Automatic parking system testing method and testing device based on virtual-real combination technology

Abstract

The invention relates to the technical field of automatic driving, in particular to an automatic parking system testing device and method based on a virtual-real combination technology. The system testing device comprises a virtual scene server and an ultrasonic radar camera obscura. The ultrasonic radar camera obscura generates multiple paths of corresponding real ultrasonic signals according to the distance information corresponding to the multiple simulation ultrasonic radars; the vehicle body radar system analyzes the multiple paths of ultrasonic signals to obtain distance information; the automatic parking system is used for planning a parking route and a control quantity of the vehicle in the current parking scene, and the virtual scene server controls the vehicle model to move to the virtual parking space according to the parking route and the control quantity. According to the method and the device, the process of receiving the ultrasonic signal by the radar and analyzing the distance information according to the ultrasonic signal in a real scene is realized, and the time delay problem in the ultrasonic signal transmission and analysis process is considered, so that the test process is closer to the real scene, and the final test result is more accurate.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving technology, and in particular to an automatic parking system testing device and a testing method based on virtual-real combination technology. Background Art

[0002] As an early assisted driving function, automatic parking is widely used, and there are many ways to implement automatic parking systems. In order to determine the automatic parking performance of the automatic parking system, a large number of experimental tests are required before the automatic parking system is officially put into use.

[0003] In the related art, the methods for testing automatic parking systems mainly include simulated vehicle testing based on simulated scenarios, real vehicle testing based on simulated scenarios, and real vehicle testing based on real scenarios. Unlike testing in real scenarios, which is restricted by various environmental factors, simulated scenario testing can simulate various complex traffic conditions and environmental conditions, thereby more comprehensively evaluating the performance and safety of autonomous vehicles. In simulated scenario testing, the accuracy and authenticity of sensor equipment are crucial to the reliability of test results. As one of the most commonly used sensors for realizing automatic parking, ultrasonic radar can quickly obtain the location information of surrounding obstacles and vehicles. Ultrasonic radar emits ultrasonic waves outward through an ultrasonic generator, and the receiver receives the reflected ultrasonic waves. Since the propagation speed of ultrasonic waves in the air is a known quantity, the actual distance from the starting point to the obstacle can be calculated based on the time difference between ultrasonic emission and reception.

[0004] At present, the test of automatic parking system based on ultrasonic radar is mainly carried out in simulated traffic scenes. As the simulated vehicle model moves, the ultrasonic radar model simulates the working mechanism of the real ultrasonic radar to begin to perceive the surrounding environment, and inputs the perception results into the automatic parking system. The automatic parking system screens parking spaces based on the ultrasonic radar perception results. After selecting suitable parking spaces, the automatic parking system will calculate the corresponding driving path and control instructions for the vehicle, and return the control instructions to the simulated vehicle in the simulation scene to control the simulated vehicle to park automatically. This test method ignores the process of receiving and analyzing ultrasonic signals by the ultrasonic radar installed on the real vehicle, such as the delay in the reception and analysis process. Therefore, the test cannot be close to the real automatic parking scene, resulting in low accuracy of the test results. Summary of the invention

[0005] The main purpose of the present invention is to provide an automatic parking system testing device and testing method based on virtual-reality combination technology, aiming to improve the authenticity of the automatic parking system testing environment and solve the technical problem of low accuracy of the test results of the automatic parking system in related technologies.

[0006] The present application provides an automatic parking system test device based on virtual-real combination technology, which is used to test the automatic parking performance of the automatic parking system. The test device includes: a virtual scene server and an ultrasonic radar dark box;

[0007] The virtual scene server is used to construct a virtual automatic parking scene, wherein the virtual automatic parking scene includes a parking scene, a vehicle model, and a plurality of simulated ultrasonic radars arranged on the vehicle model; wherein each of the simulated ultrasonic radars corresponds to a distance information, and the distance information is used to characterize the distance between the current simulated ultrasonic radar and surrounding objects;

[0008] The virtual scene server is further used to send distance information corresponding to the multiple simulated ultrasonic radars to the ultrasonic radar dark box;

[0009] The ultrasonic radar dark box is used to generate multiple corresponding real ultrasonic signals according to the distance information corresponding to the multiple simulated ultrasonic radars, and send the multiple corresponding ultrasonic signals to the vehicle body radar system;

[0010] The vehicle body radar system includes a plurality of real ultrasonic radars, each of which is used to receive the multi-channel ultrasonic signals, analyze the multi-channel ultrasonic signals, obtain distance information corresponding to each ultrasonic signal, and send the distance information to the automatic parking system;

[0011] The automatic parking system is used to plan a parking route and a control amount of the vehicle in the current parking scene according to the plurality of distance information and parking scenes and a vehicle kinematic model, and send the parking route and the control amount to the virtual scene server;

[0012] The virtual scene server is used to control the vehicle model to move to the virtual parking space according to the parking route and the control amount.

[0013] In a possible design, the automatic parking system is further used to determine whether each of the real ultrasonic radars returns the distance information, and when it is determined that a real ultrasonic radar does not return the distance information, it is determined that the real ultrasonic radar has failed.

[0014] In a possible design, the automatic parking system is also used to plan the parking route and control amount of the vehicle in the current parking scene according to the multiple distance information and parking scenes and the vehicle kinematic model, and send the parking route and control amount to the virtual scene server.

[0015] In a possible design, sending the distance information corresponding to the multiple simulated ultrasonic radars to the ultrasonic radar dark box includes:

[0016] The distance information corresponding to each simulated ultrasonic radar is encapsulated into a TCP message, and the TCP message is sent to the ultrasonic radar dark box.

[0017] In a possible design, parsing the multiple ultrasonic signals to obtain distance information corresponding to each ultrasonic signal includes:

[0018] The received TCP message is parsed to obtain distance information corresponding to the multiple ultrasonic signals.

[0019] In one possible design, the virtual scene server includes a test evaluation unit;

[0020] The test evaluation unit is used to evaluate the automatic parking performance of the automatic parking system according to the parking position of the vehicle model in the virtual parking space.

[0021] The present application also provides an automatic parking system testing method based on a combination of virtual and real, which is used to test the automatic parking performance of the automatic parking system. The testing method includes:

[0022] Constructing a virtual automatic parking scene, the virtual automatic parking scene includes a parking scene, a vehicle model, and a plurality of simulated ultrasonic radars arranged on the vehicle model, encapsulating distance information collected by each simulated ultrasonic radar on the vehicle model into a TCP message, and sending the TCP message to the ultrasonic radar dark box;

[0023] Parsing the TCP message, obtaining distance information respectively corresponding to the multiple ultrasonic signals in the TCP message, generating multiple corresponding ultrasonic signals according to the distance information, and sending the multiple ultrasonic signals to the vehicle body radar system;

[0024] receiving the multiple ultrasonic signals, analyzing the multiple ultrasonic signals, acquiring distance information corresponding to each ultrasonic signal, and sending the distance information to the automatic parking system;

[0025] According to the plurality of distance information and parking scenes, a parking route and a control amount of the vehicle in the current parking scene are planned according to a vehicle kinematic model, and the parking route and the control amount are sent to the virtual scene server;

[0026] The vehicle model is controlled to move into a virtual parking space according to the parking route and the control amount.

[0027] In one possible design, the testing method further includes:

[0028] It is determined whether each of the real ultrasonic radars returns the distance information, and when it is determined that a certain real ultrasonic radar does not return the distance information, it is determined that the real ultrasonic radar fails.

[0029] In one possible design, the testing method further includes:

[0030] The automatic parking performance of the automatic parking system is evaluated according to the parking position of the vehicle model in the virtual parking space.

[0031] In one possible design, the testing method further includes:

[0032] According to the plurality of distance information and parking scenes, a parking route and a control amount of the vehicle in the current parking scene are planned according to a vehicle kinematic model, and the parking route and the control amount are sent to the virtual scene server.

[0033] According to the automatic parking system test device provided by the present application, it includes a virtual scene server and an ultrasonic radar dark box. Among them, the ultrasonic radar dark box can generate multiple corresponding ultrasonic signals according to the distance information corresponding to multiple simulated ultrasonic radars; multiple real ultrasonic radars in the vehicle body radar system respectively receive multiple ultrasonic signals, and analyze the multiple ultrasonic signals to obtain the distance information corresponding to each ultrasonic signal; the automatic parking system plans the parking route and control amount of the vehicle in the current parking scene according to the vehicle kinematic model based on multiple distance information and parking scenes, and sends the parking route and control amount to the virtual scene server; the virtual scene server controls the vehicle model to move to the virtual parking space according to the parking route and control amount to complete the test process of the automatic parking system. It can be seen that in the present application, by setting the ultrasonic radar dark box to generate multiple corresponding ultrasonic signals according to the distance information, the process of radar receiving ultrasonic signals in the real scene and analyzing the distance information according to the ultrasonic signals is realized, which takes into account the delay problem in the transmission and analysis of ultrasonic signals, making the test process closer to the real scene and making the final test results more accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 A schematic diagram of the structure of an automatic parking system test device provided in an embodiment of the present application;

[0035] Figure 2 Two common parking space schematic diagrams provided for the embodiments of the present application;

[0036] Figure 3 One of the schematic diagrams of the vehicle operation model provided in the embodiment of the present application;

[0037] Figure 4A schematic diagram of a flow chart of an automatic parking system testing method provided in an embodiment of the present application.

[0038] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0039] The technical solution in this application will be described below in conjunction with the accompanying drawings.

[0040] In the description of the embodiments of the present application, unless otherwise specified, “ / ” means or. For example, A / B can mean A or B. The “and / or” in this article is merely a way to describe the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone.

[0041] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this embodiment, unless otherwise specified, "plurality" means two or more.

[0042] The embodiment of the present application provides an automatic parking system test device based on virtual-real combination technology, the test device is used to test the automatic parking performance of the automatic parking system. Figure 1 For a schematic diagram of the automatic parking system test device provided in the embodiment of the present application, see Figure 1 As shown, the test device includes: a virtual scene server 10 and an ultrasonic radar dark box 20.

[0043] The virtual scene server 10 is used to construct a virtual automatic parking scene, which includes a parking scene, a vehicle model, and multiple simulated ultrasonic radars set on the vehicle model; each simulated ultrasonic radar corresponds to a distance information, and the distance information is used to represent the distance between the current simulated ultrasonic radar and the surrounding objects. The virtual scene server is also used to send the distance information corresponding to the multiple simulated ultrasonic radars to the ultrasonic radar dark box 20.

[0044] The ultrasonic radar dark box 20 is used to generate multiple corresponding ultrasonic signals according to the distance information corresponding to the multiple simulated ultrasonic radars.

[0045] Among them, the vehicle body radar system includes multiple real ultrasonic radars, which are used to receive multiple ultrasonic signals emitted by the ultrasonic radar dark box 20, analyze the multiple ultrasonic signals, obtain the distance information corresponding to each ultrasonic signal, and send the distance information to the automatic parking system.

[0046] The automatic parking system is used to plan the parking route and control amount of the vehicle in the current parking scene according to the multiple distance information and parking scenes and the vehicle kinematic model, and send the parking route and control amount to the virtual scene server 10;

[0047] Finally, the virtual scene server 10 is used to control the vehicle model to move to the virtual parking space in the constructed virtual parking scene according to the parking route and the control amount, thereby completing the simulation test process of the automatic parking system.

[0048] In this application, an ultrasonic radar dark box is set up to generate multiple corresponding ultrasonic signals according to the distance information, thereby realizing the process of radar receiving ultrasonic signals in real scenes and parsing the distance information according to the ultrasonic signals. This takes into account the time delay problem in the transmission and analysis of ultrasonic signals, making the test process closer to the real scene and making the final test results more accurate.

[0049] It is understandable that in some embodiments, a real vehicle fully equipped with an ultrasonic radar and an automatic parking system can also be used for testing to test the performance of the ultrasonic radar system and the automatic parking system. This makes the testing process closer to the real scene and the test results of the real vehicle more accurate.

[0050] In some embodiments, when constructing a virtual automatic parking scene in the virtual scene server 10, according to the number of ultrasonic radars on most real vehicles, in this embodiment, 12 simulated ultrasonic radars can be set on the vehicle model, and the 12 simulated ultrasonic radars constitute an ultrasonic radar model. Among them, 8 simulated ultrasonic radars are set on the front and rear bumpers of the virtual vehicle to sense obstacle information in front and behind the car, and the remaining 4 simulated ultrasonic radars are set on the side of the vehicle to sense parking spaces.

[0051] In some embodiments, the parking scene in the virtual automatic parking scene mainly includes a parking space and obstacles around the parking space. Figure 2 For two common parking space diagrams provided in the embodiments of this application, please refer to Figure 2 As shown, common parking space forms generally include horizontal parking spaces and vertical parking spaces.

[0052] In other embodiments, the specific installation positions of the various simulated ultrasonic radars on the vehicle model may be arranged according to actual needs.

[0053] The ultrasonic radar model consists of a transmitter and a receiver. The transmitter emits an ultrasonic pulse of a specific frequency f, and its transmission signal can be expressed in complex form:

[0054]

[0055] In the above formula (1), A t is the amplitude of the transmitted signal, φ t is the initial phase.

[0056] When ultrasonic waves propagate in air or other media, they will attenuate, which can be described by the attenuation coefficient α. The signal received after propagating a distance d is:

[0057]

[0058] Where c is the propagation speed of ultrasound in the medium.

[0059] Combining equations (1) and (2), the received signal can be expressed as:

[0060]

[0061] In the above formula (3), A r is the amplitude of the received signal, φ r is the phase of the received signal, and n(t) represents the environmental noise.

[0062] In some embodiments, when sending the distance information corresponding to multiple simulated ultrasonic radars to the ultrasonic radar dark box, the following can be specifically adopted: first, the multiple simulated ultrasonic radars are numbered to facilitate recording and distinguishing each simulated ultrasonic radar, and each numbered simulated ultrasonic radar corresponds to a distance signal, and the distance information can be determined based on the coordinate information between each simulated ultrasonic radar and the surrounding virtual objects in the virtual automatic parking scene. Then, the number of each simulated ultrasonic radar and its corresponding distance information are encapsulated into a TCP (Transmission Control Protocol) message, and finally the TCP message is sent to the ultrasonic radar dark box. It can be understood that when the simulated ultrasonic radar detects the distance information of an obstacle, it will also collect the relative angle information between the simulated ultrasonic radar and the obstacle.

[0063] In the actual test process, when the automatic parking system is tested, 12 simulated ultrasonic radars emit simulated ultrasonic signals around the vehicle. When the simulated ultrasonic signals encounter obstacles in the simulated scene, the simulation software simulates the reflection, refraction or scattering process of the signals. The intensity and time delay of these reflected signals are calculated and simulated according to the characteristics of the obstacles. The simulated ultrasonic radar receives the signals reflected back in the simulated environment. Based on the time delay of the received reflected signals, the simulation software can calculate the distance between the simulated ultrasonic radar and the obstacle. Finally, the distance information obtained by the 12 simulated ultrasonic radars is encapsulated in a TCP message.

[0064] In some embodiments, the ultrasonic radar dark box 20 analyzes multiple ultrasonic signals to obtain distance information corresponding to each ultrasonic signal, which may specifically include: the ultrasonic radar dark box 20 analyzes the received TCP message to obtain distance information corresponding to the multiple ultrasonic signals. Further, the ultrasonic radar dark box 20 generates multiple corresponding ultrasonic signals according to the distance information corresponding to the multiple simulated ultrasonic radars.

[0065] In some embodiments, the ultrasonic radar dark box 20 includes a processor, an ultrasonic transducer, a controller, and an absorbing material. The ultrasonic transducer converts the electrical pulses generated by the controller into ultrasonic signals and transmits them. At this time, the absorbing material in the dark box absorbs these ultrasonic waves, and then calculates the delay time according to the calculated relative distance and the speed of sound, and transmits the ultrasonic signal again after the delay time. At this time, the real 12-channel real ultrasonic physical signal is generated.

[0066] In some embodiments, the automatic parking system is further configured to determine whether each real ultrasonic radar detects the distance information returned by the real ultrasonic sensor, and when it is determined that a real ultrasonic radar does not return the distance information, it is determined that the real ultrasonic radar has failed. For example, when the distance information returned by the real ultrasonic sensor numbered 6 is not detected, it can be determined that the real ultrasonic sensor numbered 6 has failed.

[0067] It is understandable that each real ultrasonic sensor will receive two real ultrasonic physical signals sent by the ultrasonic radar dark box 20, and then the corresponding distance information can be calculated according to the time delay between the two received real ultrasonic physical signals.

[0068] In some embodiments, the automatic parking system first screens parking spaces based on multiple distance information and parking scenarios, and then plans the parking route and control amount of the vehicle in the current parking scenario based on the vehicle kinematic model, and sends the parking route and control amount to the virtual scene server 10.

[0069] In some embodiments, the virtual scene server 10 includes a test evaluation unit; the test evaluation unit is used to evaluate the automatic parking performance of the automatic parking system according to the parking position of the vehicle model in the virtual parking space, the process of automatic parking, etc. For example, when evaluating the performance of the automatic parking system, the time taken for the vehicle to park automatically, whether the position after parking is in the center, etc. may also be considered.

[0070] Figure 3 One of the vehicle operation model schematic diagrams provided in the embodiment of the present application, see Figure 3 As shown, the derivation process of the vehicle kinematic model includes:

[0071] Assuming there is no slip between the tire and the ground, the steering angle is directly related to the sideslip angle at the center of mass, given by Figure 3 The kinematic relationship is:

[0072]

[0073] According to the above formula, we can derive:

[0074]

[0075] In the above formula (6), δ is the front wheel steering angle, l f , l r are the distances between the front wheel and the rear wheel and the center of mass, and β is the sideslip angle of the center of mass. According to the kinematic relationship, we can get:

[0076]

[0077] According to the above motion relationship, the control tracking algorithm module of the automatic parking system calculates the control amount of the vehicle and controls the vehicle kinematic model to follow the corresponding path. The vehicle model in the simulation environment moves accordingly in the simulation environment according to the motion results of the vehicle kinematic model, and the movement results are displayed in the visualization interface of the simulation software.

[0078] In this embodiment, the virtual scene server 10 can use Prescan automatic driving simulation software to create a simulation scene, which includes a simulated vehicle, parallel parking spaces and 12 simulated ultrasonic radars. When the simulation environment is started, the distance information obtained by the 12 ultrasonic radars is encapsulated in a TCP message. The processor in the ultrasonic radar dark box 20 obtains the TCP message sent in the scene in real time and parses it. According to the parsed distance information, obstacle orientation, etc., the single-axis motor in the ultrasonic radar dark box 20 is controlled to control the movement of the slide, and then the ultrasonic transducer emits an ultrasonic signal. The generated multiple real ultrasonic physical signals are sent to the actual vehicle to be tested, and firstly, it is determined whether the multiple ultrasonic radars assembled on the actual vehicle can work normally. Then, the berth coordinates in the berth coordinate system are calculated by the ultrasonic detection principle, and the parking path and control instructions are generated in the automatic parking system according to the berth information. Finally, the parking path and control instructions are sent to the simulation scene, and the simulated vehicle in the scene is driven to park automatically, thereby testing the automatic parking system.

[0079] Based on the automatic parking system testing device provided in the above embodiment, the following embodiment provides an automatic parking system testing method based on the virtual-real combination technology. The automatic parking system testing method provided in the following embodiment can refer to the automatic parking system testing device provided in the above embodiment.

[0080] Figure 4 For a flow chart of the automatic parking system testing method provided in the embodiment of the present application, please refer to Figure 4 As shown, the test method includes:

[0081] S501, construct a virtual automatic parking scene, which includes a parking scene, a vehicle model, and multiple simulated ultrasonic radars set on the vehicle model, encapsulate the distance information collected by each simulated ultrasonic radar on the vehicle model into a TCP message, and send the TCP message to the ultrasonic radar dark box.

[0082] S502, parsing the TCP message, obtaining distance information corresponding to the multiple ultrasonic signals in the TCP message, generating multiple corresponding ultrasonic signals according to the distance information, and sending the multiple ultrasonic signals to the vehicle body radar system.

[0083] S503: Receive multiple ultrasonic signals, analyze the multiple ultrasonic signals, obtain distance information corresponding to each ultrasonic signal, and send the distance information to the automatic parking system.

[0084] S504: According to the multiple distance information and parking scenes, a parking route and a control amount of the vehicle in the current parking scene are planned according to the vehicle kinematic model, and the parking route and the control amount are sent to the virtual scene server.

[0085] S505: Control the vehicle model to move to the virtual parking space according to the parking route and the control amount.

[0086] In some embodiments, the automatic parking system testing method further includes: determining whether each of the real ultrasonic radars returns the distance information, and when it is determined that a real ultrasonic radar does not return the distance information, determining that the real ultrasonic radar fails.

[0087] In some embodiments, the automatic parking system testing method further includes: evaluating the automatic parking performance of the automatic parking system according to the parking position of the vehicle model in the virtual parking space.

[0088] In some embodiments, the automatic parking system testing method further includes: planning a parking route and control amount of the vehicle in the current parking scene according to a plurality of distance information and parking scenes and based on a vehicle kinematic model, and sending the parking route and control amount to a virtual scene server.

[0089] It can be seen that the automatic parking system testing device or the automatic parking system testing method provided in this embodiment has the following technical advantages compared with those in the related art:

[0090] 1. An ultrasonic radar dark box is introduced into the automatic parking system test device of the present application, which simulates the process of the radar receiving ultrasonic signals in real scenes and parsing distance information based on the ultrasonic signals. This takes into account the time delay problem in the transmission and analysis of ultrasonic signals, making the test process closer to the real scene and making the final test results more accurate.

[0091] 2. The automatic parking system test device of the present application can detect the ultrasonic sensor on the actual vehicle, determine whether the actual ultrasonic radar is working properly, and then determine the feasibility of the automatic parking system, which makes the test more comprehensive and efficient.

[0092] It should be noted that the above embodiments can be implemented in whole or in part by software, hardware, firmware or any other combination thereof. When implemented using software, the above embodiments can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded or executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center containing one or more available media sets. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium. The semiconductor medium may be a solid state drive (SSD).

[0093] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the embodiments of the present application.

[0094] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0095] In the several embodiments provided in the embodiments of the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0096] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, and may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0097] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0098] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a memory (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (RandomAccess Memory, RAM), disk or optical disk and other media that can store program code.

[0099] The above is only a specific implementation of the embodiments of the present application, but the protection scope of the embodiments of the present application is not limited to this. Any technician familiar with the technical field can easily think of changes or replacements within the technical scope disclosed in the embodiments of the present application, which should be covered within the protection scope of the embodiments of the present application.

[0100] Therefore, the protection scope of the embodiments of the present application shall be based on the protection scope of the claims.

Claims

1. An automatic parking system testing device based on virtual-real combination technology, used to test the automatic parking performance of the automatic parking system, characterized in that: The test device comprises: a virtual scene server and an ultrasonic radar dark box; The virtual scene server is used to construct a virtual automatic parking scene, wherein the virtual automatic parking scene includes a parking scene, a vehicle model, and a plurality of simulated ultrasonic radars arranged on the vehicle model; wherein each of the simulated ultrasonic radars corresponds to a distance information, and the distance information is used to characterize the distance between the current simulated ultrasonic radar and surrounding objects; The virtual scene server is further used to send distance information corresponding to the multiple simulated ultrasonic radars to the ultrasonic radar dark box; The ultrasonic radar dark box is used to generate multiple corresponding real ultrasonic signals according to the distance information corresponding to the multiple simulated ultrasonic radars, and send the multiple corresponding ultrasonic signals to the vehicle body radar system; The vehicle body radar system includes a plurality of real ultrasonic radars, each of which is used to receive the multi-channel ultrasonic signals, analyze the multi-channel ultrasonic signals, obtain distance information corresponding to each ultrasonic signal, and send the distance information to the automatic parking system; The automatic parking system is used to plan a parking route and a control amount of the vehicle in the current parking scene according to the plurality of distance information and parking scenes and a vehicle kinematic model, and send the parking route and the control amount to the virtual scene server; The virtual scene server is used to control the vehicle model to move to the virtual parking space according to the parking route and the control amount.

2. The automatic parking system testing device according to claim 1, characterized in that: The automatic parking system is further used to determine whether each of the real ultrasonic radars returns the distance information, and when it is determined that a real ultrasonic radar does not return the distance information, determine that the real ultrasonic radar fails.

3. The automatic parking system testing device according to claim 1 or 2, characterized in that: The automatic parking system is also used to plan the parking route and control amount of the vehicle in the current parking scene according to the multiple distance information and parking scenes and the vehicle kinematic model, and send the parking route and control amount to the virtual scene server.

4. The automatic parking system testing device according to claim 1 or 2, characterized in that: The sending of distance information corresponding to the plurality of simulated ultrasonic radars to the ultrasonic radar dark box includes: The distance information corresponding to each simulated ultrasonic radar is encapsulated into a TCP message, and the TCP message is sent to the ultrasonic radar dark box.

5. The automatic parking system testing device according to claim 4, characterized in that: The step of parsing the multiple ultrasonic signals to obtain distance information corresponding to each ultrasonic signal includes: The received TCP message is parsed to obtain distance information corresponding to the multiple ultrasonic signals.

6. The automatic parking system testing device according to claim 1, characterized in that: The virtual scene server includes a test evaluation unit; The test evaluation unit is used to evaluate the automatic parking performance of the automatic parking system according to the parking position of the vehicle model in the virtual parking space.

7. An automatic parking system testing method, used to test the automatic parking performance of the automatic parking system, characterized in that: The test method includes: Constructing a virtual automatic parking scene, the virtual automatic parking scene includes a parking scene, a vehicle model, and a plurality of simulated ultrasonic radars arranged on the vehicle model, encapsulating distance information collected by each simulated ultrasonic radar on the vehicle model into a TCP message, and sending the TCP message to the ultrasonic radar dark box; Parsing the TCP message, obtaining distance information respectively corresponding to the multiple ultrasonic signals in the TCP message, generating multiple corresponding ultrasonic signals according to the distance information, and sending the multiple ultrasonic signals to the vehicle body radar system; receiving the multiple ultrasonic signals, analyzing the multiple ultrasonic signals, acquiring distance information corresponding to each ultrasonic signal, and sending the distance information to the automatic parking system; According to the plurality of distance information and parking scenes, a parking route and a control amount of the vehicle in the current parking scene are planned according to a vehicle kinematic model, and the parking route and the control amount are sent to the virtual scene server; The vehicle model is controlled to move into a virtual parking space according to the parking route and the control amount.

8. The automatic parking system testing method according to claim 7, characterized in that: The test method also includes: It is determined whether each of the real ultrasonic radars returns the distance information, and when it is determined that a certain real ultrasonic radar does not return the distance information, it is determined that the real ultrasonic radar fails.

9. The automatic parking system testing method according to claim 7 or 8, characterized in that: The test method also includes: The automatic parking performance of the automatic parking system is evaluated according to the parking position of the vehicle model in the virtual parking space.

10. The automatic parking system testing method according to claim 7 or 8, characterized in that: The test method also includes: According to the plurality of distance information and parking scenes, a parking route and a control amount of the vehicle in the current parking scene are planned according to a vehicle kinematic model, and the parking route and the control amount are sent to the virtual scene server.

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