Vehicle trajectory precision test method and system, computer equipment and storage medium

Abstract

The invention provides a vehicle trajectory precision test method and system, computer equipment and a storage medium, and the method comprises the steps: obtaining an actual environment image of a vehicle, carrying out the combined display of the actual environment image and a vehicle trajectory, and generating a vehicle trajectory panoramic image; and generating an auxiliary line based on the projection of the vehicle trajectory line on the ground in the vehicle trajectory panoramic image, setting a reference target according to the auxiliary line, and performing precision test on the vehicle trajectory line through the reference target. According to the invention, precision testing can be carried out on the vehicle trajectory, the application range is wide, and dynamic trajectory testing of most vehicle types in the market can be covered. According to the method, the performance parameter indexes of the vehicle dynamic trajectory can be specifically quantified, and whether the precision level of the vehicle dynamic trajectory meets the requirement or not can be visually observed; and by detecting the error value between the dynamic trajectory of the vehicle and the actual driving trajectory, targeted adjustment and optimization can be carried out.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a vehicle trajectory accuracy testing method, system, computer equipment and storage medium. Background Art

[0002] With the development of the automotive industry in recent years, 360° panoramic images have gradually become popular, and along with it, the dynamic trajectory function of the vehicle body has also become popular. Most previous models use static trajectory lines, but this kind of static trajectory line can only play a low reference role, and there are very few applicable scenarios. However, with the development of the automotive industry, dynamic trajectory lines have gradually become standard configuration. The so-called dynamic trajectory lines refer to the lines in the middle of the front / rear view of the vehicle that can change in real time according to the rotation of the steering wheel. They represent the area that the head / tail of the vehicle will pass through when moving forward or backward under the current wheel direction. When the wheel direction is adjusted, these trajectory lines will also change accordingly.

[0003] Although the dynamic trajectory line is an auxiliary tool for drivers to judge the driving path, with the continuous development of automobile parking technology, it is inevitable that the dynamic trajectory line will have errors compared with the actual driving trajectory. Therefore, in order to make the dynamic trajectory line more referenceable, it is necessary to continuously improve the accuracy of the dynamic trajectory line of the vehicle body and the actual driving trajectory. Summary of the invention

[0004] In view of the above-mentioned shortcomings of the prior art, the purpose of the present application is to provide a vehicle trajectory accuracy testing method, system, computer equipment and storage medium to solve the technical problems existing in the prior art.

[0005] To achieve the above objectives and other related objectives, the present application provides a vehicle trajectory accuracy testing method, comprising the following steps:

[0006] Using a line drawn in advance or in real time and parallel to the driving direction of the vehicle as a vehicle contour line; and using a line drawn in advance or in real time and perpendicular to the driving direction of the vehicle as a vehicle stop line;

[0007] Based on the vehicle contour line and the vehicle stop line, respectively generate a front trajectory line located at the front side of the vehicle and a rear trajectory line located at the rear side of the vehicle, and associate the front trajectory line with the rear trajectory line as a vehicle trajectory line of the vehicle;

[0008] Acquire an actual environment image of the vehicle in a stationary or moving state, and combine the actual environment image with the vehicle trajectory line for display to generate a vehicle trajectory panoramic image; wherein the actual environment image is generated by photographing an image photographing device disposed on the vehicle;

[0009] An auxiliary line is generated based on the projection of the vehicle track line in the vehicle track panoramic image on the ground, a reference target is set according to the auxiliary line, and the accuracy of the vehicle track line is tested by the reference target.

[0010] In one embodiment of the present application, when the vehicle is stationary, the process of generating an auxiliary line based on the projection of the vehicle trajectory line in the vehicle trajectory panoramic image on the ground and setting a reference target according to the auxiliary line includes:

[0011] Based on the projection of the vehicle trajectory line in the vehicle trajectory panoramic image on the ground and the bumper position of the vehicle, a left front contour auxiliary line, a right front contour auxiliary line, a left rear contour auxiliary line and a right rear contour auxiliary line are generated, as well as a first left front distance auxiliary line, a second left front distance auxiliary line, a third left front distance auxiliary line, a first left rear distance auxiliary line, a second left rear distance auxiliary line, a third left rear distance auxiliary line, a first right front distance auxiliary line, a second right front distance auxiliary line, a third right front distance auxiliary line, a first right rear distance auxiliary line, a second right rear distance auxiliary line and a third right rear distance auxiliary line are generated; wherein, the left front The contour auxiliary line, the right front contour auxiliary line, the first left front distance auxiliary line, the second left front distance auxiliary line, the third left front distance auxiliary line, the first right front distance auxiliary line, the second right front distance auxiliary line and the third right front distance auxiliary line are located on the front bumper side of the vehicle; the left rear contour auxiliary line, the right rear contour auxiliary line, the first left rear distance auxiliary line, the second left rear distance auxiliary line, the third left rear distance auxiliary line, the first right rear distance auxiliary line, the second right rear distance auxiliary line and the third right rear distance auxiliary line are located on the rear bumper side of the vehicle;

[0012] The intersection point of the left front contour auxiliary line and the first left front distance auxiliary line is recorded as the first left front point, and the intersection point of the left front contour auxiliary line and the second left front distance auxiliary line is recorded as the second left front point, and the intersection point of the left front contour auxiliary line and the third left front distance auxiliary line is recorded as the third left front point, and the intersection point of the right front contour auxiliary line and the first right front distance auxiliary line is recorded as the first right front point, and the intersection point of the right front contour auxiliary line and the second right front distance auxiliary line is recorded as the second right front point, and the intersection point of the right front contour auxiliary line and the third right front distance auxiliary line is recorded as the third right front point, so as to obtain the first right front point. and recording the intersection of the left rear contour auxiliary line and the first left rear distance auxiliary line as the first left rear point, and recording the intersection of the left rear contour auxiliary line and the second left rear distance auxiliary line as the second left rear point, and recording the intersection of the left rear contour auxiliary line and the third left rear distance auxiliary line as the third left rear point, and recording the intersection of the right rear contour auxiliary line and the first right rear distance auxiliary line as the first right rear point, and recording the intersection of the right rear contour auxiliary line and the second right rear distance auxiliary line as the second right rear point, and recording the intersection of the right rear contour auxiliary line and the third right rear distance auxiliary line as the third right rear point;

[0013] Reference targets are set at the positions of the first left front point, the second left front point, the third left front point, the first left rear point, the second left rear point, the third left rear point, the first right front point, the second right front point, the third right front point, the first right rear point, the second right rear point and the third right rear point respectively.

[0014] In one embodiment of the present application, when the vehicle is stationary, the process of performing an accuracy test on the vehicle trajectory line by using the reference target includes:

[0015] Generate a trajectory line in the vehicle trajectory panoramic image according to all reference targets, recorded as a reference trajectory line;

[0016] Comparing the reference trajectory line with the vehicle trajectory line to determine whether the reference trajectory line is parallel to or coincides with the vehicle trajectory line;

[0017] If the reference trajectory line is parallel to or coincides with the vehicle trajectory line, then the vehicle trajectory line of the vehicle in a stationary state is marked as passing the accuracy test;

[0018] If the reference trajectory line is not parallel to and does not overlap with the vehicle trajectory line, the vehicle trajectory line of the vehicle in a stationary state is marked as failing the accuracy test, and a reference target that is not parallel to or overlaps with the vehicle trajectory line is screened out as a reference target to be adjusted; and, the reference target to be adjusted is moved, and when the vehicle trajectory line is parallel to or overlaps with the adjusted reference trajectory line, an error value of the target to be adjusted is recorded, an error table is generated based on the error value, and the vehicle trajectory line is adjusted through the error table; wherein the adjusted reference trajectory line is generated by moving the reference target to be adjusted.

[0019] In one embodiment of the present application, when the vehicle is in a driving state, a process of generating an auxiliary line based on a projection of a vehicle trajectory line in the vehicle trajectory panoramic image on the ground and setting a reference target according to the auxiliary line includes:

[0020] Turning the steering wheel of the vehicle to a preset test angle, and generating an auxiliary line based on the projection of the vehicle trajectory line in the vehicle trajectory panoramic image on the ground, which is recorded as a dynamic auxiliary line;

[0021] Find the display endpoints of the dynamic auxiliary line in the vehicle trajectory panoramic image, and based on the position of the vehicle's bumper, divide the display endpoints into a left front display endpoint, a left rear display endpoint, a right front display endpoint, and a right rear display endpoint, and set the reference target at the left front display endpoint, the left rear display endpoint, the right front display endpoint, and the right rear display endpoint; wherein, if one side of the vehicle trajectory line exceeds the display interface of the vehicle trajectory panoramic image, the reference target is set based on the intersection of the dynamic auxiliary line in the vehicle trajectory panoramic image.

[0022] In one embodiment of the present application, when the vehicle is in a driving state, the process of performing an accuracy test on the vehicle trajectory line by using the reference target includes:

[0023] Controlling the vehicle to travel at a preset speed, and determining whether the vehicle trajectory line completely overlaps with the reference target;

[0024] If the reference trajectory line and the reference target completely coincide with each other, then the vehicle trajectory line of the vehicle in the driving state is marked as passing the accuracy test;

[0025] If the reference trajectory line and the reference target do not completely coincide with each other, the vehicle trajectory line of the vehicle in the driving state is marked as failing the accuracy test, and the driving direction of the vehicle at the current moment is obtained;

[0026] And, when the driving direction is forward, and the left front wheel of the vehicle coincides with the reference target at the left front display endpoint or the right front wheel of the vehicle coincides with the reference target at the right front display endpoint, the lateral offset distance between the left front wheel of the vehicle and the reference target at the left front display endpoint is calculated, and the lateral offset distance between the right front wheel of the vehicle and the reference target at the right front display endpoint is calculated, and the calculated lateral offset distance is used as the error when the vehicle moves forward at the preset test angle;

[0027] When the driving direction is backward, and the left rear wheel of the vehicle coincides with the reference target at the left rear display endpoint or the right rear wheel of the vehicle coincides with the reference target at the right rear display endpoint, the lateral offset distance between the left rear wheel of the vehicle and the reference target at the left rear display endpoint is calculated, and the lateral offset distance between the right rear wheel of the vehicle and the reference target at the right rear display endpoint is calculated, and the calculated lateral offset distance is used as the error of the vehicle when it moves backward at the preset test angle;

[0028] And, an error table is generated based on the error when the vehicle moves forward and / or backward at the preset test angle, and the vehicle trajectory is adjusted using the error table.

[0029] In one embodiment of the present application, after obtaining the vehicle contour line, the method further includes:

[0030] The actual environment image is recognized by using an image recognition model generated in advance or in real time, and whether a target object exists in the actual environment image based on the image recognition result; wherein the target object includes a person and / or an object that hinders the normal driving of the vehicle;

[0031] When there is a target object in the actual environment image, the distance between the target object and the left side contour of the vehicle is detected by a distance measuring sensor pre-set on the vehicle, which is recorded as a left side detection distance; and the distance between the target object and the right side contour of the vehicle is detected by the distance measuring sensor, which is recorded as a right side detection distance; and the angle between the target object and the vehicle contour is detected by an angle sensor pre-set on the vehicle;

[0032] Positioning the target object based on the left detection distance and the right detection distance to determine a real-time position of the target object relative to the vehicle;

[0033] According to the current driving direction and speed of the vehicle, the real-time position of the target object relative to the vehicle, and the angle between the target object and the vehicle contour, predict whether the target object is located within the left contour of the vehicle or the right contour of the vehicle during the current driving process of the vehicle;

[0034] When the prediction result is that the target object will be located within the left contour line of the vehicle or the right contour line of the vehicle, a scratch warning prompt is issued through the warning method pre-configured by the vehicle; wherein the warning method pre-configured by the vehicle includes: voice warning, pattern display warning.

[0035] In one embodiment of the present application, after obtaining the vehicle stop line, the method further includes:

[0036] The actual environment image is recognized by using an image recognition model generated in advance or in real time, and whether a target object exists in the actual environment image based on the image recognition result; wherein the target object includes a person and / or an object that hinders the normal driving of the vehicle;

[0037] When there is a target object in the actual environment image, the distance between the target object and the stop line on the front side of the vehicle is detected by a distance measuring sensor pre-set on the vehicle, which is recorded as the front detection distance; and the distance between the target object and the stop line on the rear side of the vehicle is detected by the distance measuring sensor, which is recorded as the rear detection distance;

[0038] Positioning the target object based on the front detection distance and the rear detection distance to determine a real-time position of the target object relative to the vehicle;

[0039] According to the current driving direction and speed of the vehicle and the real-time position of the target object relative to the vehicle, predict whether the target object will be located within the stop line in front of the vehicle or within the stop line behind the vehicle during the current driving process of the vehicle;

[0040] When the prediction result is that the target object will be located within the stop line in front of the vehicle or within the stop line in the rear of the vehicle, a collision warning prompt is issued through a warning method pre-configured for the vehicle; wherein the warning method pre-configured for the vehicle includes: voice warning, pattern display warning.

[0041] The present application also provides a vehicle trajectory accuracy testing system, the system comprising:

[0042] A vehicle trajectory module, for using a line drawn in advance or in real time and parallel to the driving direction of the vehicle as a vehicle contour line; and using a line drawn in advance or in real time and perpendicular to the driving direction of the vehicle as a vehicle stop line; and, based on the vehicle contour line and the vehicle stop line, respectively generating a front trajectory line located at the front side of the vehicle and a rear trajectory line located at the rear side of the vehicle, and associating the front trajectory line with the rear trajectory line as the vehicle trajectory line of the vehicle;

[0043] A vehicle track panoramic image module, used to obtain an actual environment image of the vehicle in a stationary or driving state, and combine the actual environment image with the vehicle track line for display to generate a vehicle track panoramic image; wherein the actual environment image is generated by photographing an image photographing device arranged on the vehicle;

[0044] The trajectory line accuracy test module is used to generate auxiliary lines according to the projection of the vehicle trajectory line on the ground in the vehicle trajectory panoramic image, set reference targets according to the auxiliary lines, and perform accuracy test on the vehicle trajectory line through the reference targets.

[0045] The present application also provides a computer device, including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of any one of the above-mentioned vehicle trajectory accuracy testing methods.

[0046] The present application also provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of any one of the above-mentioned vehicle trajectory accuracy testing methods are implemented.

[0047] As described above, the present application provides a vehicle trajectory accuracy test method, system, computer equipment and storage medium, which have the following beneficial effects: the present application uses a line drawn in advance or in real time and parallel to the vehicle's driving direction as a vehicle contour line; and a line drawn in advance or in real time and perpendicular to the vehicle's driving direction as a vehicle stop line; then based on the vehicle contour line and the vehicle stop line, a front trajectory line located at the front side of the vehicle and a rear trajectory line located at the rear side of the vehicle are generated respectively, and the front trajectory line and the rear trajectory line are associated as the vehicle trajectory line of the vehicle; then the actual environment image of the vehicle in a stationary or driving state is obtained, and the actual environment image is combined with the vehicle trajectory line for display to generate a vehicle trajectory panoramic image; finally, an auxiliary line is generated based on the projection of the vehicle trajectory line on the ground in the vehicle trajectory panoramic image, and a reference target is set according to the auxiliary line, and the vehicle trajectory line is tested for accuracy through the reference target. It can be seen from this that the present application can perform accuracy testing on vehicle trajectory lines, has a wide range of applications, and can cover the vehicle dynamic trajectory line testing of most vehicle models on the market. The present application can specifically quantify the performance parameter indicators of the vehicle's dynamic trajectory line, and can very intuitively observe whether the accuracy level of the vehicle's dynamic trajectory line meets the requirements; and by detecting the error value between the vehicle's dynamic trajectory line and the actual driving trajectory, targeted adjustments and optimizations can be made, thereby improving the accuracy of the corresponding product functions and enhancing user trust. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 A schematic diagram of a process flow of a vehicle trajectory accuracy testing method provided in an embodiment of the present application;

[0049] Figure 2 A panoramic image of a vehicle trajectory when the vehicle steering wheel angle is 0° provided in an embodiment of the present application;

[0050] Figure 3 A panoramic image of a vehicle trajectory when the vehicle steering wheel angle is 90° left turn provided in an embodiment of the present application;

[0051] Figure 4 A panoramic image of a vehicle trajectory when the vehicle steering wheel angle is 180° left turn provided in an embodiment of the present application;

[0052] Figure 5 A panoramic image of a vehicle trajectory when the vehicle steering wheel angle is 360° left turn provided in an embodiment of the present application;

[0053] Figure 6 A schematic diagram of setting a reference target when a vehicle is stationary provided in an embodiment of the present application;

[0054] Figure 7 A schematic diagram of generating auxiliary lines when a vehicle is stationary provided in an embodiment of the present application;

[0055] Figure 8 A schematic diagram of setting a reference target for a vehicle in a driving state provided by an embodiment of the present application;

[0056] Fig. 9 A schematic diagram of the hardware structure of a vehicle trajectory accuracy test system provided in an embodiment of the present application;

[0057] Fig.10 The figure is a schematic diagram of the hardware structure of a computer device suitable for implementing one or more embodiments of the present application. DETAILED DESCRIPTION

[0058] The following describes the embodiments of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. The present application can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0059] It should be noted that the illustrations provided in this embodiment only illustrate the basic concept of the present application in a schematic manner, and the figures only show the components related to the present application rather than being drawn according to the number, shape and size of the components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0060] The above section introduces the contents of an exemplary system architecture that applies the technical solution of the present application. Next, the vehicle trajectory accuracy testing method of the present application will be introduced.

[0061] Figure 1 FIG. 1 is a flow chart of a vehicle trajectory accuracy test method provided by an embodiment of the present application. Specifically, in an exemplary embodiment, Figure 1 As shown, this embodiment provides a vehicle trajectory accuracy testing method, the method comprising the following steps:

[0062] S110, using the lines drawn in advance or in real time and parallel to the vehicle's driving direction as the vehicle contour line; and using the lines drawn in advance or in real time and perpendicular to the vehicle's driving direction as the vehicle stop line. In this embodiment or other embodiments, when drawing the vehicle contour line, the vehicle contour line can also be drawn based on the lines parallel to the vehicle body, and when external obstacles intrude into the contour line, it indicates that the vehicle is at risk of scratching. When drawing the vehicle stop line, the vehicle stop line can also be drawn based on the lines perpendicular to the vehicle body, or based on the lines parallel to the front or rear of the vehicle. For example, the line located 2cm-3cm from the outer edge of the front bumper / rear bumper of the vehicle can be used as the stop line, and when external obstacles intrude into the stop line, it indicates that the vehicle is at risk of collision.

[0063] S120 , based on the vehicle contour line and the vehicle stop line, respectively generate a front trajectory line located at the front side of the vehicle and a rear trajectory line located at the rear side of the vehicle, and associate the front trajectory line with the rear trajectory line to serve as a vehicle trajectory line of the vehicle.

[0064] S130, obtaining an actual environment image of the vehicle when it is stationary or moving, and combining the actual environment image with the vehicle trajectory line to generate a panoramic image of the vehicle trajectory; wherein the actual environment image is generated by an image capture device disposed on the vehicle. In this embodiment or other embodiments, the image capture device may be a monocular camera, such as a fisheye camera. As an example, a panoramic image of the vehicle trajectory when the vehicle steering wheel angle is 0° is as follows Figure 2 As shown in the figure, the panoramic image of the vehicle trajectory when the vehicle steering wheel angle is 90° left is as follows Figure 3 As shown in the figure, the panoramic image of the vehicle trajectory when the vehicle steering wheel angle is 180° left is as follows Figure 4 As shown in the figure, the panoramic image of the vehicle trajectory when the vehicle steering wheel angle is 360° left turn is as follows Figure 5 shown.

[0065] S140, generating auxiliary lines based on the projection of the vehicle trajectory line in the vehicle trajectory panoramic image on the ground, setting reference targets according to the auxiliary lines, and performing accuracy testing on the vehicle trajectory line through the reference targets.

[0066] According to the above records, if Figure 6 As shown, in an exemplary embodiment, when the vehicle is stationary, the process of generating an auxiliary line based on the projection of the vehicle trajectory line in the vehicle trajectory panoramic image on the ground and setting the reference target according to the auxiliary line includes:

[0067] Based on the projection of the vehicle trajectory line on the ground in the vehicle trajectory panoramic image and the position of the vehicle's bumper, a left front contour auxiliary line SEL1, a right front contour auxiliary line SER1, a left rear contour auxiliary line SEL2 and a right rear contour auxiliary line SER2 are generated, as well as a first left front distance auxiliary line SPL1, a second left front distance auxiliary line SPL2, a third left front distance auxiliary line SPL3, a first left rear distance auxiliary line SPL4, a second left rear distance auxiliary line SPL5, a third left rear distance auxiliary line SPL6, a first right front distance auxiliary line SPR1, a second right front distance auxiliary line SPR2, a third right front distance auxiliary line SPR3, a first right rear distance auxiliary line SPR4, a second right rear distance auxiliary line SPR5 and a third right rear distance auxiliary line wherein, the left front contour auxiliary line SEL1, the right front contour auxiliary line SER1, the first left front distance auxiliary line SPL1, the second left front distance auxiliary line SPL2, the third left front distance auxiliary line SPL3, the first right front distance auxiliary line SPR1, the second right front distance auxiliary line SPR2 and the third right front distance auxiliary line SPR3 are located on the front bumper side of the vehicle; the left rear contour auxiliary line SEL2, the right rear contour auxiliary line SER2, the first left rear distance auxiliary line SPL4, the second left rear distance auxiliary line SPL5, the third left rear distance auxiliary line SPL6, the first right rear distance auxiliary line SPR4, the second right rear distance auxiliary line SPR5 and the third right rear distance auxiliary line SPR6 are located on the rear bumper side of the vehicle;

[0068] The intersection point of the left front contour auxiliary line SEL1 and the first left front distance auxiliary line SPL1 is recorded as the first left front point L1, and the intersection point of the left front contour auxiliary line SEL1 and the second left front distance auxiliary line SPL2 is recorded as the second left front point L2, and the intersection point of the left front contour auxiliary line SEL1 and the third left front distance auxiliary line SPL3 is recorded as the third left front point L3, and the intersection point of the right front contour auxiliary line SER1 and the first right front distance auxiliary line SPR1 is recorded as the first right front point R1, and the intersection point of the right front contour auxiliary line SER1 and the second right front distance auxiliary line SPR2 is recorded as the second right front point R2, and the intersection point of the right front contour auxiliary line SER1 and the third right front distance auxiliary line SPR3 is recorded as the third right front point R3, and recording the intersection of the left rear contour auxiliary line SEL2 and the first left rear distance auxiliary line SPL4 as the first left rear point L4, and recording the intersection of the left rear contour auxiliary line SEL2 and the second left rear distance auxiliary line SPL5 as the second left rear point L5, and recording the intersection of the left rear contour auxiliary line SEL2 and the third left rear distance auxiliary line SPL6 as the third left rear point L6, and recording the intersection of the right rear contour auxiliary line SER2 and the first right rear distance auxiliary line SPR4 as the first right rear point R4, and recording the intersection of the right rear contour auxiliary line SER2 and the second right rear distance auxiliary line SPR5 as the second right rear point R5, and recording the intersection of the right rear contour auxiliary line SER2 and the third right rear distance auxiliary line SPR6 as the third right rear point R6;

[0069] Reference targets are respectively set at the positions of the first left front point L1, the second left front point L2, the third left front point L3, the first left rear point L4, the second left rear point L5, the third left rear point L6, the first right front point R1, the second right front point R2, the third right front point R3, the first right rear point R4, the second right rear point R5 and the third right rear point R6. In this embodiment or other embodiments, the reference target needs to be brightly colored and can be clearly distinguished in the vehicle trajectory panoramic image, and cannot exceed the edges on both sides of the auxiliary line. As an example, the reference target in this embodiment or other embodiments can be a test chart.

[0070] exist Figure 6 In the figure, POF is the projection point of the front bumper of the vehicle, and POR is the projection point of the rear bumper of the vehicle. Specifically, when the vehicle is stationary, park the vehicle on a horizontal open ground. After the lighting environment meets the test conditions, hang a plumb bob at the center line of the vehicle, and mark the front bumper projection point POF and the rear bumper projection point POR at the projection on the ground. Connect the front bumper projection point POF and the rear bumper projection point POR and extend them. This line segment is the center line of the vehicle. The line that is perpendicular to the center line of the vehicle and passes through the front bumper projection point POF is the front stop line of the vehicle, and the line that is perpendicular to the center line of the vehicle and passes through the rear bumper projection point POR is the rear stop line of the vehicle. Figure 2The first left front distance auxiliary line SPL1 and the first right front distance auxiliary line SPR1 are 1m away from the front stop line of the vehicle, the second left front distance auxiliary line SPL2 and the second right front distance auxiliary line SPR2 are 2m away from the front stop line of the vehicle, the third left front distance auxiliary line SPL3 and the third right front distance auxiliary line SPR3 are 3m away from the front stop line of the vehicle. The first left rear distance auxiliary line SPL4 and the first right rear distance auxiliary line SPR4 are 1m away from the rear stop line of the vehicle, the second left rear distance auxiliary line SPL5 and the second right rear distance auxiliary line SPR5 are 2m away from the rear stop line of the vehicle. The third left rear distance auxiliary line SPL6 and the third right rear distance auxiliary line SPR6 are 3m away from the rear stop line of the vehicle.

[0071] According to the above records, when the vehicle is stationary, the process of testing the accuracy of the vehicle trajectory line by using a reference target includes:

[0072] Generate a trajectory line in the vehicle trajectory panoramic image according to all reference targets, which is recorded as a reference trajectory line;

[0073] Compare the reference trajectory line with the vehicle trajectory line to determine whether the reference trajectory line is parallel or coincident with the vehicle trajectory line;

[0074] If the reference trajectory line is parallel to or coincides with the vehicle trajectory line, the vehicle trajectory line of the marked vehicle at rest passes the accuracy test;

[0075] If the reference trajectory line is not parallel to and does not overlap with the vehicle trajectory line, the vehicle trajectory line of the stationary vehicle is marked as failing the accuracy test, and a reference target that is not parallel to or overlaps with the vehicle trajectory line is selected as a reference target to be adjusted; and the reference target to be adjusted is moved, and when the vehicle trajectory line is parallel to or overlaps with the adjusted reference trajectory line, an error value of the target to be adjusted is recorded, and an error table is generated based on the error value, and the vehicle trajectory line is adjusted through the error table; wherein the adjusted reference trajectory line is generated by moving the reference target to be adjusted.

[0076] Specifically, in this embodiment, during the test process, it is sufficient to ensure that the auxiliary line is parallel to the track line, and they do not need to overlap. Since the auxiliary line is parallel to the track line, the error measured on the auxiliary line is equivalent to the track line error. Figure 7As shown, in the front / rear pictures of the vehicle trajectory panoramic image, observe whether the static auxiliary line is parallel to the vehicle trajectory line. In the vehicle trajectory panoramic image, a caliper is used to draw a perpendicular line of the left front contour auxiliary line SEL1 at the first left front point L1 and the second left front point L2, and a perpendicular line of the left front contour auxiliary line SEL1 at the first right front point R1 and the second right front point R2. The intersection points of these perpendicular lines with the vehicle trajectory line are the first perpendicular point O1, the second perpendicular point O2, the third perpendicular point O3 and the fourth perpendicular point O4, respectively. The caliper is used to measure whether the distance between the first left front point L1 and the first perpendicular point O1, the distance between the second left front point L2 and the second perpendicular point O2, the distance between the first right front point R1 and the fourth perpendicular point O4, and the distance between the second right front point R2 and the third perpendicular point O3 are equal. Figure 3 As shown, if they are equal, it means that the left front contour auxiliary line and the right front contour auxiliary line are parallel to the vehicle trajectory line. The left rear contour auxiliary line and the right rear contour auxiliary line testing method are the same, and this embodiment will not be repeated. When the static auxiliary line is observed in the vehicle trajectory panoramic image to be parallel to the vehicle trajectory line in the vehicle trajectory panoramic image, the reference target can be placed at positions L1 to L6 and R1 to R6 on the static auxiliary line, and then the (X, Y) coordinate value of each point is recorded according to the theoretical value, where X represents the forward or reverse distance, and Y represents the lateral offset. Taking the theoretical value coordinates of point L1 as an example, the coordinate value of L is (50, 0). Since the vehicle trajectory panoramic image is an image dedistorted by a fisheye camera, there are some deformation differences from the real environment, and the trajectory line has problems such as scaling, which may eventually cause the trajectory line to be inconsistent with the actual environment. Therefore, this embodiment observes whether the static auxiliary line vertices (L1~L6 and R1~R6) in the vehicle trajectory panoramic image screen coincide with the reference target; if not, move the card until it coincides with the auxiliary line vertices displayed in the panoramic screen, record the X and Y coordinate values ​​of the actual position of the reference target at this time, and then calculate the deviation between the actual position of the reference target and the theoretical position in the X and Y directions, and record them in the following Table 1.

[0077] Table 1 Error table when the vehicle is stationary

[0078]

[0079] According to the above records, if Figure 8 As shown, in an exemplary embodiment, when the vehicle is in a driving state, the process of generating an auxiliary line based on the projection of the vehicle trajectory line in the vehicle trajectory panoramic image on the ground and setting the reference target according to the auxiliary line includes:

[0080] The steering wheel of the vehicle is turned to a preset test angle, and an auxiliary line is generated based on the projection of the vehicle trajectory line on the ground in the vehicle trajectory panoramic image, which is recorded as a dynamic auxiliary line. As an example, the preset test angle in this embodiment can be set according to actual conditions, for example, the preset test angle can be set to 0°, turn left 90°, turn right 90°, turn left 180°, turn right 180°, turn left 360°, turn right 360°, etc.

[0081] The display endpoints of the dynamic auxiliary lines in the vehicle trajectory panoramic image are found, and based on the position of the vehicle's bumper, the display endpoints are divided into a left front display endpoint L21, a left rear display endpoint L22, a right front display endpoint R21, and a right rear display endpoint R22, and reference targets are set at the left front display endpoint L21, the left rear display endpoint L22, the right front display endpoint R21, and the right rear display endpoint R22; wherein, if one side of the vehicle trajectory line exceeds the display interface of the vehicle trajectory panoramic image, a reference target is set based on the intersection of the dynamic auxiliary lines in the vehicle trajectory panoramic image.

[0082] Specifically, when the vehicle is in a driving state, the process of performing an accuracy test on the vehicle trajectory line by using a reference target includes:

[0083] The vehicle is controlled to travel at a preset speed, and it is determined whether the vehicle trajectory line and the reference target are completely overlapped. As an example, the preset speed in this embodiment can be set according to actual conditions, for example, the preset speed can be set to be less than or equal to 3km / h, and the steering wheel angle needs to be kept unchanged, that is, the X value is controlled unchanged.

[0084] If the reference trajectory line and the reference target completely coincide with each other, the vehicle trajectory line of the marked vehicle in the driving state passes the accuracy test;

[0085] If the reference trajectory line and the reference target do not completely overlap, the vehicle trajectory line of the vehicle in the driving state is marked as failing the accuracy test, and the driving direction of the vehicle at the current moment is obtained. In this embodiment or other embodiments, when the gear position of the vehicle is D gear, the driving direction of the vehicle is forward. When the gear position of the vehicle is R gear, the driving direction of the vehicle is backward.

[0086] Also, when the driving direction is forward, and the left front wheel of the vehicle coincides with the reference target at the left front display endpoint L21 or the right front wheel of the vehicle coincides with the reference target at the right front display endpoint R21, the lateral offset distance DL1 between the left front wheel of the vehicle and the reference target at the left front display endpoint L21 is calculated, and the lateral offset distance DR1 between the right front wheel of the vehicle and the reference target at the right front display endpoint R21 is calculated, and the calculated lateral offset distance is used as the error when the vehicle moves forward at a preset test angle.

[0087] When the driving direction is backward, and the left rear wheel of the vehicle coincides with the reference target at the left rear display endpoint L22 or the right rear wheel of the vehicle coincides with the reference target at the right rear display endpoint R22, the lateral offset distance DL2 between the left rear wheel of the vehicle and the reference target at the left rear display endpoint L22 is calculated, and the lateral offset distance DR2 between the right rear wheel of the vehicle and the reference target at the right rear display endpoint R22 is calculated, and the calculated lateral offset distance is used as the error when the vehicle moves backward at the preset test angle;

[0088] And, an error table is generated based on the error when the vehicle moves forward and / or backward at a preset test angle, and the vehicle trajectory is adjusted using the error table.

[0089] Specifically, Figure 8 As shown, turn the steering wheel to the angle to be tested, and place four test charts on the left front display endpoint L21, left rear display endpoint L22, right front display endpoint R21, and right rear display endpoint R22 at the ground projection of the dynamic track line vertex position in the panoramic picture. Among them, when the steering wheel is turned at a large angle when testing the extreme angle, one side of the vehicle track line may exceed the picture. At this time, place a chart at the place where the auxiliary line on that side exceeds the picture.

[0090] Keep the steering wheel angle fixed, and slowly reverse or move forward at a speed of ≤3km / h, and observe whether the test chart always overlaps with the dynamic track line in the panoramic image during the vehicle's driving. If it always overlaps, the auxiliary line accuracy is consistent with the actual value.

[0091] If the test chart gradually deviates from the vehicle trajectory line in the panoramic image during the driving process, there will be a deviation between the auxiliary line accuracy and the actual value. When the vehicle is in D gear, when the front wheel axis coincides with the center of the chart, measure and record the distance DL1 and DR1 between the tire outer measurement and the test chart in the Y-axis direction. This distance is the error between the theoretical value and the measured value when the vehicle is moving forward. When the vehicle is in R gear, when the rear wheel axis coincides with the center of the chart, measure and record the distance DL2 and DR2 between the tire outer measurement and the test chart in the Y-axis direction. This distance is the error between the theoretical value and the measured value when the vehicle is moving backward. Finally, the measured errors are recorded in Table 2 below.

[0092] Table 2 Error table when the vehicle is in driving state

[0093]

[0094] According to the above records, in an exemplary embodiment, after obtaining the vehicle contour line, this embodiment may further include:

[0095] Using a pre- or real-time generated image recognition model to recognize the actual environment image, and determining whether there is a target object in the actual environment image based on the image recognition result; wherein the target object includes a person and / or object that hinders the normal driving of the vehicle;

[0096] When there is a target object in the actual environment image, the distance between the target object and the left side contour of the vehicle is detected by a distance measuring sensor pre-set on the vehicle, which is recorded as the left side detection distance; and the distance between the target object and the right side contour of the vehicle is detected by the distance measuring sensor, which is recorded as the right side detection distance; and the angle between the target object and the vehicle contour is detected by an angle sensor pre-set on the vehicle;

[0097] Positioning the target object based on the left detection distance and the right detection distance to determine the real-time position of the target object relative to the vehicle;

[0098] According to the vehicle's current driving direction and speed, the target object's real-time position relative to the vehicle, and the angle between the target object and the vehicle's contour, it is predicted whether the target object will be located within the vehicle's left contour or the vehicle's right contour during the vehicle's current driving process;

[0099] When the prediction result is that the target object will be located within the left contour line of the vehicle or the right contour line of the vehicle, a scratch warning prompt is issued through the warning method pre-configured by the vehicle; among which, the warning method pre-configured by the vehicle includes: voice warning, pattern display warning.

[0100] According to the above records, in an exemplary embodiment, after obtaining the vehicle stop line, the embodiment may further include:

[0101] Using a pre- or real-time generated image recognition model to recognize the actual environment image, and determining whether there is a target object in the actual environment image based on the image recognition result; wherein the target object includes a person and / or object that hinders the normal driving of the vehicle;

[0102] When there is a target object in the actual environment image, the distance between the target object and the stop line on the front side of the vehicle is detected by a distance measuring sensor pre-set on the vehicle, which is recorded as the front detection distance; and the distance between the target object and the stop line on the rear side of the vehicle is detected by a distance measuring sensor, which is recorded as the rear detection distance;

[0103] Positioning the target object based on the front detection distance and the rear detection distance to determine the real-time position of the target object relative to the vehicle;

[0104] According to the vehicle's current driving direction and speed and the real-time position of the target object relative to the vehicle, predict whether the target object will be located within the stop line in front of the vehicle or within the stop line behind the vehicle during the vehicle's current driving process;

[0105] When the prediction result is that the target object will be located within the stop line in front of the vehicle or within the stop line in the rear of the vehicle, a collision warning prompt is issued through the warning method pre-configured by the vehicle; wherein the warning method pre-configured by the vehicle includes: voice warning, pattern display warning.

[0106] In summary, the present application provides a method for testing the accuracy of a vehicle trajectory line, by taking a line drawn in advance or in real time and parallel to the vehicle's driving direction as a vehicle contour line; and taking a line drawn in advance or in real time and perpendicular to the vehicle's driving direction as a vehicle stop line; then based on the vehicle contour line and the vehicle stop line, respectively generate a front trajectory line located at the front side of the vehicle and a rear trajectory line located at the rear side of the vehicle, and associate the front trajectory line and the rear trajectory line as the vehicle trajectory line of the vehicle; then obtain the actual environment image of the vehicle in a stationary or driving state, and combine the actual environment image with the vehicle trajectory line to display and generate a vehicle trajectory panoramic image; finally, based on the projection of the vehicle trajectory line on the ground in the vehicle trajectory panoramic image, generate auxiliary lines, set reference targets according to the auxiliary lines, and perform accuracy testing on the vehicle trajectory line through the reference targets. It can be seen from this that the present method can perform accuracy testing on vehicle trajectory lines, has a wide range of applications, and can cover the vehicle dynamic trajectory line testing of most vehicle models on the market. This method can specifically quantify the performance parameter indicators of the vehicle's dynamic trajectory line, and can very intuitively observe whether the accuracy level of the vehicle's dynamic trajectory line meets the requirements; and by detecting the error value between the vehicle's dynamic trajectory line and the actual driving trajectory, targeted adjustments and optimizations can be made, thereby improving the accuracy of the corresponding product functions and enhancing user trust. In addition, this method can raise questions and make optimizations in a targeted manner by testing the error between the trajectory line scaling ratio and the actual environment when the vehicle is stationary, and testing the offset between each trajectory line and the actual environment when the vehicle is driving. This can greatly reduce the time for joint debugging and optimization during vehicle model development, saving unnecessary manpower and material resources.

[0107] In another exemplary embodiment of the present application, Fig. 9 As shown, this embodiment also provides a vehicle trajectory accuracy testing system, including:

[0108] The vehicle trajectory module 910 is used to use the lines drawn in advance or in real time and parallel to the driving direction of the vehicle as the vehicle contour line; and, to use the lines drawn in advance or in real time and perpendicular to the driving direction of the vehicle as the vehicle stop line; and, based on the vehicle contour line and the vehicle stop line, respectively generate the front trajectory line located at the front side of the vehicle and the rear trajectory line located at the rear side of the vehicle, and associate the front trajectory line and the rear trajectory line as the vehicle trajectory line of the vehicle. In this embodiment or other embodiments, when drawing the vehicle contour line, the vehicle contour line can also be drawn based on the lines parallel to the vehicle body, and when the external obstacles invade the contour line, it means that the vehicle has a risk of scratching. When drawing the vehicle stop line, the vehicle stop line can also be drawn based on the lines perpendicular to the vehicle body, or based on the lines parallel to the front or rear of the vehicle. For example, the line located 2cm-3cm from the outer edge of the front bumper / rear bumper of the vehicle can be used as the stop line, and when the external obstacles invade the stop line, it means that the vehicle has a risk of collision.

[0109] The vehicle track panoramic image module 920 is used to obtain the actual environment image of the vehicle when it is stationary or moving, and combine the actual environment image with the vehicle track line for display to generate a vehicle track panoramic image; wherein the actual environment image is generated by capturing the image by an image capturing device disposed on the vehicle. In this embodiment or other embodiments, the image capturing device may be a monocular camera, such as a fisheye camera. As an example, the vehicle track panoramic image when the vehicle steering wheel angle is 0° is as follows Figure 2 As shown in the figure, the panoramic image of the vehicle trajectory when the vehicle steering wheel angle is 90° left is as follows Figure 3 As shown in the figure, the panoramic image of the vehicle trajectory when the vehicle steering wheel angle is 180° left is as follows Figure 4 As shown in the figure, the panoramic image of the vehicle trajectory when the vehicle steering wheel angle is 360° left turn is as follows Figure 5 shown.

[0110] The track line accuracy test module 930 is used to generate auxiliary lines according to the projection of the vehicle track line on the ground in the vehicle track panoramic image, set reference targets according to the auxiliary lines, and perform accuracy test on the vehicle track line through the reference targets.

[0111] According to the above records, if Figure 6 As shown, in an exemplary embodiment, when the vehicle is stationary, the process of generating an auxiliary line based on the projection of the vehicle trajectory line in the vehicle trajectory panoramic image on the ground and setting the reference target according to the auxiliary line includes:

[0112] Based on the projection of the vehicle trajectory line on the ground in the vehicle trajectory panoramic image and the position of the vehicle's bumper, a left front contour auxiliary line SEL1, a right front contour auxiliary line SER1, a left rear contour auxiliary line SEL2 and a right rear contour auxiliary line SER2 are generated, as well as a first left front distance auxiliary line SPL1, a second left front distance auxiliary line SPL2, a third left front distance auxiliary line SPL3, a first left rear distance auxiliary line SPL4, a second left rear distance auxiliary line SPL5, a third left rear distance auxiliary line SPL6, a first right front distance auxiliary line SPR1, a second right front distance auxiliary line SPR2, a third right front distance auxiliary line SPR3, a first right rear distance auxiliary line SPR4, a second right rear distance auxiliary line SPR5 and a third right rear distance auxiliary line wherein, the left front contour auxiliary line SEL1, the right front contour auxiliary line SER1, the first left front distance auxiliary line SPL1, the second left front distance auxiliary line SPL2, the third left front distance auxiliary line SPL3, the first right front distance auxiliary line SPR1, the second right front distance auxiliary line SPR2 and the third right front distance auxiliary line SPR3 are located on the front bumper side of the vehicle; the left rear contour auxiliary line SEL2, the right rear contour auxiliary line SER2, the first left rear distance auxiliary line SPL4, the second left rear distance auxiliary line SPL5, the third left rear distance auxiliary line SPL6, the first right rear distance auxiliary line SPR4, the second right rear distance auxiliary line SPR5 and the third right rear distance auxiliary line SPR6 are located on the rear bumper side of the vehicle;

[0113] The intersection point of the left front contour auxiliary line SEL1 and the first left front distance auxiliary line SPL1 is recorded as the first left front point L1, and the intersection point of the left front contour auxiliary line SEL1 and the second left front distance auxiliary line SPL2 is recorded as the second left front point L2, and the intersection point of the left front contour auxiliary line SEL1 and the third left front distance auxiliary line SPL3 is recorded as the third left front point L3, and the intersection point of the right front contour auxiliary line SER1 and the first right front distance auxiliary line SPR1 is recorded as the first right front point R1, and the intersection point of the right front contour auxiliary line SER1 and the second right front distance auxiliary line SPR2 is recorded as the second right front point R2, and the intersection point of the right front contour auxiliary line SER1 and the third right front distance auxiliary line SPR3 is recorded as the third right front point R3, and recording the intersection of the left rear contour auxiliary line SEL2 and the first left rear distance auxiliary line SPL4 as the first left rear point L4, and recording the intersection of the left rear contour auxiliary line SEL2 and the second left rear distance auxiliary line SPL5 as the second left rear point L5, and recording the intersection of the left rear contour auxiliary line SEL2 and the third left rear distance auxiliary line SPL6 as the third left rear point L6, and recording the intersection of the right rear contour auxiliary line SER2 and the first right rear distance auxiliary line SPR4 as the first right rear point R4, and recording the intersection of the right rear contour auxiliary line SER2 and the second right rear distance auxiliary line SPR5 as the second right rear point R5, and recording the intersection of the right rear contour auxiliary line SER2 and the third right rear distance auxiliary line SPR6 as the third right rear point R6;

[0114] Reference targets are respectively set at the positions of the first left front point L1, the second left front point L2, the third left front point L3, the first left rear point L4, the second left rear point L5, the third left rear point L6, the first right front point R1, the second right front point R2, the third right front point R3, the first right rear point R4, the second right rear point R5 and the third right rear point R6. In this embodiment or other embodiments, the reference target needs to be brightly colored and can be clearly distinguished in the vehicle trajectory panoramic image, and cannot exceed the edges on both sides of the auxiliary line. As an example, the reference target in this embodiment or other embodiments can be a test chart.

[0115] exist Figure 6 In the figure, POF is the projection point of the front bumper of the vehicle, and POR is the projection point of the rear bumper of the vehicle. Specifically, when the vehicle is stationary, park the vehicle on a horizontal open ground. After the lighting environment meets the test conditions, hang a plumb bob at the center line of the vehicle, and mark the front bumper projection point POF and the rear bumper projection point POR at the projection on the ground. Connect the front bumper projection point POF and the rear bumper projection point POR and extend them. This line segment is the center line of the vehicle. The line that is perpendicular to the center line of the vehicle and passes through the front bumper projection point POF is the front stop line of the vehicle, and the line that is perpendicular to the center line of the vehicle and passes through the rear bumper projection point POR is the rear stop line of the vehicle. Figure 2The first left front distance auxiliary line SPL1 and the first right front distance auxiliary line SPR1 are 1m away from the front stop line of the vehicle, the second left front distance auxiliary line SPL2 and the second right front distance auxiliary line SPR2 are 2m away from the front stop line of the vehicle, the third left front distance auxiliary line SPL3 and the third right front distance auxiliary line SPR3 are 3m away from the front stop line of the vehicle. The first left rear distance auxiliary line SPL4 and the first right rear distance auxiliary line SPR4 are 1m away from the rear stop line of the vehicle, the second left rear distance auxiliary line SPL5 and the second right rear distance auxiliary line SPR5 are 2m away from the rear stop line of the vehicle. The third left rear distance auxiliary line SPL6 and the third right rear distance auxiliary line SPR6 are 3m away from the rear stop line of the vehicle.

[0116] According to the above records, when the vehicle is stationary, the process of testing the accuracy of the vehicle trajectory line by using a reference target includes:

[0117] Generate a trajectory line in the vehicle trajectory panoramic image according to all reference targets, which is recorded as a reference trajectory line;

[0118] Compare the reference trajectory line with the vehicle trajectory line to determine whether the reference trajectory line is parallel or coincident with the vehicle trajectory line;

[0119] If the reference trajectory line is parallel to or coincides with the vehicle trajectory line, the vehicle trajectory line of the marked vehicle at rest passes the accuracy test;

[0120] If the reference trajectory line is not parallel to and does not overlap with the vehicle trajectory line, the vehicle trajectory line of the stationary vehicle is marked as failing the accuracy test, and a reference target that is not parallel to or overlaps with the vehicle trajectory line is selected as a reference target to be adjusted; and the reference target to be adjusted is moved, and when the vehicle trajectory line is parallel to or overlaps with the adjusted reference trajectory line, an error value of the target to be adjusted is recorded, and an error table is generated based on the error value, and the vehicle trajectory line is adjusted through the error table; wherein the adjusted reference trajectory line is generated by moving the reference target to be adjusted.

[0121] According to the above records, if Figure 8 As shown, in an exemplary embodiment, when the vehicle is in a driving state, the process of generating an auxiliary line based on the projection of the vehicle trajectory line in the vehicle trajectory panoramic image on the ground and setting the reference target according to the auxiliary line includes:

[0122] The steering wheel of the vehicle is turned to a preset test angle, and an auxiliary line is generated based on the projection of the vehicle trajectory line on the ground in the vehicle trajectory panoramic image, which is recorded as a dynamic auxiliary line. As an example, the preset test angle in this embodiment can be set according to actual conditions, for example, the preset test angle can be set to 0°, turn left 90°, turn right 90°, turn left 180°, turn right 180°, turn left 360°, turn right 360°, etc.

[0123] Find the display endpoints of the dynamic auxiliary lines in the vehicle trajectory panoramic image, and based on the position of the vehicle's bumper, divide the display endpoints into a left front display endpoint L21, a left rear display endpoint L22, a right front display endpoint R21, and a right rear display endpoint R22, and set reference targets at the left front display endpoint L21, the left rear display endpoint L22, the right front display endpoint R21, and the right rear display endpoint R22; wherein, if one side of the vehicle trajectory line exceeds the display interface of the vehicle trajectory panoramic image, set the reference target based on the intersection of the dynamic auxiliary lines in the vehicle trajectory panoramic image.

[0124] Specifically, when the vehicle is in a driving state, the process of performing an accuracy test on the vehicle trajectory line by using a reference target includes:

[0125] The vehicle is controlled to travel at a preset speed, and it is determined whether the vehicle trajectory line and the reference target are completely overlapped. As an example, the preset speed in this embodiment can be set according to actual conditions, for example, the preset speed can be set to be less than or equal to 3km / h, and the steering wheel angle needs to be kept unchanged, that is, the X value is controlled unchanged.

[0126] If the reference trajectory line and the reference target completely coincide with each other, the vehicle trajectory line of the marked vehicle in the driving state passes the accuracy test;

[0127] If the reference trajectory line and the reference target do not completely overlap, the vehicle trajectory line of the vehicle in the driving state is marked as failing the accuracy test, and the driving direction of the vehicle at the current moment is obtained. In this embodiment or other embodiments, when the gear position of the vehicle is D gear, the driving direction of the vehicle is forward. When the gear position of the vehicle is R gear, the driving direction of the vehicle is backward.

[0128] Also, when the driving direction is forward, and the left front wheel of the vehicle coincides with the reference target at the left front display endpoint L21 or the right front wheel of the vehicle coincides with the reference target at the right front display endpoint R21, the lateral offset distance DL1 between the left front wheel of the vehicle and the reference target at the left front display endpoint L21 is calculated, and the lateral offset distance DR1 between the right front wheel of the vehicle and the reference target at the right front display endpoint R21 is calculated, and the calculated lateral offset distance is used as the error when the vehicle moves forward at a preset test angle.

[0129] When the driving direction is backward, and the left rear wheel of the vehicle coincides with the reference target at the left rear display endpoint L22 or the right rear wheel of the vehicle coincides with the reference target at the right rear display endpoint R22, the lateral offset distance DL2 between the left rear wheel of the vehicle and the reference target at the left rear display endpoint L22 is calculated, and the lateral offset distance DR2 between the right rear wheel of the vehicle and the reference target at the right rear display endpoint R22 is calculated, and the calculated lateral offset distance is used as the error when the vehicle moves backward at the preset test angle;

[0130] And, an error table is generated based on the error when the vehicle moves forward and / or backward at a preset test angle, and the vehicle trajectory is adjusted using the error table.

[0131] According to the above records, in an exemplary embodiment, after obtaining the vehicle contour line, this embodiment may further include:

[0132] Using a pre- or real-time generated image recognition model to recognize the actual environment image, and determining whether there is a target object in the actual environment image based on the image recognition result; wherein the target object includes a person and / or object that hinders the normal driving of the vehicle;

[0133] When there is a target object in the actual environment image, the distance between the target object and the left side contour of the vehicle is detected by a distance measuring sensor pre-set on the vehicle, which is recorded as the left side detection distance; and the distance between the target object and the right side contour of the vehicle is detected by the distance measuring sensor, which is recorded as the right side detection distance; and the angle between the target object and the vehicle contour is detected by an angle sensor pre-set on the vehicle;

[0134] Positioning the target object based on the left detection distance and the right detection distance to determine the real-time position of the target object relative to the vehicle;

[0135] According to the vehicle's current driving direction and speed, the target object's real-time position relative to the vehicle, and the angle between the target object and the vehicle's contour, it is predicted whether the target object will be located within the vehicle's left contour or the vehicle's right contour during the vehicle's current driving process;

[0136] When the prediction result is that the target object will be located within the left contour line of the vehicle or the right contour line of the vehicle, a scratch warning prompt is issued through the warning method pre-configured by the vehicle; among which, the warning method pre-configured by the vehicle includes: voice warning, pattern display warning.

[0137] According to the above records, in an exemplary embodiment, after obtaining the vehicle stop line, this embodiment may also include:

[0138] Using a pre- or real-time generated image recognition model to recognize the actual environment image, and determining whether there is a target object in the actual environment image based on the image recognition result; wherein the target object includes a person and / or object that hinders the normal driving of the vehicle;

[0139] When there is a target object in the actual environment image, the distance between the target object and the stop line on the front side of the vehicle is detected by a distance measuring sensor pre-set on the vehicle, which is recorded as the front detection distance; and the distance between the target object and the stop line on the rear side of the vehicle is detected by a distance measuring sensor, which is recorded as the rear detection distance;

[0140] Positioning the target object based on the front detection distance and the rear detection distance to determine the real-time position of the target object relative to the vehicle;

[0141] According to the vehicle's current driving direction and speed and the real-time position of the target object relative to the vehicle, predict whether the target object will be located within the stop line in front of the vehicle or within the stop line behind the vehicle during the vehicle's current driving process;

[0142] When the prediction result is that the target object will be located within the stop line in front of the vehicle or within the stop line in the rear of the vehicle, a collision warning prompt is issued through the warning method pre-configured by the vehicle; wherein the warning method pre-configured by the vehicle includes: voice warning, pattern display warning.

[0143] In summary, the present application provides a vehicle trajectory accuracy test system, which uses a line drawn in advance or in real time and parallel to the vehicle's driving direction as a vehicle contour line; and a line drawn in advance or in real time and perpendicular to the vehicle's driving direction as a vehicle stop line; then based on the vehicle contour line and the vehicle stop line, a front trajectory line located at the front side of the vehicle and a rear trajectory line located at the rear side of the vehicle are generated respectively, and the front trajectory line and the rear trajectory line are associated as the vehicle trajectory line of the vehicle; then the actual environment image of the vehicle in a stationary or driving state is obtained, and the actual environment image is combined with the vehicle trajectory line for display to generate a vehicle trajectory panoramic image; finally, auxiliary lines are generated based on the projection of the vehicle trajectory line on the ground in the vehicle trajectory panoramic image, and reference targets are set according to the auxiliary lines, and the vehicle trajectory line is tested for accuracy through the reference targets. It can be seen from this that the system can perform accuracy tests on vehicle trajectory lines, has a wide range of applications, and can cover the vehicle dynamic trajectory line tests of most models on the market. This system can specifically quantify the performance parameter indicators of the vehicle's dynamic trajectory line, and can very intuitively observe whether the accuracy level of the vehicle's dynamic trajectory line meets the requirements; and by detecting the error value between the vehicle's dynamic trajectory line and the actual driving trajectory, it can make targeted adjustments and optimizations, thereby improving the accuracy of the corresponding product functions and enhancing user trust. In addition, this system can raise questions and make optimizations in a targeted manner by testing the error between the trajectory line scaling ratio and the actual environment when the vehicle is stationary, and testing the offset between each trajectory line and the actual environment when the vehicle is driving. This can greatly reduce the time for joint debugging and optimization during the vehicle model development process, saving unnecessary manpower and material resources.

[0144] It should be noted that the vehicle trajectory line accuracy test system provided in the above embodiment and the vehicle trajectory line accuracy test method provided in the above embodiment belong to the same concept, wherein the specific manner in which the vehicle trajectory line accuracy test method performs operations has been described in detail in the above method embodiment, and will not be repeated here. In actual applications, the vehicle trajectory line accuracy test system provided in the above embodiment can distribute the above functions to different functional modules as needed, that is, divide the internal structure of the vehicle trajectory line accuracy test system into different functional modules, and then implement all or part of the functions of the corresponding functional modules through the vehicle trajectory line accuracy test method described in the above embodiment, and no specific restrictions are imposed here.

[0145] The present application also provides a computer device, which may include a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program so that the computer device executes Figure 1 The steps of the vehicle trajectory line accuracy testing method. Fig.10 FIG. 1 is a schematic diagram showing a structure of a computer device 1000. Fig.10 As shown, the computer device 1000 includes: a processor 1010 , a memory 1020 , a power supply 1030 , a display unit 1040 , and an input unit 1060 .

[0146] The processor 1010 is the control center of the computer device 1000. It uses various interfaces and lines to connect various components, and executes various functions of the computer device 1000 by running or executing computer programs / instructions stored in the memory 1020, thereby monitoring the computer device 1000 as a whole. In the embodiment of the present application, when the processor 1010 calls the computer program stored in the memory 1020, the following is executed: Figure 1 The steps of the vehicle trajectory accuracy test method. Optionally, the processor 1010 may include one or more processing units; preferably, the processor 1010 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface and application, etc., and the modem processor mainly processes wireless communication. In some embodiments, the processor and memory may be implemented on a single chip, and in some embodiments, they may also be implemented separately on separate chips.

[0147] The memory 1020 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, various applications, etc.; the data storage area may store instruction data, etc. created according to the use of the computer device 1000. In addition, the memory 1020 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage devices, etc.

[0148] The computer device 1000 also includes a power source 1030 (such as a battery) for supplying power to various components. The power source can be logically connected to the processor 1010 through a power management system, so that the power management system can manage functions such as charging, discharging, and power consumption.

[0149] The display unit 1040 may be used to display information input by the user or information provided to the user and various menus of the computer device 1000, and in the embodiment of the present application, is mainly used to display the display interface of each application in the computer device 1000 and objects such as text and pictures displayed in the display interface. The display unit 1040 may include a display panel 1050. The display panel 1050 may be configured in the form of a liquid crystal display (LCD), an organic light-emitting diode (OLED), or the like.

[0150] The input unit 1060 may be used to receive information such as numbers or characters input by the user. The input unit 1060 may include a touch panel 1070 and other input devices 1080. The touch panel 1070, also known as a touch screen, may collect touch operations of the user on or near it (such as operations of the user using a finger, a stylus, or any other suitable object or accessory on or near the touch panel 1070).

[0151] Specifically, the touch panel 1070 can detect the user's touch operation, detect the signal brought by the touch operation, convert these signals into touch point coordinates, send them to the processor 1010, and receive and execute the command sent by the processor 1010. In addition, the touch panel 1070 can be implemented in various types such as resistive, capacitive, infrared and surface acoustic wave. Other input devices 1080 can include but are not limited to one or more of a physical keyboard, function keys (such as volume control keys, power on / off keys, etc.), a trackball, a mouse, a joystick, etc.

[0152] Of course, the touch panel 1070 can cover the display panel 1050. When the touch panel 1070 detects a touch operation on or near it, it is transmitted to the processor 1010 to determine the type of touch event, and then the processor 1010 provides a corresponding visual output on the display panel 1050 according to the type of touch event. Fig.10 In the embodiment, the touch panel 1070 and the display panel 1050 are two independent components to implement the input and output functions of the computer device 1000, but in some embodiments, the touch panel 1070 and the display panel 1050 can be integrated to implement the input and output functions of the computer device 1000.

[0153] The computer device 1000 may further include one or more sensors, such as a pressure sensor, a gravity acceleration sensor, a proximity light sensor, etc. Of course, according to the needs of specific applications, the computer device 1000 may also include other components such as a camera.

[0154] The embodiment of the present application also provides a computer-readable storage medium, in which a computer program / instruction is stored. When the computer program / instruction is executed by a processor, the above-mentioned device can perform the above-mentioned Figure 1 The steps of the vehicle trajectory line accuracy testing method.

[0155] It can be understood by those skilled in the art that Fig.10This is only an example of a computer device and does not constitute a limitation on the device. The device may include more or fewer components than shown in the figure, or combine certain components, or different components. For the convenience of description, the above parts are divided into modules (or units) according to their functions and described separately. Of course, when implementing this application, the functions of each module (or unit) can be implemented in the same or multiple software or hardware.

[0156] Those skilled in the art should understand that the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code. The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be applied to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the functions in the process. Figure 1 A process or multiple processes and / or boxes Figure 1 These computer program instructions can also be stored in a computer-readable memory that can guide a computer or other programmable data processing device to work in a specific way, so that the instructions stored in the computer-readable memory produce a product including an instruction device, which implements the functions specified in the process. Figure 1 A process or multiple processes and / or boxes Figure 1 These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide for implementing the process in the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0157] It should be understood that, although the terms first, second, third, etc. may be used to describe the left front point, etc. in the embodiments of the present application, these terms are only used to distinguish the left front points from each other. For example, without departing from the scope of the embodiments of the present application, the first left front point may also be referred to as the second left front point, and similarly, the second left front point may also be referred to as the first left front point.

[0158] The above embodiments are merely illustrative of the principles and effects of the present application and are not intended to limit the present application. Anyone familiar with the technology may modify or change the above embodiments without violating the spirit and scope of the present application. Therefore, all equivalent modifications or changes made by a person of ordinary skill in the art without departing from the spirit and technical ideas disclosed in the present application shall still be covered by the claims of the present application.

Claims

1. A vehicle trajectory accuracy test method, characterized in that: The method comprises the following steps: Using a line drawn in advance or in real time and parallel to the driving direction of the vehicle as a vehicle contour line; and using a line drawn in advance or in real time and perpendicular to the driving direction of the vehicle as a vehicle stop line; Based on the vehicle contour line and the vehicle stop line, respectively generate a front trajectory line located at the front side of the vehicle and a rear trajectory line located at the rear side of the vehicle, and associate the front trajectory line with the rear trajectory line as a vehicle trajectory line of the vehicle; Acquire an actual environment image of the vehicle in a stationary or moving state, and combine the actual environment image with the vehicle trajectory line for display to generate a vehicle trajectory panoramic image; wherein the actual environment image is generated by photographing an image photographing device disposed on the vehicle; An auxiliary line is generated based on the projection of the vehicle track line in the vehicle track panoramic image on the ground, a reference target is set according to the auxiliary line, and the accuracy of the vehicle track line is tested by the reference target.

2. The vehicle trajectory accuracy testing method according to claim 1, characterized in that: When the vehicle is stationary, the process of generating an auxiliary line based on the projection of the vehicle trajectory line in the vehicle trajectory panoramic image on the ground and setting a reference target according to the auxiliary line includes: Based on the projection of the vehicle trajectory line in the vehicle trajectory panoramic image on the ground and the bumper position of the vehicle, a left front contour auxiliary line, a right front contour auxiliary line, a left rear contour auxiliary line and a right rear contour auxiliary line are generated, as well as a first left front distance auxiliary line, a second left front distance auxiliary line, a third left front distance auxiliary line, a first left rear distance auxiliary line, a second left rear distance auxiliary line, a third left rear distance auxiliary line, a first right front distance auxiliary line, a second right front distance auxiliary line, a third right front distance auxiliary line, a first right rear distance auxiliary line, a second right rear distance auxiliary line and a third right rear distance auxiliary line are generated; wherein, the left front The contour auxiliary line, the right front contour auxiliary line, the first left front distance auxiliary line, the second left front distance auxiliary line, the third left front distance auxiliary line, the first right front distance auxiliary line, the second right front distance auxiliary line and the third right front distance auxiliary line are located on the front bumper side of the vehicle; the left rear contour auxiliary line, the right rear contour auxiliary line, the first left rear distance auxiliary line, the second left rear distance auxiliary line, the third left rear distance auxiliary line, the first right rear distance auxiliary line, the second right rear distance auxiliary line and the third right rear distance auxiliary line are located on the rear bumper side of the vehicle; The intersection point of the left front contour auxiliary line and the first left front distance auxiliary line is recorded as the first left front point, and the intersection point of the left front contour auxiliary line and the second left front distance auxiliary line is recorded as the second left front point, and the intersection point of the left front contour auxiliary line and the third left front distance auxiliary line is recorded as the third left front point, and the intersection point of the right front contour auxiliary line and the first right front distance auxiliary line is recorded as the first right front point, and the intersection point of the right front contour auxiliary line and the second right front distance auxiliary line is recorded as the second right front point, and the intersection point of the right front contour auxiliary line and the third right front distance auxiliary line is recorded as the third right front point, so as to obtain the first right front point. and recording the intersection of the left rear contour auxiliary line and the first left rear distance auxiliary line as the first left rear point, and recording the intersection of the left rear contour auxiliary line and the second left rear distance auxiliary line as the second left rear point, and recording the intersection of the left rear contour auxiliary line and the third left rear distance auxiliary line as the third left rear point, and recording the intersection of the right rear contour auxiliary line and the first right rear distance auxiliary line as the first right rear point, and recording the intersection of the right rear contour auxiliary line and the second right rear distance auxiliary line as the second right rear point, and recording the intersection of the right rear contour auxiliary line and the third right rear distance auxiliary line as the third right rear point; Reference targets are set at the positions of the first left front point, the second left front point, the third left front point, the first left rear point, the second left rear point, the third left rear point, the first right front point, the second right front point, the third right front point, the first right rear point, the second right rear point and the third right rear point respectively.

3. The vehicle trajectory accuracy testing method according to claim 2, characterized in that: When the vehicle is in a stationary state, the process of performing an accuracy test on the vehicle trajectory line by using the reference target includes: Generate a trajectory line in the vehicle trajectory panoramic image according to all reference targets, recorded as a reference trajectory line; Comparing the reference trajectory line with the vehicle trajectory line to determine whether the reference trajectory line is parallel to or coincides with the vehicle trajectory line; If the reference trajectory line is parallel to or coincides with the vehicle trajectory line, then the vehicle trajectory line of the vehicle in a stationary state is marked as passing the accuracy test; If the reference trajectory line is not parallel to and does not overlap with the vehicle trajectory line, the vehicle trajectory line of the vehicle in a stationary state is marked as failing the accuracy test, and a reference target that is not parallel to or overlaps with the vehicle trajectory line is screened out as a reference target to be adjusted; and, the reference target to be adjusted is moved, and when the vehicle trajectory line is parallel to or overlaps with the adjusted reference trajectory line, an error value of the target to be adjusted is recorded, an error table is generated based on the error value, and the vehicle trajectory line is adjusted through the error table; wherein the adjusted reference trajectory line is generated by moving the reference target to be adjusted.

4. The vehicle trajectory accuracy testing method according to claim 1, characterized in that: When the vehicle is in a driving state, the process of generating an auxiliary line based on the projection of the vehicle track line in the vehicle track panoramic image on the ground and setting a reference target according to the auxiliary line includes: Turning the steering wheel of the vehicle to a preset test angle, and generating an auxiliary line based on the projection of the vehicle trajectory line in the vehicle trajectory panoramic image on the ground, which is recorded as a dynamic auxiliary line; Find the display endpoints of the dynamic auxiliary line in the vehicle trajectory panoramic image, and based on the position of the vehicle's bumper, divide the display endpoints into a left front display endpoint, a left rear display endpoint, a right front display endpoint, and a right rear display endpoint, and set the reference target at the left front display endpoint, the left rear display endpoint, the right front display endpoint, and the right rear display endpoint; wherein, if one side of the vehicle trajectory line exceeds the display interface of the vehicle trajectory panoramic image, the reference target is set based on the intersection of the dynamic auxiliary line in the vehicle trajectory panoramic image.

5. The vehicle trajectory accuracy testing method according to claim 4, characterized in that: When the vehicle is in a driving state, the process of performing an accuracy test on the vehicle trajectory line by using the reference target includes: Controlling the vehicle to travel at a preset speed, and determining whether the vehicle trajectory line completely overlaps with the reference target; If the reference trajectory line and the reference target completely coincide with each other, then the vehicle trajectory line of the vehicle in the driving state is marked as passing the accuracy test; If the reference trajectory line and the reference target do not completely coincide with each other, the vehicle trajectory line of the vehicle in the driving state is marked as failing the accuracy test, and the driving direction of the vehicle at the current moment is obtained; And, when the driving direction is forward, and the left front wheel of the vehicle coincides with the reference target at the left front display endpoint or the right front wheel of the vehicle coincides with the reference target at the right front display endpoint, the lateral offset distance between the left front wheel of the vehicle and the reference target at the left front display endpoint is calculated, and the lateral offset distance between the right front wheel of the vehicle and the reference target at the right front display endpoint is calculated, and the calculated lateral offset distance is used as the error when the vehicle moves forward at the preset test angle; When the driving direction is backward, and the left rear wheel of the vehicle coincides with the reference target at the left rear display endpoint or the right rear wheel of the vehicle coincides with the reference target at the right rear display endpoint, the lateral offset distance between the left rear wheel of the vehicle and the reference target at the left rear display endpoint is calculated, and the lateral offset distance between the right rear wheel of the vehicle and the reference target at the right rear display endpoint is calculated, and the calculated lateral offset distance is used as the error of the vehicle when it moves backward at the preset test angle; And, an error table is generated based on the error when the vehicle moves forward and / or backward at the preset test angle, and the vehicle trajectory is adjusted using the error table.

6. The vehicle trajectory accuracy testing method according to claim 1, characterized in that: After obtaining the vehicle contour line, the method further includes: The actual environment image is recognized by using an image recognition model generated in advance or in real time, and whether a target object exists in the actual environment image based on the image recognition result; wherein the target object includes a person and / or an object that hinders the normal driving of the vehicle; When there is a target object in the actual environment image, the distance between the target object and the left side contour of the vehicle is detected by a distance measuring sensor pre-set on the vehicle, which is recorded as a left side detection distance; and the distance between the target object and the right side contour of the vehicle is detected by the distance measuring sensor, which is recorded as a right side detection distance; and the angle between the target object and the vehicle contour is detected by an angle sensor pre-set on the vehicle; Positioning the target object based on the left detection distance and the right detection distance to determine a real-time position of the target object relative to the vehicle; According to the current driving direction and speed of the vehicle, the real-time position of the target object relative to the vehicle, and the angle between the target object and the vehicle contour, predict whether the target object is located within the left contour of the vehicle or the right contour of the vehicle during the current driving process of the vehicle; When the prediction result is that the target object will be located within the left contour line of the vehicle or the right contour line of the vehicle, a scratch warning prompt is issued through the warning method pre-configured by the vehicle; wherein the warning method pre-configured by the vehicle includes: voice warning, pattern display warning.

7. The vehicle trajectory accuracy testing method according to claim 1, characterized in that: After obtaining the vehicle stop line, the method further includes: The actual environment image is recognized by using an image recognition model generated in advance or in real time, and whether a target object exists in the actual environment image based on the image recognition result; wherein the target object includes a person and / or an object that hinders the normal driving of the vehicle; When there is a target object in the actual environment image, the distance between the target object and the stop line on the front side of the vehicle is detected by a distance measuring sensor pre-set on the vehicle, which is recorded as the front detection distance; and the distance between the target object and the stop line on the rear side of the vehicle is detected by the distance measuring sensor, which is recorded as the rear detection distance; Positioning the target object based on the front detection distance and the rear detection distance to determine a real-time position of the target object relative to the vehicle; According to the current driving direction and speed of the vehicle and the real-time position of the target object relative to the vehicle, predict whether the target object will be located within the stop line in front of the vehicle or within the stop line behind the vehicle during the current driving process of the vehicle; When the prediction result is that the target object will be located within the stop line in front of the vehicle or within the stop line in the rear of the vehicle, a collision warning prompt is issued through a warning method pre-configured for the vehicle; wherein the warning method pre-configured for the vehicle includes: voice warning, pattern display warning.

8. A vehicle trajectory accuracy test system, characterized in that: The system comprises: A vehicle trajectory module, for using a line drawn in advance or in real time and parallel to the driving direction of the vehicle as a vehicle contour line; and using a line drawn in advance or in real time and perpendicular to the driving direction of the vehicle as a vehicle stop line; and, based on the vehicle contour line and the vehicle stop line, respectively generating a front trajectory line located at the front side of the vehicle and a rear trajectory line located at the rear side of the vehicle, and associating the front trajectory line with the rear trajectory line as the vehicle trajectory line of the vehicle; A vehicle track panoramic image module, used to obtain an actual environment image of the vehicle in a stationary or driving state, and combine the actual environment image with the vehicle track line for display to generate a vehicle track panoramic image; wherein the actual environment image is generated by photographing an image photographing device arranged on the vehicle; The trajectory line accuracy test module is used to generate auxiliary lines according to the projection of the vehicle trajectory line on the ground in the vehicle trajectory panoramic image, set reference targets according to the auxiliary lines, and perform accuracy test on the vehicle trajectory line through the reference targets.

9. A computer device, characterized in that: The invention comprises a memory, a processor and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the vehicle trajectory accuracy testing method as claimed in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and when the computer program is executed by a processor, the steps of the vehicle trajectory accuracy testing method described in any one of claims 1 to 7 are implemented.

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