Electromagnetic immunity test system and method for auxiliary lane changing function of intelligent automobile

Abstract

The invention relates to the technical field of electromagnetic testing, in particular to an electromagnetic immunity testing system and method for an auxiliary lane changing function of an intelligent automobile. The system comprises a tested vehicle with an auxiliary lane changing function, the tested vehicle is arranged in an electromagnetic simulation environment, and the electromagnetic simulation environment comprises a simulation vehicle and a simulation lane line which are located on a lane to be changed by the tested vehicle; the ejector rod is used for shifting the steering rod in the test process of the tested vehicle so as to trigger an auxiliary lane changing function; and the test equipment is used for acquiring the response of the tested vehicle after the auxiliary lane changing function is triggered, and performing an electromagnetic immunity test on the auxiliary lane changing function according to the response and the triggering moment of the auxiliary lane changing function. According to the invention, the auxiliary lane changing function of the vehicle is subjected to an electromagnetic immunity test.

Description

Technical Field

[0001] The present application relates to the field of electromagnetic testing technology, and in particular to an electromagnetic immunity testing system and method for an intelligent vehicle lane change assistance function. Background Art

[0002] Assisted lane change technology is one of the core technologies in the development of intelligent driving. It enables vehicles to change lanes autonomously in complex traffic environments. This technology not only improves driving convenience, but also significantly enhances road safety and traffic efficiency. It is a key step in the advancement of intelligent driving technology to a higher level. In this process, the problem of electromagnetic interference cannot be ignored, as it is directly related to the stability and safety of the intelligent driving system.

[0003] Electromagnetic interference, as a potential threat to the development of intelligent driving, may come from the mutual interference between complex electronic devices inside the vehicle, or interference from external wireless signal sources. These interferences will have a potential impact on the assisted lane change function, causing sensor data distortion, system decision errors, and even safety risks, such as misjudging the timing of lane change or failing to accurately identify surrounding vehicles, reducing the accuracy and safety of assisted lane change.

[0004] In view of this, this application is filed. Summary of the invention

[0005] The purpose of the present application is to provide an electromagnetic immunity test system and method for an intelligent vehicle's lane change assistance function, so as to perform an electromagnetic immunity test on the vehicle's lane change assistance function.

[0006] In order to achieve the above objectives, this application adopts the following technical solutions: In a first aspect, the present application provides an electromagnetic immunity test system for an intelligent vehicle lane change assistance function, comprising: A tested vehicle equipped with an auxiliary lane change function, the tested vehicle being placed in an electromagnetic simulation environment, the electromagnetic simulation environment comprising a simulated vehicle and simulated lane lines located in a lane to be changed by the tested vehicle; A push rod, used to move the steering rod during the test of the tested vehicle to trigger the assisted lane change function; The test equipment is used to obtain the response of the tested vehicle after the auxiliary lane change function is triggered, and perform an electromagnetic immunity test on the auxiliary lane change function according to the response and the triggering time of the auxiliary lane change function.

[0007] In a second aspect, the present application provides an electromagnetic immunity test method for an intelligent vehicle lane change assistance function, which is applicable to any system, and the method comprises: During the test of the vehicle under test, the steering rod is moved by controlling the push rod to trigger the lane change assistance function; Obtain the response of the tested vehicle after the lane change assistance function is triggered; According to the response and the triggering moment of the lane change assistance function, an electromagnetic immunity test is performed on the lane change assistance function.

[0008] Compared with the prior art, the beneficial effects of this application are: The present application fills the gap in the prior art where there is no electromagnetic immunity test system for the assisted lane change function. The system includes a tested vehicle, a simulated vehicle, simulated lane lines, a top rod and test equipment, etc. In an electromagnetic simulation environment, by toggling the steering rod during the test of the tested vehicle to simulate the driver's action, the assisted lane change function is triggered, and the response of the tested vehicle after the assisted lane change function is triggered is obtained. According to the response and the triggering time of the assisted lane change function, the assisted lane change function is tested for electromagnetic immunity. If the vehicle does not alarm or alarms falsely, it means that the assisted lane change function is subject to electromagnetic interference and fails the test. On the contrary, if the vehicle alarms at the correct time and the alarm duration is also appropriate, it means that the simulated vehicle is detected, the lane change conditions are not met at present, and the assisted lane change function is not subject to electromagnetic interference and passes the test. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0010] Figure 1 It is a structural schematic diagram of an electromagnetic immunity test system for an intelligent vehicle lane change assistance function provided in an embodiment of the present application; Figure 2 is a schematic diagram of a push rod provided in an embodiment of the present application; Figure 3 This is a flow chart of an electromagnetic immunity testing method for an intelligent vehicle lane change assistance function provided in an embodiment of the present application. DETAILED DESCRIPTION

[0011] The following is a description of exemplary embodiments of the present application in conjunction with the accompanying drawings, including various details of the embodiments of the present application to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present application. Similarly, for the sake of clarity and conciseness, the description of well-known functions and structures is omitted in the following description.

[0012] This embodiment provides an electromagnetic immunity test system for the lane change assistance function of an intelligent vehicle, which is suitable for performing electromagnetic immunity test on a vehicle equipped with the lane change assistance function in an electromagnetic simulation environment (such as a semi-anechoic chamber). Figure 1 The system provided in this embodiment includes: a tested vehicle, an electromagnetic simulation environment, a simulated vehicle, simulated lane lines, a push rod and a test device. The following is a detailed introduction.

[0013] The tested vehicle is equipped with an assisted lane change function, which is triggered by turning the steering rod. Under normal circumstances, when the assisted lane change function is triggered, the turn signal is turned on. The sensing device on the vehicle will detect the surrounding environment. If there are no obstacles such as pedestrians and vehicles in the lane to be changed, the lane change conditions are met and the lane change is carried out. If there are obstacles in the lane to be changed, the lane change conditions are not met, and an audible and visual alarm is used, such as displaying an alarm sign on the dashboard and the horn emitting an alarm sound.

[0014] In this embodiment, the vehicle under test is placed in an electromagnetic simulation environment in a laboratory. In addition to the vehicle under test, the electromagnetic simulation environment also includes simulated lane lines and simulated vehicles. The sensing device (such as radar or camera) on the vehicle under test can detect the lane lines to make lane change decisions. The simulated vehicle is set as an obstacle in the adjacent lane of the vehicle under test, which is also the lane that the vehicle under test is going to change.

[0015] See also Figure 2 One end of the push rod is close to the steering rod of the vehicle. During the test of the vehicle under test, the steering rod is toggled by the push rod to simulate the driver's "dipping" of the turn signal before using the assisted lane change function of the smart car to trigger the assisted lane change function. Optionally, the push rod can use air pressure or hydraulic pressure as a power source. Taking the pneumatic push rod as an example, the push rod control device is used to control the extension and retraction of the push rod to toggle the steering rod in response to the control signal sent by the test equipment. Specifically, the push rod control device changes the pressure inside the pneumatic push rod by controlling the air pump to drive the pneumatic push rod to retract and retract. The push rod control device generates a control instruction to control the air pump so that the cylinder changes the extension and retraction state of the push rod.

[0016] The monitoring device is used to collect the response of the tested vehicle after the assisted lane change function is triggered, and send the response to the test device through the photoelectric conversion module.

[0017] Specifically, the monitoring equipment includes but is not limited to cameras and microphones. The camera is pointed toward the dashboard and turn signal of the vehicle to collect images of the dashboard and headlights of the tested vehicle in real time; the microphone is pointed toward the horn of the vehicle to collect the sound emitted by the tested vehicle in real time. The photoelectric conversion module converts the sound and image into optical signals, and transmits the optical signals to the test equipment outside the laboratory through optical fiber. The photoelectric conversion module reduces the impact of electromagnetic interference in the laboratory on the control signal.

[0018] Optionally, the system also includes a CAN signal recording module, which is configured in the test room and connected to the vehicle interface (such as a diagnostic interface) to collect vehicle CAN messages in real time. The CAN signal recording module sends the CAN messages collected in real time to the test equipment through the photoelectric conversion module. The push rod control device will also send the action status of the push rod (such as the extension amount) to the test equipment in real time through the photoelectric conversion module. When the extension amount of the push rod reaches the set value, it is considered that the steering rod is effectively moved and the assisted lane change function is successfully triggered, so that the test equipment determines the triggering time of the assisted lane change function.

[0019] The test equipment is used to obtain the response of the tested vehicle after the lane change assistance function is triggered, and the lane change assistance function is tested for electromagnetic interference immunity based on the response and the triggering time of the lane change assistance function. The response here includes but is not limited to images, sounds and CAN messages. The test equipment analyzes the images, sounds and CAN messages through the built-in test algorithm to determine the specific response of the vehicle, such as when the alarm is issued and the alarm duration. By parsing the CAN message, the start time of the lane change assistance function and the time when the vehicle issues an alarm can be accurately determined.

[0020] Optionally, the system further includes a steering wheel fixing device, which is disposed on the steering wheel of the tested vehicle and is used to fix the steering wheel to prevent the vehicle from losing control of steering when the lane change assistance function fails, thereby avoiding accidents. For example, the steering wheel fixing device allows the steering wheel to be turned in a smaller range.

[0021] Optionally, the system also includes an electromagnetic interference testing device, which is used to respond to the control signal of the testing device, control the signal source to emit a specified modulated electromagnetic wave, control the power amplifier to enhance the signal strength, and transmit electromagnetic waves to the test room through the radio frequency antenna to form an electromagnetic simulation environment.

[0022] Among them, the electromagnetic interference test equipment can choose two solutions: the vehicle external radiation source method and the electromagnetic reverberation chamber method, which mainly include a test cabin, an electromagnetic signal source, an electromagnetic signal power amplifier, a radio frequency antenna, and an electric field strength probe. The electromagnetic interference test equipment must meet the requirements for the test site in GB 34600 "Requirements and Test Methods for Electromagnetic Compatibility of Road Vehicles". Before the test, the equipment needs to be calibrated to ensure that the site can produce the electromagnetic simulation environment required by the test requirements.

[0023] Optionally, the system also includes a field strength probe for detecting whether the electromagnetic intensity in the test room meets the requirements.

[0024] In summary of the above embodiments, the test equipment is mainly responsible for collecting the response / status of the tested vehicle, transmitting the control signal of the push rod to the test room, controlling the pneumatic push rod to perform the lane change action, and sending the control signal to the electromagnetic interference test equipment to control the electromagnetic interference test equipment to emit electromagnetic waves to the tested vehicle. When the test equipment sends the control signal (electrical signal), the photoelectric conversion module converts the electrical signal into an optical signal, transmits it to the test room through the optical fiber, and then converts the optical signal into an electrical signal and transmits it to the push rod control equipment.

[0025] The present application fills the gap in the prior art where there is no electromagnetic immunity test system for the assisted lane change function. The system includes a tested vehicle, a simulated vehicle, simulated lane lines, a top rod and test equipment, etc. In an electromagnetic simulation environment, by toggling the steering rod during the test of the tested vehicle to simulate the driver's action, the assisted lane change function is triggered, and the response of the tested vehicle after the assisted lane change function is triggered is obtained. According to the response and the triggering time of the assisted lane change function, the assisted lane change function is tested for electromagnetic immunity. If the vehicle does not alarm or alarms falsely, it means that the assisted lane change function is subject to electromagnetic interference and fails the test. On the contrary, if the vehicle alarms at the correct time and the alarm duration is also appropriate, it means that the simulated vehicle is detected, the lane change conditions are not met at present, and the assisted lane change function is not subject to electromagnetic interference and passes the test.

[0026] The present application also provides a method for testing the electromagnetic interference immunity of the lane change assistance function of an intelligent vehicle. Figure 3 The method provided in this embodiment is performed by an electromagnetic immunity test system for an intelligent vehicle lane change assistance function, and specifically includes the following operations: S110. During the test of the tested vehicle, the steering rod is moved by controlling the push rod to trigger the lane change assistance function.

[0027] S120: Obtain a response of the tested vehicle after the lane change assistance function is triggered.

[0028] S130: Perform an electromagnetic interference immunity test on the lane change assistance function according to the response and the triggering time of the lane change assistance function.

[0029] Optionally, during the test of the vehicle under test, the steering rod is moved by controlling the push rod, including: obtaining the auxiliary lane change trigger logic of the vehicle under test; determining the telescopic length of the push rod according to the auxiliary lane change trigger logic; during the test of the vehicle under test, controlling the push rod to extend and maintain the telescopic length to move the steering rod.

[0030] Optionally, obtaining a response of the tested vehicle after the lane change assistance function is triggered includes: determining an alarm time t1 and an alarm duration T1 of the tested vehicle according to a CAN message, an image of a dashboard of the tested vehicle, and a sound emitted by the tested vehicle; According to the response and the triggering time of the lane change assistance function, an electromagnetic interference immunity test is performed on the lane change assistance function, including: The activation time t2 of the lane change assisted function is determined by the CAN message, the turn signal status and the lever status; if the alarm time t1 is within the first set time after the activation time t2, and the alarm time T1 meets the second set time requirement, the test is passed.

[0031] Optionally, an electromagnetic immunity test is performed on the assisted lane change function based on the response and the triggering moment of the assisted lane change function, including: if the alarm moment t1 of the tested vehicle is not collected, or the alarm moment t1 is outside the first set time after the activation moment t2, or the alarm duration T1 does not meet the second set duration requirement, the test fails.

[0032] The method provided by the present application is described in detail below through a specific embodiment.

[0033] Step 1: Preparation of the site before testing.

[0034] The test equipment is controlled by on-site test personnel. The test equipment is installed with pneumatic push rod device control software and electromagnetic immunity control software. According to the requirements of the test standard, the control signal is sent to the electromagnetic interference test equipment and the push rod control equipment to perform electromagnetic immunity test of the assisted lane change function.

[0035] Before the test, the test site needs to be calibrated, which is divided into two types: the external vehicle radiation source method test calibration and the electromagnetic reverberation chamber test calibration, which correspond to different test sites. During the field calibration, no vehicles shall appear in the test site. The calibration is performed using an unmodulated sine wave, and the forward power required for the specified field strength generated at each test frequency is recorded. When testing using the external vehicle radiation source method, the field strength needs to be calibrated under both vertical polarization and horizontal polarization conditions; when testing using the reverberation chamber method, only one calibration is required, but the field uniformity needs to be verified to ensure that the test requirements are met.

[0036] Step 2: Preparation of the vehicle before testing.

[0037] Before the test, conduct a comprehensive inspection of the vehicle to ensure that it is in good condition and functions normally. Check the key components of the vehicle, such as the drive system, braking system, steering system, and perception system, to ensure that there are no abnormalities. Verify the operating status of the electronic equipment inside the vehicle to ensure that the vehicle status can meet the test requirements. Determine the activation method of the auxiliary lane change function according to the vehicle manual, and determine the time t11 when the alarm is issued when the lane change conditions are not met after the auxiliary lane change function is activated, determine the normal alarm duration T2 of the test vehicle, and record the data in the test equipment.

[0038] Stop the vehicle under test near the test device, turn on the vehicle's assisted driving function, start the test fixture, record the time t11 when the alarm is issued, take ten test results, and determine the detection sensitivity threshold. If the test vehicle status allows, monitor the vehicle's CAN message and use the message data as reference data. Set the recorded results to the test equipment. When the tested alarm duration exceeds the set value, it is used as a basis for determining the abnormal working condition of the Hands Off Detection (HOD) function.

[0039] Step 3: Arrangement of the tested vehicle in the electromagnetic simulation environment.

[0040] The test is carried out according to the test methods specified in GB 34660-2017 "Electromagnetic Compatibility Requirements and Test Methods for Road Vehicles" or ECE R10 Sixth Edition "Electromagnetic Compatibility Performance Certification for Vehicles", and the tested vehicle is fully exposed to the electromagnetic simulation environment and monitored during the test. The test can be carried out in accordance with the test methods specified in GB / T 33012.2-2016, or an alternative method can be selected, where the vehicle is tested in an outdoor test site or in an electromagnetic reverberation chamber.

[0041] Except for the necessary test equipment, the vehicle is unloaded and placed on a dynamometer or on an insulating support. All vehicle systems that may affect the anti-interference related functions are turned on, the vehicle driving assistance functions are activated, the testing equipment and tooling are arranged in accordance with the standard requirements, the push rod control equipment, test equipment and monitoring system are connected, and the test threshold for the assisted lane change function is set.

[0042] Step 4: The experiment begins.

[0043] Arrange the test room in accordance with the test environment conditions in the standard "Technology and Test Methods for Combined Driving Assistance Systems of Intelligent Connected Vehicles", ensure that the tested vehicle travels between two simulated lanes, turn on the tested driving assistance function, and ensure that the tested vehicle can detect the simulated vehicle in the adjacent lane. According to the electromagnetic compatibility test requirements, set the test field strength and antenna polarization direction, control the electromagnetic interference test equipment through the test software, start the test, and emit electromagnetic waves to the vehicle. Control the top rod through the top rod control device, perform the "push" action, and "push" the steering rod in the direction of the lane where the simulated vehicle is located. Optionally, obtain the auxiliary lane change trigger logic of the tested vehicle; determine the telescopic length of the top rod according to the auxiliary lane change trigger logic; during the test of the tested vehicle, control the top rod to extend and maintain according to the telescopic length to poke the steering rod, realize "lightly poke" the steering rod and hold it or "dip" the steering rod and hold it, and activate the vehicle's auxiliary lane change function. If the lane change assist function can resist electromagnetic interference, it will identify the simulated vehicle in the adjacent lane and send an audible and visual reminder to the driver (for example, a warning sign is displayed on the dashboard and the horn emits an alarm sound). At this time, the push rod stops being "moved", the steering rod returns to its original position, and the lane change assist function stops. The test equipment records the CAN message, the image of the dashboard of the tested vehicle, and the sound emitted by the tested vehicle. After repeating the operation three times, ensure that the vehicle's lane change assist function is in normal state and conduct subsequent tests.

[0044] Step 5: Test results.

[0045] According to the CAN message, the image of the dashboard of the tested vehicle and the sound emitted by the tested vehicle, the alarm time t1 and the alarm duration T1 of the tested vehicle are determined. Specifically, the CAN message indicating the alarm is parsed and the timestamp therein is read to obtain the first alarm time. Image recognition is performed on multiple images collected in real time, and the image capture time when the alarm mark is first recognized is used as the second alarm time. Voiceprint feature detection is performed on the sound, and the time when the alarm voiceprint feature is first detected is used as the third alarm time. The first alarm time, the second alarm time and the third alarm time are averaged to obtain a more accurate alarm time t1. It should be noted that if the first alarm time, the second alarm time or the third alarm time is not detected, it means that the vehicle has not fully responded to the assisted lane change function, and the sound and light system may be affected by electromagnetic influences, and the test will not pass. It is determined according to the duration of the alarm mark recognized in the image. Then, the activation time t2 of the lane change assistance function is determined by the CAN message, the turn signal state, and the lever state. Specifically, the CAN message indicating the activation of the lane change assistance function is parsed and the timestamp therein is read to obtain the first activation time. Image recognition is performed on multiple real-time acquired images, and the first event of the turn signal being recognized to be on is used as the second activation time. The third activation time is obtained from the push rod control device when the push rod reaches the set telescopic length. The first activation time, the second activation time, and the third activation time are averaged to obtain a more accurate activation time t2.

[0046] In the aforementioned second step, we have obtained "After activating the assisted lane change function, the time t11 at which the alarm is issued when it is detected that the lane change condition is not met, and determining the normal alarm duration T2 of the test vehicle". Subtract t11 ​​from the time of activating the assisted lane change to obtain the first set duration. The normal alarm duration T2 is used as the second set duration. If the alarm time t1 is within the first set duration after the activation time t2, and the alarm duration T1 meets the second set duration requirement, the test passes. If the alarm time t1 of the tested vehicle is not collected, or the alarm time t1 is outside the first set duration after the activation time t2, or the alarm duration T1 does not meet the second set duration requirement, the test fails. The data and results of the test process are formed into a test report.

[0047] This application proposes an electromagnetic immunity test system and method for the assisted lane change function of an intelligent vehicle. On the one hand, it can comprehensively and accurately evaluate the performance of the assisted lane change system in an electromagnetic interference environment, and on the other hand, it can accurately reflect the stability and reliability of the assisted lane change function system in various electromagnetic interference environments that may be encountered in actual use through the test report. This method is proposed for the first time in the industry and can be promoted in other detection fields that require assisted lane change functions. The proposal of this method, on the one hand, helps to improve the efficiency and detection accuracy of the assisted lane change function test, and on the other hand, helps to shorten the product development cycle, improve the detection level of the detection agency, and indirectly improve the active safety of the car. The application of this test method and device helps to promote the further development of assisted lane change function technology. By continuously optimizing the test method and improving the performance of the device, the assisted lane change function system can be promoted to maintain stable operation in a more complex and harsher electromagnetic simulation environment, providing strong support for the widespread application of intelligent driving and automation technology.

[0048] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this application can be executed in parallel, sequentially or in different orders, as long as the expected results of the technical solution disclosed in this application can be achieved, and this document is not limited here.

[0049] The above specific implementations do not constitute a limitation on the protection scope of this application. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of this application should be included in the protection scope of this application.

Claims

1. An electromagnetic immunity test system for intelligent vehicle lane change assistance function, characterized in that: include: A tested vehicle equipped with an auxiliary lane change function, the tested vehicle being placed in an electromagnetic simulation environment, the electromagnetic simulation environment comprising a simulated vehicle and simulated lane lines located in a lane to be changed by the tested vehicle; A push rod, used to move the steering rod during the test of the tested vehicle to trigger the assisted lane change function; The test equipment is used to obtain the response of the tested vehicle after the auxiliary lane change function is triggered, and perform an electromagnetic immunity test on the auxiliary lane change function according to the response and the triggering time of the auxiliary lane change function.

2. The system according to claim 1, characterized in that Also includes: The push rod control device is used to control the extension and retraction of the push rod to move the steering rod; the state of the steering rod is sent to the test device through the photoelectric conversion module.

3. The system according to claim 1, characterized in that Also includes: A monitoring device, used to collect the response of the tested vehicle after the lane change assistance function is triggered, and send the response to the testing device through a photoelectric conversion module; The CAN signal recording module is used to collect CAN messages of the tested vehicle and send the CAN messages to the test equipment through the photoelectric conversion module.

4. The system according to claim 3, characterized in that The monitoring device comprises: A camera, used to collect images of the instrument panel of the tested vehicle in real time; Microphone, used to collect the sound emitted by the tested vehicle in real time.

5. The system according to any one of claims 1 to 4, characterized in that: Also includes: The steering wheel fixing device is used to fix the steering wheel to prevent the vehicle from losing steering control when the assisted lane change function fails.

6. The system according to any one of claims 1 to 4, characterized in that: Also includes: Electromagnetic interference test equipment is used to control the signal source to emit specified modulated electromagnetic waves, control the power amplifier to enhance the signal strength, and transmit electromagnetic waves through the radio frequency antenna to form an electromagnetic simulation environment.

7. A method for testing electromagnetic immunity of intelligent vehicle lane change assistance function, characterized in that: Applicable to the system according to any one of claims 1 to 6, the method comprising: During the test of the vehicle under test, the steering rod is moved by controlling the push rod to trigger the lane change assistance function; Obtain the response of the tested vehicle after the lane change assistance function is triggered; According to the response and the triggering moment of the lane change assistance function, an electromagnetic immunity test is performed on the lane change assistance function.

8. The method according to claim 7, characterized in that During the test of the vehicle under test, the steering rod is moved by controlling the top rod, including: Obtaining the lane change assistance triggering logic of the tested vehicle; determining the telescopic length of the push rod according to the lane change assistance triggering logic; During the testing process of the tested vehicle, the control push rod is extended and maintained according to the telescopic length to move the steering rod.

9. The method according to claim 7, characterized in that: Obtain the response of the tested vehicle after the lane change assistance function is triggered, including: Determine the alarm time t1 and the alarm duration T1 of the tested vehicle according to the CAN message, the image of the tested vehicle dashboard and the sound emitted by the tested vehicle; According to the response and the triggering time of the lane change assistance function, an electromagnetic interference immunity test is performed on the lane change assistance function, including: Determine the activation time t2 of the lane change assist function through CAN messages, turn signal status and lever status; If the alarm time t1 is within the first set time after the activation time t2, and the alarm time T1 meets the second set time requirement, the test is passed.

10. The method according to claim 9, characterized in that According to the response and the triggering time of the lane change assistance function, an electromagnetic interference immunity test is performed on the lane change assistance function, including: If the alarm time t1 of the tested vehicle is not collected, or the alarm time t1 is outside the first set time after the activation time t2, or the alarm time T1 does not meet the second set time requirement, the test fails.

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