistance system in the above embodiment, the image sensor module parameters include the name, address, resolution, pixel format and frame rate of the image sensor.

[0035] Furthermore, in the online truth value evaluation system of the intelligent speed assistance system in the above embodiment, the marking point information includes road information in the external camera image, vehicle dashboard information in the internal camera image, timestamp and GPS coordinate information.

[0036] Furthermore, in the online truth value evaluation system of the intelligent speed assistance system in the above embodiment, the road information includes speed limit signs, road scenes, and traffic lights.

[0037] Furthermore, in the online truth value evaluation system of the intelligent speed assistance system in the above embodiment, the vehicle dashboard information includes the vehicle speed and the speed limit sign detection value.

[0038] Furthermore, in the online truth value judgment system of the intelligent speed assistance system in the above embodiment, the results of multi-dimensional data statistics include the number of speed limit sign appearances, mileage, driving time and truth value judgment KPI.

[0039] Furthermore, in the online truth value judgment system of the intelligent speed assistance system in the above embodiment, the truth value judgment KPI calculation formula is: correctly identified mileage / (correctly identified mileage+incorrectly identified mileage)*100%.

[0040] Furthermore, in the online truth value judgment system of the intelligent speed assistance system in the above embodiment, the truth value judgment supports shortcut key screenshots to record the images of the external camera and the internal camera when marking points.

[0041] Furthermore, in the online truth value judgment system of the intelligent speed assistance system in the above embodiment, the dimensions of the multi-dimensional data statistics include truth value judgment type, road type, speed limit sign type, and all speed limit signs.

[0042] Furthermore, in the online truth value evaluation system of the intelligent speed assistance system in the above embodiment, the truth value evaluation types include:

[0043] Correct identification means that both the true value of the speed limit sign and the detected value of the speed limit sign exist and the results are consistent;

[0044] Error recognition means that both the true value of the speed limit sign and the detected value of the speed limit sign exist, but the results are inconsistent;

[0045] Ghost speed limit means that the true value of the speed limit sign does not exist, but the speed limit sign detection value exists;

[0046] No signal means that the speed limit sign true value exists, but the speed limit sign detection value does not exist.

[0047] Furthermore, in the online truth value evaluation system of the intelligent speed assistance system in the above embodiment, the road types include highways / expressways, urban roads / streets, and rural / non-urban roads.

[0048] Furthermore, in the online truth value evaluation system of the intelligent speed assistance system in the above embodiment, the speed limit sign types include explicit numbers, implicit numbers, implicit non-numbers, digital areas, traffic deceleration areas, highways, expressways and urban roads.

[0049] Furthermore, in the online truth value judgment system of the intelligent speed assistance system in the above embodiment, data statistics support access to OpenStreetMap, Google Maps, Amap and Baidu Maps.

[0050] Further, in the online truth value evaluation system of the intelligent speed assistance system in the above embodiment, the specified format includes a CSV format.

[0051] Based on any of the above embodiments, in another embodiment of the present invention, an online truth value evaluation method for an intelligent speed assistance system is provided, comprising the following steps:

[0052] S100, preparation work, installation of image sensor module, combined inertial navigation module and processing and display module;

[0053] S200, create a test, enter the test name, tester and data storage path, select the test country, and develop and save the test plan;

[0054] S300, sensor configuration, automatically identifies and configures image sensor module parameters, and automatically identifies and configures the address of the combined inertial navigation module;

[0055] S400, true value evaluation, recording and storing the information of the marking points during the test;

[0056] S500, data statistics, checking the dimensions of the multi-dimensional data statistics of the test and the results of the multi-dimensional data statistics;

[0057] S600, data export, export the test report of this test for further analysis of the operation of the ISA system in the test country.

[0058] Optionally, in the online truth value evaluation method of the intelligent speed assistance system in the above embodiment, the image sensor module uses an industrial camera.

[0059] Furthermore, in the online truth value evaluation method of the intelligent speed assistance system in the above embodiment, the industrial camera includes an extravehicular camera and an intravehicular camera.

[0060] Furthermore, in the online truth value evaluation method of the intelligent speed assistance system in the above embodiment, step S100 includes:

[0061] S110, installing an external camera and an internal camera, wherein the external camera is installed on the inside of the front windshield of the vehicle to capture road information; and the internal camera is installed above the dashboard to capture vehicle dashboard information;

[0062] S120, installing a combined inertial navigation module, and fixing the combined inertial navigation module inside the vehicle to prevent the combined inertial navigation module and the vehicle from moving relative to each other, and extending the antenna of the combined inertial navigation module out of the window and fixed on the roof;

[0063] S130, connecting the communication module, the extravehicular camera and the intravehicular camera use the USB interface to connect to the USB port of the processing and display module for communication, and the combined inertial navigation module uses the USB interface to connect to the USB port of the processing and display module for communication.

[0064] Optionally, in the online truth value evaluation method of the intelligent speed assistance system in any of the above embodiments, step S400 includes:

[0065] S410, taking a screenshot of the marking point, when a speed limit sign is seen in the real-time picture of the camera outside the cabin, taking a screenshot as the marking point when the speed limit sign is about to disappear from the picture;

[0066] S420, save the marking point information, fill in the marking point information, and save it;

[0067] S430, judging all the marking point information, repeating S410-S420 until all the marking point information of the entire test section is judged.

[0068] Furthermore, in the online truth value evaluation method of the intelligent speed assistance system in the above embodiment, the dimensions of the multi-dimensional data statistics in step S500 include truth value evaluation type, road type, speed limit sign type, and all speed limit signs.

[0069] Furthermore, in the online truth value evaluation method of the intelligent speed assistance system in the above embodiment, the truth value evaluation types include:

[0070] Correct identification means that both the true value of the speed limit sign and the detected value of the speed limit sign exist and the results are consistent;

[0071] Error recognition means that both the true value of the speed limit sign and the detected value of the speed limit sign exist, but the results are inconsistent;

[0072] Ghost speed limit means that the true value of the speed limit sign does not exist, but the speed limit sign detection value exists;

[0073] No signal means that the speed limit sign true value exists, but the speed limit sign detection value does not exist.

[0074] Furthermore, in the online truth value evaluation method of the intelligent speed assistance system in the above embodiment, the result of the multi-dimensional data statistics in step S500 includes the number of speed limit sign appearances, mileage, driving time and truth value evaluation KPI.

[0075] Furthermore, in the online truth value judgment method of the intelligent speed assistance system in the above embodiment, the truth value judgment KPI calculation formula is: correctly identified mileage / (correctly identified mileage+incorrectly identified mileage)*100%.

[0076] Optionally, in the online truth value evaluation method of the intelligent speed assistance system in any of the above embodiments, it also includes:

[0077] S700, data playback, playback the video data of the external camera and the internal camera 5 seconds before and after each marking point, and view the corresponding marking point information.

[0078] The present invention combines multiple data sources to comprehensively evaluate the ISA system from multiple dimensions such as recognition accuracy, number of occurrences, mileage, and driving time. The online real-time evaluation can provide instant feedback on the performance of the ISA system, facilitate rapid discovery and resolution of problems, and adapt to different road environments and driving behaviors to ensure the universality and reliability of the evaluation results. The present invention can provide a scientific and reliable basis for the performance evaluation of the ISA system, timely discover problems existing in the ISA system, provide data support for subsequent optimization and improvement, and help improve the overall performance and reliability of the ISA system, thereby enhancing the level of road safety.

[0079] The concept, specific structure and technical effects of the present invention will be further described below in conjunction with the accompanying drawings to fully understand the purpose, characteristics and effects of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0080] Figure 1 is a structural diagram illustrating an online truth value evaluation system of an intelligent speed assistance system according to an exemplary embodiment;

[0081] Figure 2 is a flowchart illustrating an online truth evaluation method of an intelligent speed assistance system according to an exemplary embodiment. DETAILED DESCRIPTION

[0082] The following describes several preferred embodiments of the present invention with reference to the drawings in the specification, so that the technical content is clearer and easier to understand. The present invention can be embodied in many different forms of embodiments, and the protection scope of the present invention is not limited to the embodiments mentioned in the text.

[0083] In the drawings, components with the same structure are indicated by the same numerical reference numerals, and components with similar structures or functions are indicated by similar numerical reference numerals. The size and thickness of each component shown in the drawings are arbitrarily shown, and the present invention does not limit the size and thickness of each component. In order to make the illustration clearer, the thickness of the components is schematically exaggerated in some places in the drawings.

[0084] The inventors have designed an online truth value judgment system for an intelligent speed assistance system. Figure 1 As shown, including:

[0085] The image sensor module uses industrial cameras, which include an extravehicular camera and an in-cabin camera. The extravehicular camera is installed on the inside of the vehicle's front windshield to capture road information, including speed limit signs, road scenes, and traffic lights; the in-cabin camera is installed above the dashboard to capture vehicle dashboard information, including vehicle speed and speed limit sign detection values; the image sensor module also includes an industrial camera bracket to connect and fix the extravehicular camera and the in-cabin camera to ensure shooting angle and stability.

[0086] The combined inertial navigation module integrates the navigation technology of the satellite positioning system and the inertial measurement system, including the satellite positioning system (GNSS) and the inertial navigation system (INS), and fuses the outputs of the two to provide vehicle positioning and attitude information.

[0087] The processing and display module uses a laptop computer to receive and process the output data of the image sensor module and the combined inertial navigation module, and runs the online evaluation software module.

[0088] The communication module uses the USB interface for communication. The extravehicular camera and the intravehicular camera use the USB interface to communicate with the processing and display module. The combined inertial navigation module uses the USB interface to communicate with the processing and display module.

[0089] The online evaluation software module runs in the processing and display module. Based on the front-end page and the back-end database structure, it analyzes the intelligent speed assistance system, performs true value evaluation and displays the results. It records the marking point information in the test section, that is, the moment when the speed limit sign is about to disappear from the field of view of the camera outside the cabin, and the speed limit sign detection value corresponding to the marking point, that is, the prompt information of the ISA system in the dashboard. The functions include:

[0090] Test creation: input the test name, tester and data storage path, select the test country, formulate and save the test plan, which includes the test name, test time, tester, test country and data storage path; test creation also includes automatic matching and display of the speed limit sign legend and speed limit sign true value in the test country regulations. The speed limit sign legend is a graphic representation of different speed limit signs, and the speed limit sign true value is the speed limit value represented by the speed limit sign legend;

[0091] Sensor configuration: automatically identify and configure image sensor module parameters, including the image sensor name, address, resolution, pixel format and frame rate, and automatically identify and configure the combined inertial navigation module address;

[0092] True value judgment records and stores the information of the marking points during the test, including the road information in the external camera screen, the vehicle dashboard information in the internal camera screen, the timestamp and GPS coordinate information. The road information includes speed limit signs, road scenes, and traffic lights, and the vehicle dashboard information includes vehicle speed and speed limit sign detection value. True value judgment also supports shortcut key screenshots to record the screen of the external camera and the internal camera at the marking point.

[0093] Data statistics, view the dimensions of the test's multi-dimensional data statistics and the results of the multi-dimensional data statistics. The dimensions of the multi-dimensional data statistics include true value judgment type, road type, speed limit sign type, and all speed limit signs; the results of the multi-dimensional data statistics include the number of speed limit sign appearances, mileage, driving time, and true value judgment KPI. The true value judgment KPI calculation formula is: correctly identified mileage / (correctly identified mileage + incorrectly identified mileage)*100%; the road types include highways / expressways, urban roads / streets, and rural / non-urban roads. The speed limit sign types include explicit numbers, implicit numbers, implicit non-numbers, digital areas, traffic deceleration areas, highways, expressways, and urban roads. The true value judgment types include:

[0094] Correct identification means that both the true value of the speed limit sign and the detected value of the speed limit sign exist and the results are consistent;

[0095] Error recognition means that both the true value of the speed limit sign and the detected value of the speed limit sign exist, but the results are inconsistent;

[0096] Ghost speed limit means that the true value of the speed limit sign does not exist, but the speed limit sign detection value exists;

[0097] No signal means that the speed limit sign true value exists, but the speed limit sign detection value does not exist;

[0098] In addition, data statistics also support access to OpenStreetMap, Google Maps, Amap and Baidu Maps.

[0099] Data playback: playback the video data of the external camera and the internal camera 5 seconds before and after each marking point, and view the corresponding marking point information.

[0100] Data export: export the test report of this test in the specified format for further analysis of the operation of the ISA system in the test country. The specified format includes CSV format.

[0101] The image sensor module and the combined inertial navigation module communicate data with the processing and display module through the communication module respectively, and the online evaluation software module runs in the processing and display module.

[0102] Based on the above embodiments, the inventor provides an online truth value evaluation method for an intelligent speed assistance system, such as Figure 2 As shown, the following steps are included:

[0103] S100, preparation work, installing the image sensor module, the combined inertial navigation module and the processing and display module, the image sensor module uses an industrial camera, including an external camera and an internal camera; the specific steps S100 include:

[0104] S110, installing an external camera and an internal camera, wherein the external camera is installed on the inside of the front windshield of the vehicle to capture road information; and the internal camera is installed above the dashboard to capture vehicle dashboard information;

[0105] S120, installing a combined inertial navigation module, and fixing the combined inertial navigation module inside the vehicle to prevent the combined inertial navigation module and the vehicle from moving relative to each other, and extending the antenna of the combined inertial navigation module out of the window and fixed on the roof;

[0106] S130, connecting the communication module, the extravehicular camera and the intravehicular camera use the USB interface to connect to the USB port of the processing and display module for communication, and the combined inertial navigation module uses the USB interface to connect to the USB port of the processing and display module for communication.

[0107] S200, create a test, enter the test name, tester and data storage path, select the test country, and develop and save the test plan.

[0108] S300, sensor configuration, automatically identifies and configures image sensor module parameters, and automatically identifies and configures the address of the combined inertial navigation module.

[0109] S400, true value evaluation, recording and storing the information of the marking points during the test; specifically including:

[0110] S410, taking a screenshot of the marking point, when a speed limit sign is seen in the real-time picture of the camera outside the cabin, taking a screenshot as the marking point when the speed limit sign is about to disappear from the picture;

[0111] S420, save the marking point information, fill in the marking point information, and save it;

[0112] S430, judging all the marking point information, repeating S410-S420 until all the marking point information of the entire test section is judged.

[0113] S500, data statistics, checking the dimensions of the multi-dimensional data statistics of the test and the results of the multi-dimensional data statistics. The dimensions of the multi-dimensional data statistics include true value judgment type, road type, speed limit sign type, and all speed limit signs. The true value judgment type includes:

[0114] Correct identification means that both the true value of the speed limit sign and the detected value of the speed limit sign exist and the results are consistent;

[0115] Error recognition means that both the true value of the speed limit sign and the detected value of the speed limit sign exist, but the results are inconsistent;

[0116] Ghost speed limit means that the true value of the speed limit sign does not exist, but the speed limit sign detection value exists;

[0117] No signal means that the speed limit sign true value exists, but the speed limit sign detection value does not exist;

[0118] The results of multi-dimensional data statistics include the number of speed limit sign appearances, mileage, driving time and true value judgment KPI. The true value judgment KPI calculation formula is: correctly identified mileage / (correctly identified mileage+incorrectly identified mileage)*100%.

[0119] S600, data export, export the test report of this test for further analysis of the operation of the ISA system in the test country.

[0120] S700, data playback, playback the video data of the external camera and the internal camera 5 seconds before and after each marking point, and view the corresponding marking point information.

[0121] This application has been verified through experiments, and the device selection is as follows:

[0122] Extravehicular camera: Use Weinan Electronics industrial camera, the camera FOV is 120 degrees, the resolution is 1080P (1920*1080 pixels), the frame rate is 60FPS, and supports USB communication.

[0123] In-cabin camera: Use Weinan Electronics industrial camera with a FOV of 150 degrees, a resolution of 1080P (1920*1080 pixels), a frame rate of 30FPS, and supports USB communication.

[0124] Extravehicular camera bracket: The extravehicular camera bracket is customized.

[0125] In-cabin camera holder: The in-cabin camera holder uses Weinan Electronics' finished camera holder.

[0126] Combined inertial navigation: Xsens MTi-G-710 GNSS / INS is selected, which supports USB communication.

[0127] Laptop: The Lenovo Y7000P high-performance laptop is equipped with a 14th generation i7-14650HX processor, 16G memory, 1TB solid-state storage, and RTX4060 graphics card.

[0128] The installation is performed according to the above steps S110-S130, and the operations are performed according to S200-S700 to obtain the results of multi-dimensional data statistics. The dimension of multi-dimensional data statistics takes the true value judgment type as an example. The statistical results of the true value judgment type are shown in the following table:

[0129]

[0130] The true value judgment types include correct identification, false identification, ghost speed limit and no signal. The statistical results respectively count the number of occurrences, mileage, driving time and true value judgment KPI of these four true value judgment types. Among them, the true value judgment KPI = correct identification mileage / (correct identification mileage + false identification mileage)*100%=14.17 / (14.17+0.62)*100%=95.8%. Assuming that the regulations stipulate that the true value judgment KPI shall not be less than 90%, the ISA system of this test vehicle passed the test in this test section.

[0131] The preferred specific embodiments of the present invention are described in detail above. It should be understood that a person skilled in the art can make many modifications and changes based on the concept of the present invention without creative work. Therefore, any technical solution that can be obtained by a person skilled in the art through logical analysis, reasoning or limited experiments based on the concept of the present invention on the basis of the prior art should be within the scope of protection determined by the claims.

Claims

1. An online truth value evaluation system for an intelligent speed assistance system, characterized in that: include: An image sensor module collects road information and vehicle dashboard information. The image sensor module uses an industrial camera. The industrial camera includes an outboard camera and an inboard camera. The outboard camera is installed on the inside of the vehicle's front windshield to capture road information. The inboard camera is installed above the dashboard to capture the vehicle dashboard information. Combined inertial navigation module, integrating the navigation technology of satellite positioning system and inertial measurement system, fusing the outputs of both to provide vehicle positioning and attitude information; A processing and display module receives and processes the output data of the image sensor module and the combined inertial navigation module, and runs an online evaluation software module; A communication module, responsible for data communication between the image sensor module, the combined inertial navigation module and the processing and display module; The online evaluation software module runs on the processing and display module, analyzes the intelligent speed assistance system, and performs true value evaluation and result display. The true value evaluation types include: Correct identification means that both the true value of the speed limit sign and the detected value of the speed limit sign exist and the results are consistent; Error identification means that both the true value of the speed limit sign and the detected value of the speed limit sign exist, but the results are inconsistent; Ghost speed limit, indicating that the true value of the speed limit mark does not exist, but the detected value of the speed limit mark does exist; No signal, indicating that the speed limit mark true value exists, but the speed limit mark detection value does not exist; The online evaluation software module records the marking point information in the test section, i.e., the moment when the speed limit sign is about to disappear from the field of view of the camera outside the cabin, and the speed limit sign detection value corresponding to the marking point, i.e., the prompt information of the ISA system in the instrument panel; The image sensor module and the combined inertial navigation module respectively communicate data with the processing and display module through the communication module, and the online evaluation software module runs on the processing and display module.

2. The online truth value evaluation system of the intelligent speed assistance system according to claim 1, characterized in that: The functions of the online evaluation software module include: Test creation: enter the test name, tester and data storage path, select the test country, and make and save the test plan; Sensor configuration, automatically identifying and configuring the image sensor module parameters, automatically identifying and configuring the combined inertial navigation module address; True value judgment, record and store the punctuation information during the test; Data statistics: view the dimensions and results of the multi-dimensional data statistics of the test; Data playback: playback the video data of the external camera and the internal camera 5 seconds before and after each marking point, and check the corresponding marking point information; Data export: export the test report of this test in the specified format for further analysis of the operation of the ISA system in the test country.

3. The online truth value evaluation system of the intelligent speed assistance system according to claim 2, characterized in that: The dimensions of the multi-dimensional data statistics include true value judgment type, road type, speed limit sign type, and all speed limit signs.

4. An online truth value evaluation method for an intelligent speed assistance system, using the online truth value evaluation system for an intelligent speed assistance system as claimed in any one of claims 1 to 3, characterized in that: The steps include: S100, preparation work, installing the image sensor module, the combined inertial navigation module and the processing and display module, the image sensor module uses an industrial camera, including an extravehicular camera and an intravehicular camera; S200, create a test, enter the test name, tester and data storage path, select the test country, and develop and save the test plan; S300, sensor configuration, automatically identifying and configuring the image sensor module parameters, and automatically identifying and configuring the combined inertial navigation module address; S400, true value evaluation, recording and storing the information of the marking points during the test; S500, data statistics, checking the dimensions of the multi-dimensional data statistics of the test and the results of the multi-dimensional data statistics; S600, data export, export the test report of this test for further analysis of the operation of the ISA system in the test country.

5. The online truth value evaluation method of the intelligent speed assistance system according to claim 4, characterized in that: The step S100 includes: S110, installing an outboard camera and an inboard camera, wherein the outboard camera is installed on the inside of the front windshield of the vehicle to capture road information; and the inboard camera is installed above the dashboard to capture the vehicle dashboard information; S120, installing a combined inertial navigation module, and fixing the combined inertial navigation module inside the vehicle to prevent the combined inertial navigation module and the vehicle from moving relative to each other, wherein the antenna of the combined inertial navigation module extends out of the window and is fixed on the roof; S130, connecting the communication module, the extravehicular camera and the in-vehicle camera use a USB interface to connect to the USB port of the processing and display module for communication, and the combined inertial navigation module uses a USB interface to connect to the USB port of the processing and display module for communication.

6. The online truth value evaluation method of the intelligent speed assistance system according to claim 5, characterized in that: The step S400 includes: S410, taking a screenshot of the marking point, when a speed limit sign is seen in the real-time picture of the camera outside the cabin, taking a screenshot as the marking point when the speed limit sign is about to disappear from the picture; S420, save the marking point information, fill in the marking point information, and save it; S430, judging all the marking point information, repeating S410 to S420, until all the marking point information of the entire test section is judged.

7. The online truth value evaluation method of the intelligent speed assistance system according to claim 4, characterized in that: The result of the multi-dimensional data statistics in step S500 includes the number of speed limit sign appearances, mileage, driving time and true value judgment KPI.

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