Remote control parking test device and method

Abstract

The present invention provides a remote control parking test device and method, which relates to the field of testing technology. The method provided by the present invention includes collecting the posture data of the vehicle in real time in response to the remote control parking command sent by the portable terminal; injecting the function loss condition; if an alarm signal or a parking success signal sent by the vehicle computer is received, determining the stop position of the vehicle according to the posture data; and determining the test result of the remote control parking according to the stop position of the vehicle and the function loss condition. The present invention is used to test the response of the vehicle parking under the condition of function loss.

Description

Technical Field

[0001] The present invention relates to the field of testing technology, and in particular to a remote control parking testing device and method. Background Art

[0002] With the rapid development of intelligent transportation systems, intelligent and networked technologies are gradually applied to the automotive field, injecting continuous power into the high-quality development of the automotive industry. Due to the accelerated urbanization process and the rapid growth of the number of vehicles, parking space has become smaller, so finding a more efficient and safe parking solution has become an important issue. Remote parking, as an application scenario of intelligent networked vehicles, can well solve problems such as low efficiency and difficulty in parking. It is a product of the combination of vehicle networking and autonomous driving technology, allowing testers to use remote control devices to control the parking action of the car without directly operating the steering wheel and pedals of the vehicle, greatly improving the safety and convenience of parking, reducing the risk of accidents during parking and the energy of manual parking. However, the safety and reliability of remote parking technology need to be considered, and a complete set of test equipment and methodology are urgently needed to achieve full-process verification. Therefore, research on remote parking test equipment and how to test and verify the remote parking scene have become hot issues.

[0003] At present, there is relatively little research on automobile remote parking testing technology at home and abroad. The existing testing methods do not have a set of comprehensive remote parking testing equipment and methods based on function loss conditions, and cannot meet the requirements of objectively and reproducibly testing the safety and reliability of remote parking under the condition of loss of remote parking function. Summary of the invention

[0004] In view of the above problems, the present invention provides a remote control parking test device and method for testing the parking response of a vehicle in the event of a function loss.

[0005] In a first aspect, an embodiment of the present invention provides a remote control parking test method, comprising:

[0006] In response to the remote parking command sent by the portable terminal, real-time acquisition of vehicle posture data;

[0007] Injection of function loss conditions;

[0008] If an alarm signal or a parking success signal is received from the vehicle computer, the stopping position of the vehicle is determined according to the position data;

[0009] A remote control parking test result is determined based on the vehicle's stop position and the function loss condition.

[0010] In a second aspect, an embodiment of the present invention provides a remote control parking test device, which is deployed on a vehicle and is communicatively connected with a portable terminal and a vehicle computer respectively;

[0011] The device comprises: a sensor and a controller;

[0012] The sensor is used to collect the posture data of the vehicle and send it to the controller;

[0013] The controller is used to execute the remote control parking test method provided in any embodiment.

[0014] Compared with the prior art, the embodiments of the present invention have the following technical effects:

[0015] The present invention overcomes the shortcomings of existing remote control parking test methods, and provides a test device and test method that can solve the parking ability of remote control parking in the scenario of function loss, so as to meet the objective and reproducible test of the safety and reliability of remote control parking under the condition of loss of function. The test device provided by the present invention can be built into the vehicle, takes up little space and is easy to assemble, so the test environment requirements are low, the test cost is low, and the test efficiency is high; at the same time, the test device is fixed in the installation mode each time the test is performed, and there is no need for repeated disassembly and assembly, so the real status data of the vehicle parking process can be conveniently, objectively and repeatedly recorded, thereby achieving the purpose of verifying the safety and reliability of parking.

[0016] In addition, the present invention not only tests whether the vehicle is successfully parked in the parking space, but also tests the sensitivity, safety and response time under special function loss conditions, and provides multi-dimensional test items for remote control parking, so as to comprehensively evaluate the performance of remote control parking under function loss conditions.

[0017] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented in accordance with the contents of the specification. In order to make the above description and other purposes, features and advantages of the present invention more obvious and easy to understand, the preferred embodiments are specifically cited and described in detail as follows. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0019] Figure 1 A schematic diagram of a remote control parking scenario provided by an embodiment of the present invention;

[0020] Figure 2 A flowchart of a remote control parking test method provided by an embodiment of the present invention;

[0021] Figure 3 A schematic structural diagram of a remote control parking test device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0022] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0023] In the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be connected, detachably connected, or integrated; it can be mechanically connected or electrically connected; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0024] Example 1

[0025] This embodiment provides a remote parking test method, which is suitable for testing the remote parking function of a vehicle. The test indicators include whether the vehicle is parked in place, sensitivity, response time and safety. The method can be performed by a remote parking test device, which is deployed in the vehicle and moves with the vehicle.

[0026] Before executing the test, the remote parking test device needs to deploy the test scenario first. Figure 1 It is a schematic diagram of the remote control parking scenario provided by an embodiment of the present invention. According to the functional characteristics of the remote control parking technology for narrow parking spaces, a test scenario is selected to construct a parking space, and a parking space consisting of two stationary, parallel, and vertically placed vehicles 3 is selected, and a test site is selected according to the test scenario. According to the test scenario, the remote control parking test device is placed in a test vehicle 2 with a remote control parking function. Power on the remote control parking test device to verify that the remote control parking test device works properly. Debug vehicle 2 before the formal test. Specifically, verify that the remote control parking function of vehicle 2 is normally enabled, and observe whether the remote control parking function can be normally implemented. Place vehicle 2 in Figure 1 The test scenario position is shown, ready to receive remote parking instructions. Figure 1 Also shown are the parking space length X0, the parking space width Y0, the lateral distances d1 and d2 between the vehicle 2 and the reference line, and the remote control distance d3 between the portable terminal 1 and the vehicle 2.

[0027] The vehicle first searches for a parking space in the test scenario, and then parks after successfully finding a parking space. The tester opens the parking page of the portable terminal within the remote control effective distance (for example, 6m), and sends a remote parking command to both the vehicle and the remote parking test device. After receiving the remote parking command, the vehicle uses sensors to sense whether there are obstacles such as objects or pedestrians in the parking space. If there are no obstacles, the vehicle's steering system and drive system are controlled to enter the parking space. The parking test device also receives the remote parking command and executes the test method provided in this embodiment, see Figure 2 , including the following operations:

[0028] S110 . In response to the remote parking instruction sent by the portable terminal, collect the position and posture data of the vehicle in real time.

[0029] The remote parking test device includes sensors such as a positioning antenna, a gyroscope, a non-contact vehicle tester VBOX, and a vehicle network V2X positioning module. Since the device is deployed in the vehicle, the position of the device can be determined as the position of the vehicle.

[0030] Among them, the positioning antenna is used to receive positioning signals from GPS satellites to determine the geographic location of the vehicle. The gyroscope is used to record the angular velocity and acceleration data of the vehicle. When the GPS signal is lost or unstable, the inertial data provided by the gyroscope can be used to calculate the movement trajectory of the vehicle to ensure continuous positioning. VBOX is used to collect and record vehicle dynamic data, including position, speed, acceleration, etc. It can integrate data from different sensors to provide accurate motion analysis. The V2X positioning module is used for vehicle-to-vehicle communication, providing positioning data and information interaction between vehicles and vehicles (V2V), vehicles and infrastructure (V2I), etc. By receiving and sending positioning information, the overall positioning accuracy and reliability are improved.

[0031] This embodiment can accurately obtain the real-time position data and posture data of the vehicle through sensors.

[0032] S120, injection function loss condition.

[0033] Function loss conditions include at least one of: switching of the parking page of the portable terminal, weakening of the communication link between the portable terminal and the vehicle, disconnection of the communication link between the portable terminal and the vehicle, setting of obstacles around the parking space, parking control by the portable terminal, or operation of the vehicle by the tester. In some examples, the remote parking test device controls the switching of parking pages, weakening of the communication link, disconnection of the communication link, and parking control by issuing instructions to the portable terminal. The remote parking test device notifies the tester to operate the vehicle by issuing voice instructions to the tester. The remote parking test device controls the movement of the moving device by sending instructions to the moving device of the obstacle, thereby driving the obstacle to move to a designated position around the parking space.

[0034] Optionally, after receiving the remote parking command for a set duration (e.g., 5 seconds), a function loss condition is injected so that during the parking process, the vehicle detects the function loss and generates a series of responses, facilitating subsequent multi-dimensional testing of the response.

[0035] Optionally, various loss of functionality conditions can be injected and tested one by one. Figure 1 At the location shown, inject a new loss of functionality condition again and test it.

[0036] S130: If an alarm signal or a parking success signal sent by the vehicle computer is received, the stopping position of the vehicle is determined according to the position data.

[0037] During the automatic parking process, if the vehicle detects a function loss condition, it may continue to park until it is parked, and the vehicle computer sends a parking success signal to the portable terminal and device; it may also terminate parking, and the vehicle computer sends an alarm signal to the portable terminal and device to indicate that parking has failed and request manual intervention.

[0038] When the remote parking test device receives an alarm signal or a parking success signal, it calculates the vehicle's stopping position through kinematic formulas based on the real-time collected posture data. For example, starting from the parking position, the speed at each moment is integrated over time to obtain the distance and driving direction, and the driving trajectory is drawn; when the alarm signal or parking success signal is received, the vehicle speed is detected to be 0, that is, after the vehicle stops, the end of the driving trajectory is the vehicle's stopping position. Furthermore, the vehicle position collected by the positioning antenna or V2X positioning module can be averaged with the stopping position to obtain a fused, more accurate stopping position.

[0039] It should be noted that, since the vehicle may stop and drive repeatedly during the parking process, the present invention determines the vehicle's stopping position only after receiving the alarm signal or parking success signal sent by the vehicle computer, and can accurately determine the vehicle's motion response after the alarm / parking success.

[0040] S140: Determine a test result of the remote control parking according to the vehicle's stop position and function loss condition.

[0041] Different function loss conditions correspond to different test indicators and test results. The following describes the test process under each function loss condition.

[0042] (1) Function loss condition: the parking page of the portable terminal is switched.

[0043] The injection function loss condition includes: the device sends a parking page switching instruction to the portable terminal; the parking page switching instruction is used to trigger the portable terminal to switch the parking page. The portable terminal closes the parking page or minimizes the parking page (runs in the background). After the portable terminal switches the parking page, it returns the switching status of the parking page to the device, indicating that the parking page has been switched. The device receives the switching status of the parking page sent by the portable terminal and records the switching time t1.

[0044] In one case, after the page is switched, the vehicle sends an alarm signal, and the device records the time t2 when the vehicle sends the alarm signal; according to the vehicle's stop position and the position at time t1, the first driving distance of the vehicle (i.e., the driving distance of the vehicle from the position at time t1 to the stop position) is calculated; the first time difference between t1 and t2 is calculated; and the sensitivity of the remote parking to the page switching condition is tested according to the first driving distance and the first time difference. The first driving distance reflects the response of the vehicle to the page switching at the driving level, and the longer the first driving distance, the lower the sensitivity; the first time difference reflects the response of the vehicle to the page switching at the alarm level. Some vehicles will find the parking page switching earlier and alarm, but control the vehicle to stop later, which will be detrimental to the safety of parking. Therefore, the first driving distance is assigned a first weight, and the first time difference is assigned a second weight, and the first weight is greater than the second weight. The sensitivity Y1 of the remote parking to the page switching condition is calculated using the following formula.

[0045] ;

[0046] in, is the first weight, is the second weight, is the first driving distance, The higher the sensitivity, the more timely and safer the remote parking response of the vehicle is.

[0047] In another case, if the vehicle continues to park after the page is switched and sends a parking success signal, it is determined that the remote parking is not sensitive to the page switching condition. This function cannot stop parking by switching the parking page, and the safety and operability are poor.

[0048] (2) Function loss condition: the communication link between the portable terminal and the vehicle is disconnected.

[0049] The injection function loss condition includes: the device sends an instruction to disconnect the communication link with the vehicle to the portable terminal; the instruction to disconnect the communication link with the vehicle is used to control the portable terminal to disconnect the communication link with the vehicle. For example, the portable terminal disconnects the Bluetooth connection with the vehicle, but still retains the communication link with the device.

[0050] After the portable terminal disconnects the communication link with the vehicle, it returns the disconnection status of the communication link to the device, indicating that the communication link with the vehicle has been disconnected. The device receives the disconnection status of the communication link sent by the portable terminal and records the disconnection time t3.

[0051] In one case, after the communication link is disconnected, the vehicle sends an alarm signal, and the device records the time t4 when the vehicle sends the alarm signal; based on the vehicle's stop position and the position at time t3, the second driving distance of the vehicle (i.e., the driving distance of the vehicle from the position at time t3 to the stop position) is calculated; the second time difference between t3 and t4 is calculated; and the sensitivity of the remote parking system to the disconnection of the communication link is tested based on the second driving distance and the second time difference. The specific analysis process is similar to the above (1), and the second driving distance is assigned a third weight, and the second time difference is assigned a fourth weight, and the third weight is greater than the fourth weight. The sensitivity Y2 of the remote parking system to the disconnection of the communication link is calculated using the following formula.

[0052] ;

[0053] in, is the third weight, is the fourth weight, is the second driving distance, The higher the sensitivity, the more timely and safer the remote parking response of the vehicle is.

[0054] In another case, the vehicle continues to park after the link is disconnected and sends a parking success signal, then it is determined that the remote parking is not sensitive to the communication link disconnection condition. This function cannot terminate parking by disconnecting the communication link, and the safety and operability are poor.

[0055] (3) Function loss condition: the communication link between the portable terminal and the vehicle is weakened.

[0056] The injection function loss condition includes: the device sends an instruction to weaken the communication link to the portable terminal; the instruction to weaken the communication link is used to control the portable terminal to move away from the vehicle. For example, the tester is notified to hold the portable terminal away from the vehicle to weaken the communication strength with the vehicle. In actual application scenarios, when the tester turns on the remote control parking and observes that the vehicle is parked normally, he will generally move away from the vehicle to the destination by himself; or, the portable terminal and the vehicle pass through a large obstacle or are interfered, resulting in signal weakening. It can be seen that the weakening of the communication link does not reflect the tester's intention to terminate parking. Therefore, a reliable remote control parking function should not respond to the weakening of the communication link condition, but continue to park in place. Based on this, it is determined whether the vehicle is parked successfully according to the stopping position of the vehicle, that is, whether it is located in the parking space; if the parking is successful, the parking test is passed; if the parking fails, the parking test is not passed, and the parking function is unreliable.

[0057] (4) Function loss condition: obstacles are set up around the parking space. For example, obstacles are set up at the back or on the left and right sides of the parking space.

[0058] Since the obstacle does not occupy the parking space, the reliable parking function can plan a suitable parking path according to the position of the obstacle and avoid collision with the obstacle. Based on this, it is determined whether the vehicle is parked successfully according to the stopping position of the vehicle. If the vehicle is parked in the parking space, the parking is successful, otherwise the parking fails. If the parking is successful, the parking test is passed; and the driving trajectory of the vehicle is determined according to the posture data of the vehicle; according to the distance between the driving trajectory and the obstacle, the safety of remote parking is tested. Specifically, the shortest distance between the edge of the obstacle and the driving trajectory is calculated. If the shortest distance is less than the preset threshold (for example, 3cm), it means that the vehicle is at risk of colliding with the obstacle, and the safety is poor; if the shortest distance is greater than or equal to the preset threshold, it means that the vehicle has effectively avoided the obstacle and the safety is good. If the parking fails, the parking test is not passed.

[0059] (5) Function loss condition: parking control is performed by the portable terminal.

[0060] The injection function loss conditions include: the device sends a parking control instruction to the portable terminal; the parking control instruction is used to notify the tester to trigger the button on the page to perform parking control, including but not limited to stop parking and pause parking. The portable terminal sends a parking control instruction to the vehicle and the device: an instruction to stop parking or pause parking. The device receives the parking control instruction and records the time t5. The time t7 when the vehicle stops at the stop position is recorded. According to the third time difference between t5 and t7, the response time of the remote parking to the terminal control is tested. The shorter the third time difference, the shorter the response time, and the higher the reliability of the remote parking function.

[0061] (6) Function loss condition: the tester operates the vehicle.

[0062] The injection function loss condition includes: the device sends a voice command to the tester to notify the tester to operate the vehicle. During the vehicle parking process, the tester operates the vehicle, such as opening the door, stepping on the accelerator or brake pedal, or turning the steering wheel, etc. After the vehicle computer detects the tester's operation, it sends the tester's operation information to the device. The device first needs to determine whether the operation information is information to terminate parking. For example, the operation information of opening the door, stepping on the accelerator or brake pedal, or turning the steering wheel is information to terminate parking, and the operation information of adjusting the air conditioner / radio / window, etc. is not information to terminate parking. When the information to terminate parking is detected, the time t6 is recorded. The time t7 when the vehicle stops at the stop position is recorded. According to the fourth time difference between t6 and t7, the response time of remote parking to the tester's intervention is tested. When the tester operates the vehicle, it means that the tester has the intention to take over the parking, and the vehicle should stop immediately. The shorter the fourth time difference, the shorter the response time, and the higher the reliability of the remote parking function.

[0063] The present invention overcomes the shortcomings of existing remote control parking test methods, and provides a test device and test method that can solve the parking ability of remote control parking in the scenario of function loss, so as to meet the objective and reproducible test of the safety and reliability of remote control parking under the condition of loss of function. The test device provided by the present invention can be built into the vehicle, takes up little space and is easy to assemble, so the test environment requirements are low, the test cost is low, and the test efficiency is high; at the same time, the test device is fixed in the installation mode each time the test is performed, and there is no need for repeated disassembly and assembly, so the real status data of the vehicle parking process can be conveniently, objectively and repeatedly recorded, thereby achieving the purpose of verifying the safety and reliability of parking.

[0064] In addition, the present invention not only tests whether the vehicle is successfully parked in the parking space, but also tests the sensitivity, safety and response time under special function loss conditions, and provides multi-dimensional test items for remote control parking, so as to comprehensively evaluate the performance of remote control parking under function loss conditions.

[0065] Example 2

[0066] This embodiment provides a remote control parking test device, which is deployed on a vehicle and is connected to a portable terminal and a vehicle computer. The device includes a sensor and a controller. The sensor is used to collect the position data of the vehicle and send it to the controller. The controller is used to execute the remote control parking test method provided in Example 1.

[0067] Optional, see Figure 3 The sensor includes a positioning antenna 4, a gyroscope 5, a VBOX 6, and a V2X positioning module 7. For the description of the sensor, please refer to the description of Example 1, which will not be repeated here.

[0068] Optionally, the controller is integrated into the integrated instrument 8, which also includes a camera and a display. The camera collects video information of the test environment, and the display displays the real-time position data of the vehicle to monitor the entire test process in real time. Figure 3 The device uses a removable power supply to provide power to the device, ensuring that the device can work normally in various environments.

[0069] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A remote control parking test method, characterized in that: In response to the remote parking command sent by the portable terminal, real-time acquisition of vehicle posture data; Injection of function loss conditions; If an alarm signal or a parking success signal is received from the vehicle computer, the stopping position of the vehicle is determined according to the position data; Determining a test result of the remote control parking according to the stop position of the vehicle and the function loss condition; The function loss condition includes: parking page switching of the portable terminal; Determining the test result of remote parking according to the stop position of the vehicle and the function loss condition, including: receiving the switching state of the parking page sent by the portable terminal, and recording the switching time t1; recording the time t2 when the vehicle sends an alarm signal; calculating the first driving distance of the vehicle according to the stop position of the vehicle and the position at time t1; calculating the first time difference between t1 and t2; testing the sensitivity of the remote parking to the page switching condition according to the first driving distance and the first time difference; assigning a first weight to the first driving distance, and assigning a second weight to the first time difference, wherein the first weight is greater than the second weight; and calculating the sensitivity Y1 of the remote parking to the page switching condition using the following formula: Wherein, a1 is the first weight, b1 is the second weight, L1 is the first driving distance, and T1 is the first time difference; The function loss condition includes: the communication link between the portable terminal and the vehicle is weakened; the injection function loss condition includes: sending an instruction to weaken the communication link to the portable terminal; the instruction to weaken the communication link is used to control the portable terminal to move away from the vehicle, and notify the tester to hold the portable terminal away from the vehicle to weaken the communication strength with the vehicle; Determining a test result of remote control parking according to the stopping position of the vehicle and the function loss condition includes: determining whether the vehicle is parked successfully according to the stopping position of the vehicle; if the parking is successful, the parking test is passed; if the parking fails, the parking test is not passed.

2. The method according to claim 1, characterized in that The injection function loss condition includes: sending a parking page switching instruction to the portable terminal; The parking page switching instruction is used to trigger the portable terminal to switch the parking page.

3. The method according to claim 1, characterized in that The function loss condition includes: the communication link between the portable terminal and the vehicle is disconnected; Determining a test result of the remote control parking according to the stop position of the vehicle and the function loss condition, including: receiving the disconnection status of the communication link sent by the portable terminal, and recording the disconnection time t3; Record the time t4 when the vehicle computer sends the alarm signal; Calculating a second travel distance of the vehicle according to the stop position of the vehicle and the position at time t3; Calculate the second time difference between t3 and t4; The remote control parking system is tested for sensitivity to a disconnection of a communication link based on the second driving distance and the second time difference.

4. The method according to claim 3, characterized in that The injection function loss condition includes: sending an instruction to the portable terminal to disconnect the communication link with the vehicle; The instruction to disconnect the communication link with the vehicle is used to control the portable terminal to disconnect the communication link with the vehicle.

5. The method according to claim 1, characterized in that The function loss conditions include: obstacles are set around the parking space; Determining a test result of the remote control parking according to the stop position of the vehicle and the function loss condition, including: Determining whether the vehicle is parked successfully according to the stopping position of the vehicle; If the parking is successful, the parking test is passed; and the driving trajectory of the vehicle is determined according to the vehicle posture data; and the safety of the remote control parking is tested according to the distance between the driving trajectory and the obstacle; If parking fails, the parking test has been failed.

6. The method according to claim 1, characterized in that The function loss conditions include: the portable terminal performs parking control or the tester operates the vehicle; Determining a test result of the remote control parking according to the stop position of the vehicle and the function loss condition, including: receiving the parking control command sent by the portable terminal and recording the time t5; or receiving the operation information of the tester sent by the vehicle computer and recording the time t6; Record the time t7 when the vehicle stops at the stop position; According to the third time difference between t5 and t7, the response time of the remote parking system to the terminal control is tested; According to a fourth time difference between t6 and t7 , the response time of the remote control parking system to the tester's intervention is tested.

7. A remote control parking test device, characterized in that: The device is deployed on the vehicle and is communicatively connected with the portable terminal and the vehicle computer respectively; The device comprises: a sensor and a controller; The sensor is used to collect the posture data of the vehicle and send it to the controller; The controller is used to execute the remote control parking test method according to any one of claims 1 to 6.

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