Lane keeping auxiliary function test system and test method

Abstract

The invention discloses a lane keeping auxiliary function test system and method, and belongs to the technical field of function tests.The lane keeping auxiliary function test system comprises an angle assembly, a calculation module and a limiting assembly, and the angle assembly is connected with a steering wheel so as to be used for obtaining the steering angle of the steering wheel; the calculation module is used for calculating the deviation speed of the vehicle deviating from the lane, and the deviation speed corresponds to the steering angle; the limiting assembly comprises a rotating block and a limiting block, the rotating block is connected with the steering wheel, the limiting block is connected with the vehicle, and the limiting block is configured to abut against the rotating block to limit the steering angle of the steering wheel, so that the vehicle deviates from the lane according to the corresponding deviation speed, a driver is helped to complete the test of the lane keeping auxiliary function, and the test cost is reduced; the test efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of function testing, and in particular to a lane keeping assist function testing system and a testing method. Background Art

[0002] Lane Keeping Assist (LKA) is an active safety technology that helps drivers keep their vehicles within the lane. If the LKA system uses sensors to identify and determine that a vehicle unexpectedly leaves the lane, it will alert and actively control the steering wheel to adjust the vehicle's direction, keeping the vehicle within the lane to avoid traffic hazards.

[0003] To test whether the lane keeping assist system can complete the above functions, it is necessary to test it in a dedicated venue according to relevant test standards. The test standards generally require that the tested vehicle drives parallel to the lane line in the lane at a set speed, and after reaching the separation point, it deviates to the left or right lane line at a set deviation speed, thereby activating the lane keeping assist system to correct the deviation, so as to test whether the lane keeping assist function is qualified.

[0004] In related technologies, it is difficult for human drivers to operate the steering wheel to make the vehicle accurately drive towards the lane line according to the set deviation speed. Therefore, the test is generally completed by driving robots. However, driving robots are not only expensive, but also require long-term training, resulting in high testing costs and low efficiency. Summary of the invention

[0005] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes a lane keeping assist function test system, which is conducive to reducing test costs and improving test efficiency.

[0006] The invention also provides a testing method.

[0007] A lane keeping assist function test system according to an embodiment of the first aspect of the present invention is applied to a vehicle having a steering wheel and a lane keeping assist module, and includes: an angle component connected to the steering wheel to obtain the steering angle of the steering wheel; a calculation module used to calculate the deviation speed of the vehicle from the lane, and the deviation speed has a corresponding relationship with the steering angle; a limit component, including a rotating block and a limit block, the rotating block is connected to the steering wheel, and the limit block is connected to the vehicle, and the limit block is configured to be able to abut against the rotating block to limit the steering angle of the steering wheel so that the vehicle deviates from the lane at a corresponding deviation speed.

[0008] The lane keeping assist function test system according to the embodiment of the present invention has at least the following beneficial effects: the lane keeping assist function test system includes an angle component and a calculation module. Since the steering angle of the steering wheel corresponds to the heading angle of the vehicle, and the heading angle of the vehicle corresponds to the deviation speed when the vehicle deviates from the lane, that is, the steering angle of the steering wheel and the deviation speed of the vehicle have a certain correspondence. The user can use a simulation test to obtain the steering angle of the steering wheel through the angle component in the simulation test, and calculate the deviation speed of the vehicle from the lane through the calculation module. After analyzing and calibrating the steering angle and the deviation speed, corresponding data containing the corresponding relationship between the steering angle and the deviation speed can be obtained to determine the corresponding relationship between the steering angle and the deviation speed. The user inputs the corresponding data required in the test standard according to the corresponding data. A deviation speed is set to obtain a turning angle limit value corresponding to the set deviation speed. The lane keeping assist function test system also includes a rotating block and a limit block. The rotating block is connected to the steering wheel. After the user determines the turning angle limit value, the connection position of the limit block and the vehicle can be selected so that the limit block is configured to abut against the rotating block to limit the steering angle of the steering wheel, so that the steering wheel is locked after the turning angle limit value is rotated. In the formal test, the lane keeping assist function test system can assist the human driver to accurately rotate the steering wheel to the turning angle limit value through the setting of the limit component, so that the vehicle can be tested according to the set deviation speed in the test standard. Compared with the test method using a driving robot, the operation of the lane keeping assist function test system is relatively simple and convenient, which is conducive to reducing test costs and improving test efficiency.

[0009] According to some embodiments of the present invention, the angle assembly includes a pointer and a dial, the pointer is fixedly connected to the steering wheel, the dial is arranged around the steering wheel, and the pointer is configured to point to the scale value of the dial to indicate the steering angle of the steering wheel.

[0010] Specifically, the angle component includes a pointer and a dial, the pointer is fixedly connected to the steering wheel, and the dial is arranged around the steering wheel. As the steering wheel rotates, the pointer can rotate synchronously with the steering wheel. The pointer is constructed to point to the scale value of the dial to indicate the steering angle of the steering wheel. When the user performs a simulation test, the user can obtain the steering angle of the steering wheel by observing the scale value of the dial pointed by the pointer. The deviation speed of the vehicle from the lane can be calculated in conjunction with the calculation module. After the steering angle and the deviation speed are analyzed and calibrated, corresponding data of the corresponding relationship between the steering angle and the deviation speed can be established to determine the corresponding relationship between the steering angle and the deviation speed. According to the corresponding data, the steering angle limit value corresponding to the set deviation speed required by the test standard can be determined. Under the limiting action of the limit component, the steering wheel is locked after rotating to the steering angle limit value, thereby assisting the driver to accurately control the steering angle of the steering wheel, so that the vehicle completes the test according to the set deviation speed.

[0011] According to some embodiments of the present invention, the vehicle is provided with a plurality of connecting members, the plurality of connecting members are arranged in one-to-one correspondence with the plurality of scale values ​​of the dial, and the limit block is detachably connected to the connecting member to adjust the restricted steering angle of the steering wheel.

[0012] The vehicle is provided with multiple connecting parts, and the multiple connecting parts are arranged in one-to-one correspondence with the multiple scale values ​​of the dial. The limit block is detachably connected to the connecting parts. The user can connect the limit block to the connecting parts at different positions so that the limit block corresponds to the scale values ​​at different positions, thereby changing the limit point of the limit block on the rotating block to adjust the restricted steering angle of the steering wheel. When the restricted steering angle of the steering wheel is adjusted to the angle limit value, the set deviation speed requirement in the test standard can be met to assist the driver to complete the lane keeping assist function test according to the test standard.

[0013] According to some embodiments of the present invention, the lane keeping assist function testing system also includes a connecting column and a locking piece, the connecting piece is provided with a first connecting hole, the limit block is provided with a second connecting hole, the connecting column is passed through the first connecting hole and the second connecting hole and is connected to the locking piece.

[0014] Specifically, the lane keeping assist function test system also includes a connecting column and a locking piece. The connecting piece is provided with a first connecting hole, and the limit block is provided with a second connecting hole. When the user selects the target connecting piece, the user can make the second connecting hole opposite to the first connecting hole, and pass the connecting column through the first connecting hole and the second connecting hole and connect it with the locking piece. Under the joint pressing action of the connecting column and the locking piece, the limit block and the connecting piece are fixedly connected, so that the limit block can correspond to a certain scale of the dial, and the steering angle restricted to the steering wheel is adjusted through the abutment between the limit block and the rotating block.

[0015] According to some embodiments of the present invention, the dial includes a first section and a second section connected to each other on the left and right. When the steering angle is zero, the pointer is in the center position of the steering wheel. The first section corresponds to the area where the pointer rotates in the opposite direction from the center position, and the second section corresponds to the area where the pointer rotates forward from the center position.

[0016] Taking into account that the test standards often require the vehicle to be tested for deviation to the left and to the right, the dial of the lane keeping assist function test system includes a first section and a second section which are connected left and right. When the steering angle is zero, the pointer is in the center of the steering wheel. The first section corresponds to the area where the pointer rotates in the opposite direction from the center position to meet the test requirements for vehicle deviation to the left. The second section corresponds to the area where the pointer rotates forward from the center position to meet the test requirements for vehicle deviation to the right. The lane keeping assist function test system can effectively meet the test requirements of the lane keeping assist function, so as to reduce test costs and improve test efficiency.

[0017] According to some embodiments of the present invention, the lane keeping assist function test system further includes a positioning module, the positioning module is used to obtain the heading angle and vehicle speed of the vehicle deviation, and the calculation module is used to calculate the deviation speed according to the heading angle and the vehicle speed; and / or, It also includes an analysis and calibration module, which is used to calibrate the steering angle and the deviation speed.

[0018] Optionally, the lane keeping assist function test system also includes a positioning module, which is used to obtain the heading angle and vehicle speed of the vehicle deviation, and the calculation module calculates the deviation speed according to the heading angle and the vehicle speed, so that the steering angle is associated with the deviation speed to obtain corresponding data containing the correspondence between the steering angle and the deviation speed, and the user inputs the set deviation speed required in the test standard according to the corresponding data, so as to obtain the turning angle limit value corresponding to the set deviation speed; Optionally, the lane keeping assist function test system also includes an analysis and calibration module, which is used to analyze and calibrate the steering angle and deviation speed obtained in the simulation test to establish corresponding data of the correspondence between the steering angle and the deviation speed, and the user inputs the set deviation speed required in the test standard according to the corresponding data, so as to obtain the turning angle limit value corresponding to the set deviation speed.

[0019] A testing method according to an embodiment of the second aspect of the present invention is applied to a lane keeping assist function testing system as shown in any one of the first aspects; the testing method comprises: Performing a simulation test on the vehicle, in which the angle control component obtains the steering angle of the steering wheel and controls the calculation module to calculate the deviation speed of the vehicle; Establishing corresponding data of the corresponding relationship between the steering angle and the deviation speed; Set the deviation speed according to the corresponding data input and calculate the angle limit value; Connect the limit block to the vehicle so that the limit block can abut against the rotating block after the steering wheel rotates to the limit angle; The vehicle is formally tested. In the formal test, the vehicle is controlled to travel in a straight line at a set speed to a set separation point, and then the steering wheel is rotated until the turning block abuts against the limit block, so that the vehicle deviates from the lane at a set deviation speed.

[0020] The test method according to the embodiment of the present invention has at least the following beneficial effects: since the steering angle of the steering wheel corresponds to the heading angle of the vehicle, and the heading angle of the vehicle corresponds to the deviation speed when the vehicle deviates from the lane, that is, the steering angle of the steering wheel and the deviation speed of the vehicle have a certain corresponding relationship, the test method can obtain the corresponding relationship between the steering angle and the deviation speed by means of a simulation test. Specifically, in the simulation test, the control angle component obtains the steering angle of the steering wheel, and controls the calculation module to calculate the deviation speed of the vehicle, and then establishes corresponding data of the corresponding relationship between the steering angle and the deviation speed to determine the corresponding relationship between the steering angle and the deviation speed. The user inputs the set deviation speed required in the test standard according to the corresponding data, thereby obtaining the corresponding set deviation speed. The lane keeping assist function test system also includes a rotating block and a limit block. The rotating block is connected to the steering wheel. After the user determines the angle limit value, the connection position of the limit block and the vehicle can be selected so that the limit block is configured to abut against the rotating block to limit the steering angle of the steering wheel, so that the steering wheel is locked after the angle limit value is rotated. In the formal test, the lane keeping assist function test system can assist the human driver to accurately rotate the steering wheel to the angle limit value through the setting of the limit component, so that the vehicle can be tested according to the set deviation speed in the test standard to meet the relevant requirements of the test standard. Compared with the test method using a driving robot, the operation of this test method is relatively simple and convenient, which is conducive to reducing test costs and improving test efficiency.

[0021] According to some embodiments of the present invention, the lane keeping assist function test system further includes a result analysis module; causing the vehicle to deviate from the lane at a set deviation speed, and further includes: Determine whether the lane keeping assist module is operating; When the lane keeping assist module is operating, the control result analysis module obtains the process data of the lane keeping assist module, and processes and analyzes the process data to output the test results.

[0022] Specifically, in the formal test, when the vehicle deviates from the lane at the set deviation speed, it is necessary to determine whether the lane keeping assist module is moving normally. After the lane keeping assist module is operating, the control result analysis module obtains the process data of the lane keeping assist module, and processes and analyzes the process data to output the test results. That is, the test method can determine whether the function of the lane keeping assist module is qualified through the result analysis module, and output the result, which is conducive to improving the test efficiency.

[0023] According to some embodiments of the present invention, a simulation test is performed on a vehicle. In the simulation test, the angle component is controlled to obtain the steering angle of the steering wheel, and the calculation module is controlled to calculate the deviation speed of the vehicle, including: A plurality of simulation tests are performed on the vehicle, and between the plurality of simulation tests, the steering angle of the test is increased in steps of a first angle; in one set of simulation tests, the control angle component obtains the steering angle of the steering wheel, and connects the limit block to the vehicle so that the limit block can abut against the rotating block after the steering angle tested by rotating the steering wheel, and the vehicle is controlled to travel to a set separation point at a set speed, and the steering wheel is rotated until the rotating block abuts against the limit block, so that the vehicle deviates from the lane, and the control calculation module calculates the deviation speed.

[0024] Specifically, when obtaining the data of steering angle and deviation speed, the test method needs to perform multiple groups of simulation tests on the vehicle, and between the multiple groups of simulation tests, the tested steering angle is incremented with a first angle as a step size, so as to obtain multiple groups of data about steering angle and deviation data, so that the established corresponding data is more accurate and comprehensive. In one group of simulation tests, the limit block is connected to the vehicle so that when the limit block abuts the rotating block, the steering wheel is rotated to the test writing angle, and then the vehicle is controlled to travel to the set separation point, and the steering wheel is controlled to rotate until the limit block abuts the steering block to make the vehicle deviate from the lane, and the calculation module is controlled to calculate the deviation speed to improve the accuracy of the angle limit value obtained according to the set deviation speed. In the formal test, when the user rotates the steering wheel to the angle limit value and locks it, the vehicle is tested according to the set deviation speed to ensure that it can meet the requirements of the test standard, which is conducive to improving the accuracy of the test.

[0025] According to some embodiments of the present invention, the lane keeping assist function test system further includes a positioning module, the positioning module is used to obtain the heading angle and speed of the vehicle deviation; and control the calculation module to calculate the deviation speed of the vehicle deviation, including: The control positioning module obtains the heading angle and speed of the vehicle, and the heading angle is related to the steering angle; The control calculation module calculates the deviation speed according to the heading angle and vehicle speed.

[0026] Specifically, in a simulation test, the test method can control the positioning module to obtain the heading angle and vehicle speed of the vehicle deviation, and control the calculation module to calculate the deviation speed based on the heading angle and vehicle speed, so that the steering angle is associated with the deviation speed, so as to establish corresponding data of the corresponding relationship between the steering angle and the deviation speed. The user inputs the set deviation speed required in the test standard according to the corresponding data, so as to obtain the steering angle limit value corresponding to the set deviation speed.

[0027] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein: Figure 1 A schematic diagram of the system configuration of a lane keeping assist function testing system according to an embodiment of the present invention; Figure 2 This is a flow chart of the operation of a testing method according to an embodiment of the present invention; Figure 3 An overall flow chart of a testing method according to an embodiment of the present invention; Figure 4 A flow chart of outputting test results for a test method according to an embodiment of the present invention; Figure 5 The present invention is a flowchart of a simulation test of a test method according to an embodiment of the present invention and obtaining corresponding data. DETAILED DESCRIPTION

[0029] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0030] In the description of the present invention, it should be understood that descriptions involving orientation, such as orientation or positional relationship indicated as up, down, etc., are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0031] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0032] In the description of the present invention, "a plurality" means more than two. If there is a description of "first" or "second", it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0033] In related technologies, special field tests are required to test whether the lane keeping assist module can complete the deviation correction function. At present, relevant test standards have been formulated both at home and abroad, such as China's C-NCAP2021 and Europe's Euro-NCAP2023. The solid line test scenarios specified in C-NCAP2021 are shown in Table 1 below.

[0034]

[0035] Table 1 Table 1 is the test requirements for the LKA solid line test. As can be seen from Appendix 1, the tested vehicle first drives in the lane at a speed of 80km / h parallel to the lane line. When it reaches the set separation point, it deviates to the left or right lane line at the set deviation speed, thereby activating the lane keeping assist module for correction.

[0036] The test uses the distance the vehicle deviates from the lane line to check whether the lane keeping assist module is qualified. The difficulty lies in the fact that the test process strictly requires the vehicle to drive towards the lane line at a set deviation speed, which cannot be achieved by human drivers operating the steering wheel.

[0037] Reference Figure 1 and Figure 2 As shown, a lane keeping assist function test system according to an embodiment of the present invention is applied to a vehicle having a steering wheel and a lane keeping assist module. The lane keeping assist function test system includes: an angle component, a positioning module, a calculation module and a limit component.

[0038] Reference Figure 1 and Figure 2 As shown, since the steering angle of the steering wheel corresponds to the heading angle of the vehicle, and the heading angle of the vehicle corresponds to the deviation speed when the vehicle deviates from the lane, that is, the steering angle of the steering wheel and the deviation speed of the vehicle have a certain correspondence. The lane keeping assist function test system includes an angle component, a positioning module and a calculation module.

[0039] Reference Figure 1 and Figure 2 As shown, the angle component is connected to the steering wheel to obtain the steering angle of the steering wheel, the positioning module is used to obtain the heading angle and vehicle speed of the vehicle deviation, and the calculation module is used to calculate the deviation speed of the vehicle from the lane based on the heading angle and vehicle speed.

[0040] Reference Figure 1 and Figure 2 As shown, the user can use the simulation test method. In the simulation test, the steering angle of the steering wheel is obtained through the angle component, and the driver controls the vehicle to drive straight in the lane. The positioning module continuously obtains the vehicle's heading angle and speed. When the vehicle reaches the set speed and drives to the set separation point, the user can rotate the steering wheel to the tested steering angle to make the vehicle deviate from the lane line. The calculation module can calculate the deviation speed of the vehicle from the lane based on the heading angle and the speed. After analyzing and calibrating the steering angle and the deviation speed, corresponding data of the corresponding relationship between the steering angle and the deviation speed can be established to determine the corresponding relationship between the steering angle and the deviation speed.

[0041] Reference Figure 1 and Figure 2As shown, the limit assembly includes a rotating block and a limit block, the rotating block is fixedly connected to the steering wheel, the limit block is fixedly connected to the vehicle, and the limit block is configured to abut against the rotating block to limit the steering angle of the steering wheel so that the vehicle deviates from the lane at a corresponding deviation speed.

[0042] Reference Figure 1 and Figure 2 As shown, the user inputs the set deviation speed required in the test standard according to the corresponding data, thereby obtaining the angle limit value corresponding to the set deviation speed. After the user determines the angle limit value, the connection position of the limit block and the vehicle can be selected so that the limit block is configured to abut against the rotating block to limit the steering angle of the steering wheel, so that the steering wheel is locked after rotating to the angle limit value.

[0043] Reference Figure 1 and Figure 2 As shown in the figure, in the formal test, the lane keeping assist function test system can assist the human driver to accurately rotate the steering wheel to the angle limit value through the setting of the limit component. After the driver controls the vehicle to drive to the set separation point, he can directly rotate the steering wheel until the limit block abuts against the rotation block, that is, the steering wheel has rotated to the specified steering angle, so that the vehicle can be tested according to the set deviation speed in the test standard. Compared with the test method using a driving robot, the operation of the lane keeping assist function test system is relatively simple and convenient, which is conducive to reducing test costs and improving test efficiency.

[0044] Reference Figure 1 and Figure 2 As shown, the lane keeping assist function test system has a simple structure, low cost, and simple operation. It can complete the test content and output the test results in a short period of time, and can effectively help developers improve the function of the lane keeping assist module.

[0045] It should be noted that calculating the deviation speed of the vehicle based on the heading angle and the vehicle speed is a conventional technical means in the art and will not be described in detail here.

[0046] Reference Figure 1 and Figure 2 As shown, it can be understood that the angle assembly includes a pointer and a dial, the pointer is fixedly connected to the steering wheel, specifically, the pointer and the steering wheel are both connected to the steering column, the dial is arranged around the steering wheel, when the steering angle of the steering wheel is zero, the pointer is in the center position of the steering wheel, and the pointer points to the zero scale value of the dial, as the steering wheel rotates, the pointer can rotate synchronously with the steering wheel, and the pointer is constructed to point to the scale value of the dial to indicate the steering angle of the steering wheel.

[0047] Reference Figure 1 and Figure 2As shown, when the user performs a simulation test, the user can obtain the steering angle of the steering wheel by observing the scale value of the dial pointed to by the pointer, and cooperate with the calculation module to calculate the deviation speed of the vehicle from the lane. After the steering angle and the deviation speed are analyzed and calibrated, the corresponding data of the corresponding relationship between the steering angle and the deviation speed can be established to determine the corresponding relationship between the steering angle and the deviation speed. According to the corresponding data, the steering angle limit value corresponding to the set deviation speed required by the test standard can be determined.

[0048] Reference Figure 1 and Figure 2 As shown, in the formal test, under the limiting effect of the limit assembly, the driver turns the steering wheel to the angle limit value and then locks it, thereby assisting the driver to accurately control the steering angle of the steering wheel and allowing the vehicle to complete the test at the set deviation speed.

[0049] It should be understood that, in some other embodiments, the angle component includes an angle sensor. Specifically, the angle sensor is a Hall sensor, and the steering angle of the steering wheel can be obtained through the Hall sensor or the like.

[0050] It should be noted that the principle of the Hall sensor detecting the steering angle is a conventional technical means in the art and will not be elaborated here.

[0051] Reference Figure 1 and Figure 2 As shown, it can be understood that, in this embodiment, the vehicle is provided with a plurality of connecting members, and the plurality of connecting members are arranged in one-to-one correspondence with the plurality of scale values ​​of the dial, and the limit block is detachably connected to the connecting member to adjust the restricted steering angle of the steering wheel.

[0052] Reference Figure 1 and Figure 2 As shown, when the limit block is connected to the vehicle, the limit surface of the limit block is coplanar with the scale line corresponding to the scale plate, and the limit surface is used to abut against the rotating block to limit the steering angle of the steering wheel.

[0053] Reference Figure 1 and Figure 2 As shown, the user can connect the limit block to the connecting parts at different positions so that the limit block corresponds to the scale values ​​at different positions, thereby changing the limit point of the limit block on the rotation block to adjust the restricted steering angle of the steering wheel to meet the set deviation speed requirements in the test standard, so as to assist the driver to complete the lane keeping assist function test according to the test standard.

[0054] Reference Figure 1 and Figure 2As shown, it can be understood that the lane keeping assist function test system also includes a connecting column and a locking piece, the connecting piece is provided with a first connecting hole, the limit block is provided with a second connecting hole, the connecting column is passed through the first connecting hole and the second connecting hole and is connected to the locking piece.

[0055] Reference Figure 1 and Figure 2 As shown, specifically, the connecting column can be a bolt, and the locking piece can be a nut. When the user selects the target connecting piece, the user can align the second connecting hole with the first connecting hole, and pass the bolt through the first connecting hole and the second connecting hole and connect them with the nut. As the nut and the bolt are screwed together, the bolt and the nut jointly apply a clamping force to the limit block and the connecting piece. Under the joint pressing action of the connecting column and the locking piece, a fixed connection between the limit block and the connecting piece is achieved, so that the limit block can correspond to a certain scale of the dial, and the steering angle of the steering wheel is limited by the abutment between the limit block and the rotating block.

[0056] It should be noted that the connecting member may be a metal sheet or a metal block fixedly connected to the vehicle frame.

[0057] It should be understood that in some other embodiments, a snap fastener is provided on the connecting member, and the limit block can be detachably connected to the connecting member through the snap fastener. The user can connect the limit block to the connecting members at different positions so that the limit block corresponds to the scale values ​​at different positions, thereby changing the limit point of the limit block on the rotating block to adjust the restricted steering angle of the steering wheel.

[0058] Reference Figure 1 and Figure 2 As shown, it can be understood that in this embodiment, considering that the test standards often require the vehicle to be tested for deviation to the left and deviation to the right, the dial of the lane keeping assist function test system includes a first section and a second section connected to each other on the left and right, the first section corresponds to the area where the pointer rotates in the opposite direction from the center position, and the second section corresponds to the area where the pointer rotates forward from the center position.

[0059] Reference Figure 1 and Figure 2 As shown, specifically, the dial is arranged in a circular ring, and the circular ring is arranged around the rotation axis. The first section corresponds to the area where the pointer rotates in the opposite direction from the center position to meet the test requirements of the vehicle deviating to the left side, and the second section corresponds to the area where the pointer rotates forward from the center position to meet the test requirements of the vehicle deviating to the right side. The lane keeping assist function test system can effectively meet the test requirements of the lane keeping assist function to reduce the test cost and improve the test efficiency.

[0060] It should be understood that in some other embodiments, the dial is in a semicircular shape, wherein the first section corresponds to an angle of 90° for the reverse rotation of the pointer, and the second section corresponds to an angle of 90° for the forward rotation of the pointer.

[0061] It should be understood that in some other embodiments, the limit assembly also includes a servo drive motor, a driving gear and an outer ring gear, the outer ring gear is rotatably connected to the vehicle, and the outer ring gear is coaxially arranged with the annular scale plate; the limit block is fixedly connected to the inner circumference of the outer ring gear, the output shaft of the servo drive motor is transmission-connected to the driving gear to drive the driving gear to rotate, and the driving gear is meshingly connected to the outer ring gear. Under the driving action of the servo drive motor, the outer ring gear can be driven to rotate forward or reverse, thereby changing the relative position relationship between the limit block and the rotating block, thereby changing the limit point of the limit block to the rotating block, so as to automatically adjust the restricted steering angle of the steering wheel.

[0062] Reference Figure 1 and Figure 2 As shown, it can be understood that, in this embodiment, the lane keeping assist function test system also includes a positioning module, the positioning module is used to obtain the heading angle and vehicle speed of the vehicle deviation, the calculation module calculates the deviation speed according to the heading angle and the vehicle speed, so that the steering angle is associated with the deviation speed, so as to obtain corresponding data including the corresponding relationship between the steering angle and the deviation speed, and the user inputs the set deviation speed required in the test standard according to the corresponding data, so as to obtain the turning angle limit value corresponding to the set deviation speed.

[0063] It should be noted that the positioning module can be a GPS receiver and an IMU positioning module. The GPS receiver and the IMU positioning module obtain the real-time positioning information and vehicle speed information of the relative position between the vehicle's outer contour observation point (i.e., the front wheel of the vehicle) and the lane line, and obtain the relative position information between the test vehicle and the lane line, as well as the vehicle speed, heading angle and other related motion parameters through satellite positioning and inertial navigation devices.

[0064] Reference Figure 1 and Figure 2 As shown, it can be understood that the lane keeping assist function test system also includes an analysis and calibration module, which is used to analyze and calibrate the steering angle and deviation speed obtained in the simulation test to obtain corresponding data containing the corresponding relationship between the steering angle and the deviation speed. The user inputs the set deviation speed required in the test standard according to the corresponding data, thereby obtaining the turning angle limit value corresponding to the set deviation speed.

[0065] Reference Figures 2 to 5 As shown, a test method provided by an embodiment of the present invention is applied to the lane keeping assist function test system shown in any of the above embodiments; the test method comprises the following steps: Step S100, performing a simulation test on the vehicle, in which the angle control component obtains the steering angle of the steering wheel and controls the calculation module to calculate the deviation speed of the vehicle; Step S200, establishing corresponding data of the corresponding relationship between the steering angle and the deviation speed; Step S300, setting the deviation speed according to the corresponding data input and calculating the turning angle limit value; Step S400, connecting the limit block to the vehicle so that the limit block can abut against the rotating block after the steering wheel rotates to a limit angle; Step S500, a formal test is performed on the vehicle. In the formal test, the vehicle is controlled to travel straight at a set speed to a set separation point, and the steering wheel is rotated until the rotating block abuts against the limit block, so that the vehicle deviates from the lane at a set deviation speed.

[0066] Reference Figure 2 and Figure 3 As shown, in step S100 and step S200, since the steering angle of the steering wheel corresponds to the heading angle of the vehicle, and the heading angle of the vehicle corresponds to the deviation speed when the vehicle deviates from the lane, that is, the steering angle of the steering wheel and the deviation speed of the vehicle have a certain correspondence, the test method can obtain the correspondence between the steering angle and the deviation speed by means of simulation test.

[0067] Reference Figure 2 and Figure 3 As shown, specifically, in the simulation test, the test method controls the angle component to obtain the steering angle of the steering wheel, and controls the calculation module to calculate the deviation speed of the vehicle to obtain relevant data of the steering angle and the deviation speed. After data processing, corresponding data of the corresponding relationship between the steering angle and the deviation speed can be established to determine the corresponding relationship between the steering angle and the deviation speed.

[0068] Reference Figure 2 and Figure 3 As shown, in step S300, the user inputs the set deviation speed required in the test standard according to the corresponding data, thereby obtaining the rotation angle limit value corresponding to the set deviation speed.

[0069] Reference Figure 2 and Figure 3 As shown, in step S400, the lane keeping assist function test system also includes a rotating block and a limit block. The rotating block is connected to the steering wheel. After the user determines the angle limit value, the connection position of the limit block and the vehicle can be selected so that the limit block is configured to abut against the rotating block to limit the steering angle of the steering wheel, so that the steering wheel is locked after rotating to the angle limit value.

[0070] Reference Figure 2 and Figure 3As shown, in step S500, in the formal test, the lane keeping assist function test system can assist the human driver to accurately rotate the steering wheel to the angle limit value through the setting of the limit component, so that the vehicle can be tested according to the set deviation speed in the test standard to meet the relevant requirements of the test standard. Compared with the test method using a driving robot, the operation of this test method is relatively simple and convenient, which is conducive to reducing test costs and improving test efficiency.

[0071] Reference Figure 2 and Figure 3 As shown, the test method is low-cost, simple to operate, and can complete the test content and output the test results in a short period of time, which can effectively help developers improve the functions of the lane keeping assist module.

[0072] Reference Figure 2 and Figure 4 As shown, it can be understood that the lane keeping assist function test system also includes a result analysis module; the test method, in step S500, causes the vehicle to deviate from the lane at a set deviation speed, comprising the following steps: Step S510, determining whether the lane keeping assist module is operating; Step S520, when the lane keeping assist module is operating, the control result analysis module obtains the process data of the lane keeping assist module, and processes and analyzes the process data to output the test result.

[0073] Reference Figure 2 and Figure 4 As shown, in the formal test, when the vehicle deviates from the lane at the set deviation speed, it is necessary to determine whether the lane keeping assist module moves normally. If the lane keeping assist module is not activated normally, the function of the lane keeping assist module is determined to be unqualified.

[0074] Reference Figure 2 and Figure 4 As shown, when the lane keeping assist module is normally activated, the control result analysis module obtains the process data of the lane keeping assist module, and processes and analyzes the process data to output the test results. That is, the test method can judge the function of the lane keeping assist module through the result analysis module and automatically output the test results, which is conducive to improving the test efficiency.

[0075] Reference Figure 2 and Figure 4As shown, in step S520, when the lane keeping assist module is activated, the test method obtains the distance that the vehicle deviates from the lane line by combining the process data with the position data obtained by the positioning module, and compares the distance that the vehicle deviates from the lane line with the preset distance. If the distance that the vehicle deviates from the lane line exceeds the preset distance, the output test result is that the function of the lane keeping assist module is unqualified; if the distance that the vehicle deviates from the lane line is less than the preset distance, the output test result is that the function of the lane keeping assist module is qualified.

[0076] Reference Figure 2 and Figure 4 As shown, specifically, the positioning module can be a GPS receiver and an IMU positioning module. The GPS receiver and the IMU positioning module obtain the real-time positioning information and vehicle speed information of the relative position between the vehicle's outer contour observation point (i.e., the front wheel of the vehicle) and the lane line, and obtain the relative position information between the test vehicle and the lane line and related motion parameters such as the vehicle speed and heading angle through satellite positioning and inertial navigation devices.

[0077] It should be understood that in some other embodiments, the test method can calculate the correction amount of the lane keeping assist module by obtaining process data through the result analysis module, and compare the correction amount with a preset value. When the correction amount is less than the preset value, the function of the lane keeping assist module is determined to be unqualified; when the correction amount is greater than or equal to the preset value, the function of the lane keeping assist module is determined to be qualified.

[0078] Reference Figure 2 and Figure 5 As shown, it can be understood that, in this embodiment, a simulation test is performed on the vehicle. In the simulation test, the control angle component obtains the steering angle of the steering wheel, and controls the calculation module to calculate the deviation speed of the vehicle, including the following steps: Step S110, performing multiple groups of simulation tests on the vehicle, between the multiple groups of simulation tests, the tested steering angle is increased in steps of a first angle; in one group of simulation tests, the control angle component obtains the steering angle of the steering wheel, and connects the limit block to the vehicle, so that the limit block can abut against the rotating block after the steering angle tested by rotating the steering wheel, control the vehicle to travel to the set separation point at a set speed, rotate the steering wheel until the rotating block abuts against the limit block, so that the vehicle deviates from the lane, and control the calculation module to calculate the deviation speed.

[0079] Reference Figure 2 and Figure 5As shown, specifically, the test method needs to perform multiple groups of simulation tests on the vehicle when obtaining the data of the steering angle and the deviation speed. In one group of simulation tests, the limit block is connected to the vehicle, and after the steering wheel is rotated to the steering angle of the test, the limit block just abuts against the rotating block, and then the vehicle is controlled to travel to the set separation point, and the steering wheel is controlled to rotate the steering angle of the test to make the vehicle deviate from the lane, and the control calculation module calculates the deviation speed. Between the multiple groups of simulation tests, the tested steering angle is increased in steps of the first angle, so as to obtain multiple groups of data on the steering angle and deviation data, which is conducive to improving the accuracy of the corresponding data acquisition, so as to improve the accuracy of the angle limit value obtained according to the set deviation speed. In the formal test, when the user rotates the steering wheel to the angle limit value and locks it, it is ensured that the vehicle can be tested according to the set deviation speed in accordance with the requirements of the test standard, which is conducive to improving the accuracy of the test.

[0080] Reference Figure 2 and Figure 5 As shown, for example, in the first set of simulation tests, the steering angle of the steering wheel test is 10°, and in the second set of simulation tests, the steering angle of the steering wheel test is 20°, that is, the first angle is 10°, and the test steering angle increases in steps of 10° until the test steering angle is 90°.

[0081] Reference Figure 2 and Figure 5 As shown, for example, in the first set of simulation tests, the steering angle of the steering wheel test is -10°, and in the second set of simulation tests, the steering angle of the steering wheel test is -20°, that is, 10° in the opposite direction of the first angle, until the tested steering angle is -90°.

[0082] Reference Figure 2 and Figure 5 As shown, it is understandable that the lane keeping assist function test system also includes a positioning module, and the positioning module is used to obtain the heading angle and speed of the vehicle deviation.

[0083] Reference Figure 2 and Figure 5 As shown, the test method controls the calculation module to calculate the deviation speed of the vehicle deviation, and the control calculation module calculates the deviation speed of the vehicle deviation, and further includes the following steps: Step S120, controlling the positioning module to obtain the heading angle and speed of the vehicle, where the heading angle is associated with the steering angle; Step S130: the control calculation module calculates the deviation speed according to the heading angle and the vehicle speed.

[0084] Reference Figure 2 and Figure 5As shown, specifically, in the simulation test, the test method can control the positioning module to obtain the heading angle and speed of the vehicle deviation, and control the calculation module to calculate the deviation speed according to the heading angle and the speed, so that the steering angle is associated with the deviation speed, and after analyzing and calibrating multiple groups of steering angles and multiple groups of deviation speeds, corresponding data containing the corresponding relationship between the steering angle and the deviation speed are obtained. The user inputs the set deviation speed required in the test standard according to the corresponding data, so as to obtain the turning angle limit value corresponding to the set deviation speed, which is conducive to improving the accuracy of the corresponding data obtained, so as to improve the accuracy of the turning angle limit value obtained according to the set deviation speed. In the formal test, when the user rotates the steering wheel to the turning angle limit value and locks it, in order to ensure that the vehicle can meet the requirements of the test standard, the test is performed according to the set deviation speed, which is conducive to improving the accuracy of the test.

[0085] It should be noted that the vehicle can be a private car, such as a sedan, SUV, MPV or pickup truck. The vehicle can also be an operating vehicle, such as a van, bus, small truck or large trailer. The vehicle needs to have an electric motor that can output power or store mechanical energy as a generator. When the vehicle is a new energy vehicle, it can be a hybrid vehicle or a pure electric vehicle.

[0086] It should be noted that in each specific implementation of the present application, when it comes to the need to perform relevant processing based on data related to user identity or characteristics such as user information, user behavior data, user historical data, and user location information, the user's permission or consent will be obtained first, and the collection, use, and processing of these data will comply with the relevant laws, regulations, and standards of the relevant countries and regions. In addition, when the embodiment of the present application needs to obtain the user's sensitive personal information, the user's separate permission or consent will be obtained through a pop-up window or by jumping to a confirmation page. After clearly obtaining the user's separate permission or consent, the necessary user-related data for the normal operation of the embodiment of the present application will be obtained.

[0087] Those skilled in the art will appreciate that all or some of the steps and systems in the methods disclosed above may be implemented as software, firmware, hardware, or a suitable combination thereof.

[0088] The embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge scope of ordinary technicians in the relevant technical field without departing from the purpose of the present invention.

Claims

1. Lane keeping assist function test system, applied to vehicles with steering wheel and lane keeping assist module, characterized in that: include: An angle component, connected to the steering wheel, for obtaining a steering angle of the steering wheel; a calculation module, used for calculating a deviation speed of the vehicle from the lane, wherein the deviation speed has a corresponding relationship with the steering angle; The limit block includes a rotating block and a limit block, wherein the rotating block is connected to the steering wheel, and the limit block is connected to the vehicle. The limit block is configured to abut against the rotating block to limit the steering angle of the steering wheel so that the vehicle deviates from the lane at the corresponding deviation speed.

2. The lane keeping assist function test system according to claim 1, characterized in that: The angle assembly includes a pointer and a dial, the pointer is fixedly connected to the steering wheel, the dial is arranged around the steering wheel, and the pointer is configured to point to a scale value of the dial to indicate the steering angle of the steering wheel.

3. The lane keeping assist function test system according to claim 2, characterized in that: The vehicle is provided with a plurality of connecting members, and the plurality of connecting members are arranged in one-to-one correspondence with the plurality of scale values ​​of the dial, and the limit block is detachably connected to the connecting member to adjust the steering angle of the steering wheel that is restricted.

4. The lane keeping assist function test system according to claim 3, characterized in that: It also includes a connecting column and a locking piece, the connecting piece is provided with a first connecting hole, the limiting block is provided with a second connecting hole, the connecting column is passed through the first connecting hole and the second connecting hole and is connected to the locking piece.

5. The lane keeping assist function testing system according to claim 2, characterized in that: The dial includes a first section and a second section connected to each other on the left and right. When the steering angle is zero, the pointer is in the center position of the steering wheel. The first section corresponds to the area where the pointer rotates in the opposite direction from the center position, and the second section corresponds to the area where the pointer rotates forward from the center position.

6. The lane keeping assist function testing system according to claim 1, characterized in that: The test system further comprises a positioning module, the positioning module is used to obtain the heading angle and vehicle speed of the vehicle deviation, and the calculation module is used to calculate the deviation speed according to the heading angle and the vehicle speed; and / or, It also includes an analysis and calibration module, which is used to calibrate the steering angle and the deviation speed.

7. A test method, characterized in that Applicable to the lane keeping assist function test system as claimed in any one of claims 1 to 6; The testing method comprises: Performing a simulation test on the vehicle, in which the angle component is controlled to obtain the steering angle of the steering wheel, and the calculation module is controlled to calculate the deviation speed of the vehicle; Establishing corresponding data of the corresponding relationship between the steering angle and the deviation speed; According to the corresponding data input, the deviation speed is set and the rotation angle limit value is calculated; Connecting the limit block to the vehicle so that the limit block can abut against the rotating block after the steering wheel rotates to the angle limit value; The vehicle is formally tested. In the formal test, the vehicle is controlled to travel in a straight line at a set speed to a set separation point, and then the steering wheel is rotated until the rotating block abuts against the limit block, so that the vehicle deviates from the lane at the set deviation speed.

8. The testing method according to claim 7, characterized in that: The lane keeping assist function test system further includes a result analysis module; and the step of causing the vehicle to deviate from the lane at the set deviation speed further includes: determining whether the lane keeping assist module is operating; When the lane keeping assist module is operating, the result analysis module is controlled to obtain process data of the lane keeping assist module, and the process data is processed and analyzed to output a test result.

9. The testing method according to claim 7, characterized in that: The performing of a simulation test on the vehicle, in which the angle component is controlled to obtain the steering angle of the steering wheel and the calculation module is controlled to calculate the deviation speed of the vehicle, comprises: A plurality of groups of simulation tests are performed on the vehicle, and between the plurality of groups of simulation tests, the steering angle of the test is increased in steps of a first angle; in one group of simulation tests, the angle component is controlled to obtain the steering angle of the steering wheel, and the limit block is connected to the vehicle so that the limit block can abut against the rotating block after the steering angle tested by rotating the steering wheel, the vehicle is controlled to travel to the set separation point at the set vehicle speed, the steering wheel is rotated until the rotating block abuts against the limit block, the vehicle deviates from the lane, and the calculation module is controlled to calculate the deviation speed.

10. The testing method according to claim 9, characterized in that: The lane keeping assist function test system further includes a positioning module, the positioning module is used to obtain the heading angle and speed of the vehicle deviation; and the calculation module is controlled to calculate the deviation speed of the vehicle deviation, including: Controlling the positioning module to obtain the heading angle and the vehicle speed from which the vehicle deviates, wherein the heading angle is associated with the steering angle; The calculation module is controlled to calculate the deviation speed according to the heading angle and the vehicle speed.

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