Testing device and method, electronic equipment and storage medium

Abstract

The embodiment of the invention provides a test device and method, electronic equipment and a storage medium, and can accurately control the initial state between a mobile platform and a target vehicle and the opportunity of cut-in operation according to a required cut-in scene, thereby obtaining corresponding test data more accurately, and improving the test efficiency. And more accurate analysis is made based on accurate test data. The testing device comprises a fixed base station which is used for outputting real-time position correction information to a mobile platform and a target vehicle; the mobile platform is used for sending the driving state information of the mobile platform to the target vehicle; the target vehicle is used for sending a transverse cut-in trigger instruction to the mobile platform; the mobile platform is also used for responding to the transverse cut-in trigger instruction; and the target vehicle is further used for responding to the transverse cut-in action to conduct emergency braking and recording the second relative distance between the second real-time real position and the third real-time real position when it is determined that the second longitudinal running speed is zero.

Description

[Technical field]

[0001] The embodiments of the present application relate to the field of autonomous driving technology, and in particular to a testing device, method, electronic device, and storage medium. [Background technology]

[0002] With the rapid development of the vehicle industry, the safety of the car's assisted driving system has received more attention. When the car is driving, it is very common for the vehicle in front to cut into the current lane from the adjacent lane. When the distance between vehicles is close, it is difficult for the driver to brake and slow down in time. At this time, the vehicle's assisted driving system needs to take over the vehicle and perform emergency braking to avoid a collision. Therefore, it is very necessary for the assisted driving system to have a reliable emergency braking capability, so it is necessary to conduct a lot of tests on the assisted driving system before it is put into formal use.

[0003] In the prior art, the test of the assisted driving system usually involves the tester manually controlling the timing of the vehicle's lateral cut-in, which results in the acquired test process data having human control errors and low accuracy, and thus inaccurate analysis of the performance results of the assisted driving system. [Summary of the invention]

[0004] The embodiments of the present application provide a testing device, method, electronic device, and storage medium, which can accurately control the initial state between the mobile platform and the target vehicle and the timing of the cut-in operation according to the required cut-in scenario, thereby more accurately obtaining the test data of the assisted driving system in the current scenario and making a more accurate analysis based on the accurate test data.

[0005] In a first aspect, an embodiment of the present application provides a testing device, the device comprising a mobile platform, a target vehicle and a fixed base station, wherein:

[0006] The fixed base station is used to determine the real-time position correction information based on its own first real-time measured position and the first real-time true position, and output the real-time position correction information to the mobile platform and the target vehicle;

[0007] The mobile platform is used to determine its own second real-time position based on its own second real-time measured position and the received real-time position correction information, and send the first longitudinal driving speed, first acceleration and the second real position of the mobile platform to the target vehicle;

[0008] The target vehicle is used to make adjustments based on the relative difference between its own heading angle and the target heading angle, and based on the relative difference between its own second longitudinal driving speed and the target longitudinal driving speed, and to determine its own third real-time position based on its own third real-time measured position and the received real-time position correction information during the adjustment process; when it is determined that the relative speed between the first longitudinal driving speed and the second longitudinal driving speed meets the first preset condition, and the first relative distance between the second real-time position and the third real-time position meets the second preset condition, send a lateral cut-in trigger instruction to the mobile platform;

[0009] The mobile platform is further used to respond to the lateral cutting trigger instruction and perform a lateral cutting action according to a preset cutting speed;

[0010] The target vehicle is also used to perform emergency braking in response to the lateral cutting-in action, record the first acceleration and its own second acceleration from the emergency braking to the second longitudinal driving speed being zero, and record the second relative distance between the second real-time position and the third real-time position when it is determined that the second longitudinal driving speed is zero.

[0011] In an embodiment of the present application, when the mobile platform and the target vehicle are traveling at a constant speed, the mobile platform will send specific status information characterizing its own driving status to the target vehicle. The target vehicle will compare its own specific status information with the received specific status information of the mobile platform and continuously adjust its own driving status to meet the set entry scenario requirements. When the target vehicle detects that the relative speed and relative distance between itself and the mobile platform meet the preset conditions, the target vehicle will generate and send a lateral entry trigger instruction to the mobile platform, so that the mobile platform performs a lateral entry action based on the preset entry speed. At this time, the assisted driving system of the target vehicle will perform emergency braking based on the entry action of the mobile platform. The target vehicle records part of the driving data after the start of braking for subsequent performance analysis. The target vehicle continuously adjusts its own driving status so that the relative driving status between itself and the mobile platform meets the current required entry scenario, and accurately determines the entry timing through continuous comparison, thereby obtaining accurate and effective test data for the assisted driving system under the current entry scenario, and can obtain more accurate performance analysis results for the assisted driving system.

[0012] Optionally, the fixed base station includes a first positioning system module and a first differential positioning module, and the first positioning system module is communicatively connected with the first differential positioning module, wherein:

[0013] The first positioning system module is used to obtain the first real-time measurement position based on the global satellite positioning system;

[0014] The first differential positioning module is used to determine the real-time position correction information based on the first real-time measured position and the first real-time true position, and send the real-time position correction information to the mobile platform and the target vehicle.

[0015] In an embodiment of the present application, the fixed base station includes a first positioning system module and a first differential positioning module. The first real-time measured position information obtained by the first positioning system module, that is, through the global satellite positioning system, is affected by clouds during signal transmission, resulting in errors in the measured position information due to the bending of the signal transmission path. Correction information needs to be output by the first differential positioning module and sent to the target vehicle and the mobile platform, so that the target vehicle and the mobile platform can obtain more accurate real-time position information.

[0016] Optionally, the mobile platform includes a second positioning system module, a first inertial navigation module, a first communication module and a second differential positioning module, the second positioning system module is communicatively connected to the first inertial navigation module, the first inertial navigation module is communicatively connected to the first communication module, the second differential positioning module is communicatively connected to the first communication module, and the second differential positioning module is communicatively connected to the first differential positioning module, wherein:

[0017] The second positioning system module is used to obtain the second real-time measurement position and the first longitudinal travel speed based on the global satellite positioning system;

[0018] The first inertial navigation module is used to obtain the first acceleration;

[0019] The second differential positioning module is used to perform real-time dynamic carrier phase differential processing on the second real-time measured position based on the real-time position correction information to obtain the second real-time true position;

[0020] The first communication module is used to send the first longitudinal driving speed, the first acceleration and the second real-time position to the target vehicle.

[0021] In an embodiment of the present application, the mobile platform includes a second positioning system module, a first inertial navigation module, a second differential positioning module and a first communication module. The second positioning system module can obtain its own second real-time measurement position and first longitudinal driving speed, the first inertial module can obtain its own first acceleration, the second differential positioning module can perform differential processing on the second real-time measurement position based on the real-time position correction information to obtain a second real-time true position, and the first communication module sends its own first longitudinal driving speed, first acceleration and second real-time true position to the target vehicle, so that the target vehicle can monitor the driving status of the mobile platform in real time, so as to facilitate timely and accurate subsequent operations when the relative driving status between the mobile platform and the target vehicle meets the current entry scene requirements.

[0022] Optionally, the target vehicle includes a second inertial navigation module, a second communication module, a control module, a third differential positioning module and a third positioning system module, the control module is communicatively connected to the second inertial navigation module, the second inertial navigation module is communicatively connected to the third positioning system module, the control module is communicatively connected to the third differential positioning module, the control module is communicatively connected to the second communication module, the third differential positioning module is communicatively connected to the first differential positioning module, and the second communication module is communicatively connected to the first communication module, wherein,

[0023] The third positioning system module is used to obtain the third real-time measurement position and the second longitudinal travel speed based on the global satellite positioning system;

[0024] The second inertial navigation module is used to obtain the second acceleration;

[0025] The third differential positioning module is used to perform real-time dynamic carrier phase differential processing on the third real-time measured position based on the real-time position correction information to obtain the third real-time true position;

[0026] The second communication module is used to receive the first longitudinal travel speed, the first acceleration and the second real-time true position sent by the first communication module;

[0027] The control module is used to make adjustments based on the relative difference between its own heading angle and the target heading angle, and based on the relative difference between the second longitudinal driving speed and the target longitudinal driving speed, and to generate the lateral cut-in trigger instruction when it is determined that the relative speed between the first longitudinal driving speed and the second longitudinal driving speed meets the first preset condition, and the first relative distance between the second real-time position and the third real-time position meets the second preset condition.

[0028] In an embodiment of the present application, the control module will monitor and adjust the driving status of the target vehicle in real time, and continuously compare the relative driving status between itself and the mobile platform, so that when the relative driving status between the target vehicle and the mobile platform meets the preset conditions, a lateral cut-in trigger instruction is immediately generated, thereby ensuring the accuracy of the cut-in timing.

[0029] Optionally, the second communication module is further used to send the horizontal cut-in trigger instruction to the first communication module.

[0030] In the embodiment of the present application, after the control module generates the cut-in trigger instruction, it needs to be sent to the mobile platform through the second communication module. The second communication module can send the instruction to the mobile platform in a relatively short time to ensure the timeliness of the instruction.

[0031] Optionally, the mobile platform further includes an execution module, and the execution module is communicatively connected with the first communication module, wherein:

[0032] The first communication module is further used to receive the horizontal cut-in trigger instruction;

[0033] The execution module is used to respond to the lateral cutting trigger instruction and perform the lateral cutting action based on the preset cutting speed.

[0034] In an embodiment of the present application, the cut-in speed is pre-stored in the mobile platform, and when a lateral cut-in trigger command is received, the mobile platform will act according to the pre-set cut-in speed. When the target vehicle and the mobile platform are in the same relative driving state, the performance of the assisted driving system can be tested by changing the cut-in speed, thereby meeting the test requirements for different cut-in scenarios.

[0035] Optionally, the control module is also used to perform emergency braking in response to the lateral cutting-in action, record the first acceleration and the second acceleration in the process from the emergency braking to the second longitudinal driving speed being zero, and record the second relative distance between the second real-time true position and the third real-time true position when it is determined that the second longitudinal driving speed is zero.

[0036] In an embodiment of the present application, the target vehicle will perform emergency braking based on the assisted driving system in response to the cut-in action of the mobile platform. By recording the first acceleration of the mobile platform and its own second acceleration from emergency braking to zero longitudinal driving speed, as well as the relative distance between the mobile platform and its own longitudinal driving speed when zero, the performance of the assisted driving system in the current cut-in scenario can be analyzed.

[0037] Optionally, the target vehicle further includes a fourth positioning system module, the fourth positioning system module and the third positioning system module are respectively installed on the left and right sides of the front of the target vehicle, and the fourth positioning system module is communicatively connected with the control module, wherein,

[0038] The fourth positioning system module is used to obtain a fourth real-time measurement position of the target vehicle based on a global satellite positioning system;

[0039] The control module is further configured to obtain the heading angle of the target vehicle based on the third real-time measured position and the fourth real-time measured position of the target vehicle.

[0040] In an embodiment of the present application, the target vehicle includes positioning system modules installed on the left and right sides of the front of the vehicle respectively. The real-time measurement positions obtained by the two positioning system modules can be used to obtain its own heading angle, and the driving direction of the target vehicle can be known through the navigation angle.

[0041] Optionally, the target vehicle further includes a combined robot, and the combined robot is communicatively connected with the control module.

[0042] The control module is specifically used to: generate a heading angle adjustment instruction when the difference between the heading angle and the target heading angle is greater than a first set threshold, wherein the heading angle adjustment instruction carries a heading angle adjustment value; generate a longitudinal speed adjustment instruction when the difference between the second longitudinal driving speed and the target driving speed is greater than a second set threshold, wherein the longitudinal speed adjustment instruction carries a first pedal opening adjustment value of the throttle or a second pedal opening adjustment value of the brake;

[0043] The combined robot is used to make a corresponding adjustment to the steering wheel angle of the target vehicle based on the heading angle adjustment value carried in the heading angle adjustment instruction, and / or to make a corresponding adjustment to the throttle opening or brake opening of the target vehicle based on the first pedal opening adjustment value of the throttle or the second pedal opening adjustment value of the brake carried in the longitudinal speed adjustment instruction.

[0044] In an embodiment of the present application, the brakes, accelerator and steering wheel of the target vehicle are controlled by a combined robot. When the difference between the current heading angle and the target heading angle is greater than a set threshold, a heading angle adjustment instruction is generated, and the combined robot adjusts the steering wheel angle based on the heading angle adjustment value carried by the heading adjustment instruction. When the difference between the current longitudinal driving speed and the target longitudinal driving speed is greater than a set threshold, a longitudinal speed adjustment instruction is generated, and the combined robot adjusts the pedal opening of the accelerator or the brake based on the first pedal opening adjustment value of the accelerator or the second pedal opening adjustment value of the brake carried in the longitudinal speed adjustment instruction. Through the precise control of the brakes, accelerator and steering wheel by the combined robot, the initial state between the target vehicle and the mobile platform is controlled to the state required by the current test scenario, so that the test results are more accurate and effective.

[0045] Optionally, the mobile platform is loaded with a 3D fake car model, and the radar reflection surface of the 3D fake car model is the same as that of a real vehicle.

[0046] In the embodiment of the present application, a 3D fake car model is installed on the mobile platform, and its radar reflection surface is exactly the same as that of the real vehicle, ensuring that the assisted driving system can accurately detect the fake car model performing the cutting action, so as to smoothly perform the subsequent emergency braking operation.

[0047] In a second aspect, an embodiment of the present application provides a testing method, which is applied to the testing device as described in the first aspect, and the method includes:

[0048] Determining real-time position correction information based on the first real-time measured position and the first real-time true position of the fixed base station, and outputting the real-time position correction information to the mobile platform and the target vehicle;

[0049] The mobile platform determines its second real-time position based on its second real-time measured position and the received real-time position correction information, and sends the first longitudinal driving speed, the first acceleration and the second real position of the mobile platform to the target vehicle;

[0050] The target vehicle makes adjustments based on the relative difference between its own heading angle and the target heading angle, and makes adjustments based on the relative difference between its own second longitudinal driving speed and the target longitudinal driving speed, and during the adjustment process, determines its third real-time position based on its third real-time measured position and the received real-time position correction information; when it is determined that the relative speed between the first longitudinal driving speed and the second longitudinal driving speed meets the first preset condition, and the first relative distance between the second real-time position and the third real-time position meets the second preset condition, sends a lateral cut-in trigger instruction to the mobile platform;

[0051] Responding to the lateral cut-in trigger instruction through the mobile platform, performing a lateral cut-in action at a preset cut-in speed;

[0052] The target vehicle performs emergency braking in response to the lateral cutting-in action, records the first acceleration and its own second acceleration from the emergency braking to the second longitudinal driving speed being zero, and records the second relative distance between the second real-time position and the third real-time position when it is determined that the second longitudinal driving speed is zero.

[0053] In a third aspect, an embodiment of the present application further provides an electronic device, comprising at least one processor and a memory connected to the at least one processor, wherein the at least one processor is used to implement the steps of the method as described in any one of the second aspects when executing a computer program stored in the memory.

[0054] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the method as described in any one of the second aspects.

[0055] It should be understood that the second to fourth aspects of the embodiments of the present application are consistent with the technical solutions of the first aspect of the embodiments of the present application, and the beneficial effects achieved by each aspect and the corresponding feasible implementation methods are similar and will not be repeated here.

Brief Description of the Drawings

[0056] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0057] Figure 1 A schematic diagram of the structure of a testing device provided in an embodiment of the present application;

[0058] Figure 2 A schematic diagram of the structure of a fixed base station provided in an embodiment of the present application;

[0059] Figure 3 A schematic diagram of the structure of a mobile platform provided in an embodiment of the present application;

[0060] Figure 4 A schematic diagram of the structure of a target vehicle provided in an embodiment of the present application;

[0061] Figure 5 A schematic diagram of the structure of a mobile platform provided in an embodiment of the present application;

[0062] Figure 6 A schematic diagram of the structure of a target vehicle provided in an embodiment of the present application;

[0063] Figure 7 A schematic diagram of the structure of a target vehicle provided in an embodiment of the present application;

[0064] Figure 8 A flow chart of a testing method provided in an embodiment of the present application;

[0065] Fig. 9 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. [Specific implementation method]

[0066] In order to better understand the technical solution of this specification, the embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0067] It should be clear that the described embodiments are only part of the embodiments of this specification, not all of the embodiments. Based on the embodiments in this specification, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this specification.

[0068] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit this specification. The singular forms of "a", "said" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings.

[0069] During driving, the vehicle may encounter other vehicles cutting into the current lane. When the driver cannot perform emergency braking in time, the assisted driving system needs to take over actively to avoid accidents. Therefore, it is very necessary for the assisted driving system to have reliable emergency braking capabilities. Therefore, it is necessary to conduct a large number of tests on the assisted driving system and evaluate its performance before it is put into formal use.

[0070] The applicant has discovered through research that the test of the assisted driving system in the cut-in scenario is usually performed by the tester manually controlling the timing of the vehicle's lateral cut-in, which will cause the acquired test process data to have human control errors and low accuracy, resulting in inaccurate analysis of the performance results of the assisted driving system.

[0071] In view of this, an embodiment of the present application provides a testing device, which can accurately control the initial state between the mobile platform and the target vehicle and the timing of the cut-in operation according to the required cut-in scenario, so as to more accurately obtain the test data of the assisted driving system in the current scenario, and make a more accurate analysis based on the accurate test data.

[0072] Below, combined with the attached Figure 1 The technical solution provided in the embodiments of the present application is described in detail.

[0073] See also Figure 1 The present application embodiment provides a test device, which includes: a fixed base station 101, a mobile platform 102 and a target vehicle 103, wherein:

[0074] The fixed base station 101 is used to determine the real-time position correction information based on its own first real-time measured position and the first real-time true position, and output the real-time position correction information to the mobile platform 102 and the target vehicle 103;

[0075] The mobile platform 102 is used to determine its own second real-time position based on its own second real-time measured position and the received real-time position correction information, and send the first longitudinal driving speed, the first acceleration and the second real position of the mobile platform 102 to the target vehicle 103;

[0076] The target vehicle 103 is used to make adjustments based on the relative difference between its own heading angle and the target heading angle, and based on the relative difference between its own second longitudinal driving speed and the target longitudinal driving speed, and to determine its own third real-time position based on its own third real-time measured position and the received real-time position correction information during the adjustment process; when it is determined that the relative speed between the first longitudinal driving speed and the second longitudinal driving speed meets the first preset condition, and the first relative distance between the second real-time position and the third real-time position meets the second preset condition, send a lateral cut-in trigger instruction to the mobile platform 102;

[0077] The mobile platform 102 is also used to respond to the lateral cutting trigger instruction and perform the lateral cutting action according to the preset cutting speed;

[0078] The target vehicle 103 is also used to perform emergency braking in response to the lateral cutting action, record the first acceleration and its own second acceleration from the emergency braking to the second longitudinal driving speed being zero, and record the second relative distance between the second real-time position and the third real-time position when determining that the second longitudinal driving speed is zero.

[0079] In the embodiment of the present application, the fixed base station 101 determines the real-time position correction information based on its own real position and its own real-time measured position, and sends the real-time position correction information to the mobile platform 102 and the target vehicle 103. The mobile platform 102 and the target vehicle 103 obtain a more accurate real-time position based on the correction information and their own real-time measured position. When the mobile platform 102 and the target vehicle 103 are traveling at a constant speed, the mobile platform 102 sends specific status information representing its own driving status to the target vehicle 103. The target vehicle 103 compares its own specific status information with the received specific status information of the mobile platform 102 and continuously adjusts its own driving status to meet the currently set entry scene requirements. When the target vehicle 103 detects the relative speed and relative speed between itself and the mobile platform 102 When the distance meets the preset conditions, that is, the relative driving state between the target vehicle and the mobile platform meets the requirements of the current test scenario, the target vehicle 103 will generate and send a lateral cut-in trigger instruction to the mobile platform 102, so that the mobile platform 102 performs a lateral cut-in action based on the preset cut-in speed to ensure the accuracy of the cut-in time. At this time, the assisted driving system of the target vehicle 103 will perform emergency braking based on the cut-in action of the mobile platform 102, and the target vehicle 103 records part of the driving data after the start of braking for subsequent performance analysis. The target vehicle 103 not only controls the relative driving state between the mobile platform and the target vehicle to meet the requirements of the current scenario, but also accurately guarantees the timing of the cut-in operation, thereby obtaining accurate test data for the assisted driving system in the current cut-in scenario, and can obtain more accurate performance analysis results for the assisted driving system.

[0080] Among them, the performance indicators used to evaluate the assisted driving system mainly include: the relative longitudinal distance between the target vehicle 103 and the mobile platform 102 when the mobile platform 102 performs a cut-in operation, that is, the relative longitudinal distance between the mobile platform and the target when the second preset condition is met, the lateral cut-in speed of the mobile platform 102, the relative longitudinal distance between the target vehicle 103 and the mobile platform 102 during emergency braking, the relative longitudinal distance between the target vehicle 103 and the mobile platform when the longitudinal moving speed is zero, and the longitudinal collision time, that is, the relative distance between the target vehicle 103 and the mobile platform 102 divided by the relative speed.

[0081] In some embodiments, the location information of the test object is obtained based on the global satellite positioning system. Since the transmission path of the satellite positioning signal is bent due to the influence of clouds during the transmission process, there is an error in the measured position result, which affects the position accuracy. Therefore, in the embodiment of the present application, a differential positioning module is added to the fixed base station 101, and the difference information between the current real-time measured position and the real position is determined based on the differential positioning technology, so that the target vehicle 103 and the mobile platform 102 can obtain more accurate real position information of themselves based on the difference information.

[0082] See also Figure 2 Based on the description of the functional implementation of the above-mentioned fixed base station 101, the fixed base station 101 provided in the embodiment of the present application can be specifically implemented by the following subdivided modules, which can specifically include: a first positioning system module 1011 and a first differential positioning module 1012, and the first positioning system module 1011 is communicatively connected with the first differential positioning module 1012.

[0083] As a possible implementation, the first positioning system module 1011 obtains its own first real-time measured position based on the global satellite positioning system, and the first differential positioning module 1012 determines the real-time position correction information based on the first real-time measured position and its own first real-time true position, and sends the real-time position correction information to the mobile platform 102 and the target vehicle 103. The first positioning system module 1011 may include a global navigation satellite system (GNSS); the first differential positioning module 1012 mainly includes a BeiDou Navigation Satellite System (BDS) / Global Positioning System (GPS) dual-system satellite navigation solution module, which is not particularly limited here.

[0084] Considering that, in the cut-in test scenario, it is necessary to monitor the relative driving state between the mobile platform 102 and the target vehicle 103 in real time, so as to perform subsequent operations in time when the relative driving state meets the requirements of the current scenario.

[0085] Therefore, in the embodiment of the present application, the mobile platform 102 will inform the target vehicle 103 of its own driving data so that the target vehicle 103 can adjust its own and the mobile platform 102's driving status to meet the current test scenario requirements.

[0086] See also Figure 3Based on the description of the functional implementation of the above-mentioned mobile platform 102, the mobile platform 102 provided in the example provided in the embodiment of the present application can be specifically implemented by the following subdivided modules, which may specifically include: a second positioning system module 1021, a first inertial navigation module 1022, a first communication module 1024 and a second differential positioning module 1023, and the second positioning system module 1021 is communicatively connected to the first inertial navigation module 1022, the first inertial navigation module 1022 is communicatively connected to the first communication module 1024, the second differential positioning module 1023 is communicatively connected to the first communication module 1024, and the second differential positioning module 1023 is communicatively connected to the first differential positioning module 1012.

[0087] As a possible implementation, the second positioning system module 1021 will obtain the second real-time measurement position and the first longitudinal driving speed based on the global satellite positioning system, the first inertial navigation module 1022 will obtain the first acceleration, and the second differential positioning module 1023 will perform real-time dynamic carrier phase differential processing on the second real-time measurement position based on the real-time position correction information to obtain the second real-time true position, and the first communication module 1024 is used to send the first longitudinal driving speed, the first acceleration and the second real-time true position to the target vehicle 103.

[0088] Among them, the first inertial navigation module 1022 may include an inertial measurement unit (IMU), which is an autonomous navigation unit that does not rely on external information and does not radiate energy to the outside; the second differential positioning module 1023 mainly includes a BDS / GPS dual-system satellite navigation solution module; the second positioning system module 1021 may include GNSS; the first communication module 1024 may be a ZigBee module or a Bluetooth module, which is not limited here.

[0089] In some embodiments, the timing of the assisted driving system's entry into a scenario with set conditions is usually controlled manually. However, due to human control errors, the test results are not accurate, and the evaluation and analysis of the test results cannot accurately reflect the true performance of the assisted driving system.

[0090] Therefore, in the embodiment of the present application, the target vehicle 103 continuously adjusts its own driving state so that the state of itself and the mobile platform 102 meet the set conditions, and then automatically controls the mobile platform 102 to perform a lateral cut-in action. This is more accurate and efficient than manually comparing and determining the timing of the cut-in, thereby ensuring the accuracy of the cut-in timing.

[0091] See also Figure 4Based on the description of the functional implementation of the above-mentioned target vehicle 103, the target vehicle 103 provided in the embodiment of the present application can be specifically implemented by the following subdivided modules, which may specifically include: the target vehicle 103 includes a second inertial navigation module 1031, a second communication module 1032, a control module 1033, a third differential positioning module 1034 and a third positioning system module 1035, and the control module 1033 is communicatively connected to the second inertial navigation module 1031, the second inertial navigation module 1031 is communicatively connected to the third positioning system module 1035, the third positioning system module 1035 is communicatively connected to the third differential positioning module 1034, the control module 1033 is communicatively connected to the third differential positioning module 1034, the control module 1033 is communicatively connected to the second communication module 1032, the third differential positioning module 1034 is communicatively connected to the first differential positioning module 1012, and the second communication module 1032 is communicatively connected to the first communication module 1024.

[0092] As a possible implementation, the third positioning system module 1035 will obtain the third real-time measurement position and the second longitudinal driving speed based on the global satellite positioning system, the second inertial navigation module 1031 will obtain the second acceleration, the third differential positioning module 1034 will perform real-time dynamic carrier phase differential processing on the third real-time measurement position based on the real-time position correction information to obtain the third real-time real position, the second communication module 1032 receives the first longitudinal driving speed, the first acceleration and the second real-time real position sent by the first communication module 1024, the control module 1033 makes adjustments based on the relative difference between its own heading angle and the target heading angle, and makes adjustments based on the relative difference between the second longitudinal driving speed and the target longitudinal driving speed, and when it is determined that the relative speed between the first longitudinal driving speed and the second longitudinal driving speed meets the first preset condition, and the first relative distance between the second real position and the third real position meets the second preset condition, that is, when the driving state requirements under the current entry scene are met, a lateral entry trigger instruction is generated. Among them, the second inertial navigation module 1031 can include an IMU unit, the third differential positioning module 1034 is mainly a BDS / GPS dual-system satellite navigation solution module; the third positioning system module 1035 can include GNSS; the control module 1033 can include a central processing unit; the first communication module 1024 can be a ZigBee module or a Bluetooth module, and there is no special limitation here.

[0093] Considering that the cut-in trigger instruction generated by the target vehicle 103 is time-sensitive, it needs to be sent to the mobile platform 102 in a relatively short time. Therefore, in the embodiment of the present application, the cut-in trigger instruction is sent based on the communication module to ensure that the cut-in trigger instruction can be sent to the mobile platform 102 in a relatively short time, thereby ensuring the timeliness of the instruction.

[0094] As a possible implementation, the second communication module 1032 included in the target vehicle 103 is further configured to send a lateral cut-in trigger instruction to the first communication module 1024 .

[0095] Considering that the cut-in speed of the mobile platform 102 is different for different cut-in scenarios, in the embodiment of the present application, the cut-in speed can be pre-stored in the mobile platform 102, and when the trigger instruction is received, the mobile platform 102 performs the operation according to the pre-set cut-in speed, which can meet the cut-in speed requirements in different test scenarios.

[0096] See also Figure 5 Based on the description of the functional implementation of the above mobile platform 102, the mobile platform 102 provided in the embodiment of the present application can be implemented specifically through the following subdivided modules, and can also specifically include: an execution module 1025, and the execution module 1025 is communicatively connected with the first communication module 1024.

[0097] As a possible implementation, the execution module 1025 responds to the lateral cut-in instruction based on the lateral cut-in instruction received by the first communication module 1024, and performs a lateral cut-in action based on a pre-stored cut-in speed. The execution module 1025 may include a drive motor, a transmission device, and a wheel, which are not particularly limited here.

[0098] Taking into account that the target vehicle 103 will monitor its own driving status and the driving status of the mobile platform 102 in real time, when analyzing the performance of the assisted driving system in the cut-in state, the focus should be on the driving status information of the target vehicle 103 and the mobile platform 102 after emergency braking.

[0099] Therefore, in the embodiment of the present application, the target vehicle 103 needs to record some status information of itself and the mobile platform 102 after emergency braking, so as to accurately analyze the performance indicators of the assisted driving system in the entry scenario through the recorded data.

[0100] As a possible implementation, the control module 1033 performs emergency braking in response to the lateral cut-in action, records the first acceleration and the second acceleration in the process from emergency braking to the second longitudinal driving speed being zero, and records the second relative distance between the second real-time true position and the third real-time true position when determining that the second longitudinal driving speed is zero.

[0101] Considering that, during the driving process of the target vehicle 103, the driving direction of the target vehicle 103 will also affect the relative position between the target vehicle 103 and the mobile platform 102. Therefore, in the embodiment of the present application, multiple positioning system modules will be installed on the target vehicle 103 to achieve the purpose of monitoring the driving direction of the target vehicle 103, so as to facilitate the subsequent adjustment of the vehicle's driving direction.

[0102] See also Figure 6 Based on the description of the functional implementation of the above-mentioned target vehicle 103, the target vehicle 103 provided in the embodiment of the present application can be specifically implemented by the following subdivided modules, and can also specifically include: a fourth positioning system module 1036, and the fourth positioning system module 1036 is communicatively connected with the control module 1033.

[0103] As a possible implementation, the fourth positioning system module 1036 and the third positioning system module 1035 are respectively installed on the left and right sides of the front of the target vehicle 103, and the fourth positioning system module 1036 obtains the fourth real-time measurement position of the target vehicle 103 based on the global satellite positioning system, and the control module 1033 obtains the heading angle of the target vehicle 103 based on the third real-time measurement position and the fourth real-time measurement position of the target vehicle 103, wherein the fourth positioning system module 1036 may include GNSS, which is not particularly limited here.

[0104] Considering that the driving state of the target vehicle 103 is different in different cut-in test scenarios, in the embodiment of the present application, the steering wheel, accelerator and brake of the target vehicle can be adjusted to achieve the purpose of accurately controlling the driving state of the target vehicle 103, so that the target vehicle 103 runs in the driving state required in the current scenario, making the test results more accurate and effective.

[0105] See also Figure 7 Based on the description of the functional implementation of the above-mentioned target vehicle 103, the target vehicle 103 provided in the embodiment of the present application can be specifically implemented by the following subdivided modules, which may specifically include: a combined robot 1037, and the combined robot 1037 is communicatively connected with the control module 1033.

[0106] As a possible implementation manner, when the control module 1033 detects that the difference between the heading angle and the target heading angle is greater than a first set threshold, a heading angle adjustment instruction is generated, and the heading angle adjustment instruction carries a heading angle adjustment value. When the control module detects that the difference between the second longitudinal driving speed and the target driving speed is greater than a second set threshold, a longitudinal speed adjustment instruction is generated, and the longitudinal speed adjustment instruction carries a first pedal opening adjustment value of the throttle or a second pedal opening adjustment value of the brake. The combined robot 1037 will make corresponding adjustments to the steering wheel angle of the target vehicle 103 based on the heading angle adjustment value carried in the heading angle adjustment instruction, and / or make corresponding adjustments to the throttle opening or brake opening of the target vehicle 103 based on the first pedal opening adjustment value of the throttle or the second pedal opening adjustment value of the brake carried in the longitudinal speed adjustment instruction.

[0107] Specifically, the combined robot 1037 is composed of a steering robot, a throttle robot and a braking robot. The steering robot is installed on the steering wheel and can accurately control the driving direction of the target vehicle 103. The throttle robot is installed on the accelerator pedal and can accurately control the driving speed of the target vehicle 103. The braking robot is installed on the brake pedal and can accurately control the braking distance of the target vehicle 103.

[0108] It is considered that the auxiliary driving system on the target vehicle 103 performs emergency braking because the vehicle that is cutting in front is detected through the radar reflection on the target vehicle 103.

[0109] Therefore, in the embodiment of the present application, a mobile platform 102 loaded with a 3D fake car model can be installed on the mobile platform 102, and the radar reflection surface of the 3D fake car model is the same as that of the real vehicle, thereby ensuring that the assisted driving system can accurately detect the cutting action of the model through radar reflection, thereby smoothly performing subsequent emergency braking operations.

[0110] See also Figure 8 Based on the same inventive concept, the present application embodiment also provides a method based on Figure 1-7 The testing method of the provided device is described as follows:

[0111] Step 201: Determine real-time position correction information based on the first real-time measured position and the first real-time true position of the fixed base station, and output the real-time position correction information to the mobile platform and the target vehicle.

[0112] Step 202: The mobile platform determines its second real-time true position based on its second real-time measured position and the received real-time position correction information, and sends the mobile platform's first longitudinal driving speed, first acceleration and second real position to the target vehicle.

[0113] Step 203: The target vehicle makes adjustments based on the relative difference between its own heading angle and the target heading angle, and based on the relative difference between its own second longitudinal driving speed and the target longitudinal driving speed, and during the adjustment process, determines its third real-time true position based on its own third real-time measured position and the received real-time position correction information; when it is determined that the relative speed between the first longitudinal driving speed and the second longitudinal driving speed meets the first preset condition, and the first relative distance between the second real-time true position and the third real-time true position meets the second preset condition, sends a lateral cut-in trigger instruction to the mobile platform.

[0114] Step 204: Responding to the lateral cut-in trigger instruction via the mobile platform, and performing a lateral cut-in action at a preset cut-in speed.

[0115] Step 205: Emergency braking is performed by the target vehicle in response to the lateral cut-in action, and the first acceleration and the second acceleration of the target vehicle in the process from emergency braking to the second longitudinal travel speed being zero are recorded, and the second relative distance between the second real-time position and the third real-time position is recorded when it is determined that the second longitudinal travel speed is zero.

[0116] See also Fig. 9 Based on the same inventive concept, an embodiment of the present application further provides an electronic device, the electronic device 300 may include at least one processor, the at least one processor is used to execute a computer program stored in a memory, and implement the embodiment of the present application as provided in Figure 8 The steps of the test method are shown.

[0117] Optionally, the processor may specifically be a central processing unit, a specific ASIC, or one or more integrated circuits for controlling program execution.

[0118] Optionally, the electronic device 300 may further include a memory connected to at least one processor, and the memory may include ROM, RAM, and disk storage. The memory is used to store data required by the processor when it is running, that is, it stores instructions that can be executed by at least one processor. At least one processor executes the instructions stored in the memory to execute the following steps: Figure 8 The method shown in the figure. Wherein, the number of memories is one or more.

[0119] The physical devices corresponding to the fixed base station 101, the mobile platform 102, and the target vehicle 103 can all be the aforementioned processors. Figure 8 Therefore, for the functions that can be realized by each functional module in the electronic device, please refer to Figure 8The corresponding description in the illustrated embodiment will not be repeated here.

[0120] The present application also provides a computer storage medium, wherein the computer storage medium stores computer instructions, and when the computer instructions are executed on a computer, the computer executes the following Figure 8 The method described.

[0121] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A testing device, characterized in that: The device includes a mobile platform, a target vehicle and a fixed base station, wherein: The fixed base station is used to determine the real-time position correction information based on its own first real-time measured position and the first real-time true position, and output the real-time position correction information to the mobile platform and the target vehicle; The mobile platform is used to determine its own second real-time position based on its own second real-time measured position and the received real-time position correction information, and send the first longitudinal driving speed, first acceleration and the second real position of the mobile platform to the target vehicle; The target vehicle is used to make adjustments based on the relative difference between its own heading angle and the target heading angle, and based on the relative difference between its own second longitudinal driving speed and the target longitudinal driving speed, and to determine its own third real-time position based on its own third real-time measured position and the received real-time position correction information during the adjustment process; when it is determined that the relative speed between the first longitudinal driving speed and the second longitudinal driving speed meets the first preset condition, and the first relative distance between the second real-time position and the third real-time position meets the second preset condition, send a lateral cut-in trigger instruction to the mobile platform; The mobile platform is further used to respond to the lateral cutting trigger instruction and perform a lateral cutting action according to a preset cutting speed; The target vehicle is also used to perform emergency braking in response to the lateral cutting-in action, record the first acceleration and its own second acceleration from the emergency braking to the second longitudinal driving speed being zero, and record the second relative distance between the second real-time position and the third real-time position when it is determined that the second longitudinal driving speed is zero.

2. The device according to claim 1, characterized in that The fixed base station includes a first positioning system module and a first differential positioning module, and the first positioning system module is communicatively connected with the first differential positioning module, wherein: The first positioning system module is used to obtain the first real-time measurement position based on the global satellite positioning system; The first differential positioning module is used to determine the real-time position correction information based on the first real-time measured position and the first real-time true position, and send the real-time position correction information to the mobile platform and the target vehicle.

3. The device according to claim 2, characterized in that The mobile platform includes a second positioning system module, a first inertial navigation module, a first communication module and a second differential positioning module, the second positioning system module is communicatively connected to the first inertial navigation module, the first inertial navigation module is communicatively connected to the first communication module, the second differential positioning module is communicatively connected to the first communication module, and the second differential positioning module is communicatively connected to the first differential positioning module, wherein: The second positioning system module is used to obtain the second real-time measurement position and the first longitudinal travel speed based on the global satellite positioning system; The first inertial navigation module is used to obtain the first acceleration; The second differential positioning module is used to perform real-time dynamic carrier phase differential processing on the second real-time measured position based on the real-time position correction information to obtain the second real-time true position; The first communication module is used to send the first longitudinal driving speed, the first acceleration and the second real-time position to the target vehicle.

4. The device according to claim 3, characterized in that The target vehicle includes a second inertial navigation module, a second communication module, a control module, a third differential positioning module and a third positioning system module, the control module is communicatively connected to the second inertial navigation module, the second inertial navigation module is communicatively connected to the third positioning system module, the control module is communicatively connected to the third differential positioning module, the control module is communicatively connected to the second communication module, the third differential positioning module is communicatively connected to the first differential positioning module, and the second communication module is communicatively connected to the first communication module, wherein: The third positioning system module is used to obtain the third real-time measurement position and the second longitudinal travel speed based on the global satellite positioning system; The second inertial navigation module is used to obtain the second acceleration; The third differential positioning module is used to perform real-time dynamic carrier phase differential processing on the third real-time measured position based on the real-time position correction information to obtain the third real-time true position; The second communication module is used to receive the first longitudinal travel speed, the first acceleration and the second real-time true position sent by the first communication module; The control module is used to make adjustments based on the relative difference between its own heading angle and the target heading angle, and based on the relative difference between the second longitudinal driving speed and the target longitudinal driving speed, and to generate the lateral cut-in trigger instruction when it is determined that the relative speed between the first longitudinal driving speed and the second longitudinal driving speed meets the first preset condition, and the first relative distance between the second real-time position and the third real-time position meets the second preset condition.

5. The device according to claim 4, characterized in that in, The second communication module is further configured to send the horizontal cut-in trigger instruction to the first communication module.

6. The device according to claim 5, characterized in that The mobile platform further includes an execution module, which is communicatively connected with the first communication module, wherein: The first communication module is further used to receive the horizontal cut-in trigger instruction; The execution module is used to respond to the lateral cutting trigger instruction and perform the lateral cutting action based on the preset cutting speed.

7. The device according to claim 6, characterized in that in, The control module is further configured to perform emergency braking in response to the lateral cut-in action, record the first acceleration and the second acceleration in the process from the emergency braking to the second longitudinal driving speed being zero, and record the second relative distance between the second real-time position and the third real-time position when it is determined that the second longitudinal driving speed is zero.

8. The device according to claim 4, characterized in that The target vehicle also includes a fourth positioning system module, the fourth positioning system module and the third positioning system module are respectively installed on the left and right sides of the front of the target vehicle, and the fourth positioning system module is communicatively connected with the control module, wherein, The fourth positioning system module is used to obtain a fourth real-time measurement position of the target vehicle based on a global satellite positioning system; The control module is further configured to obtain the heading angle of the target vehicle based on the third real-time measured position and the fourth real-time measured position of the target vehicle.

9. The device according to claim 8, characterized in that The target vehicle also includes a combined robot, which is in communication connection with the control module, wherein: The control module is specifically used to: generate a heading angle adjustment instruction when the difference between the heading angle and the target heading angle is greater than a first set threshold, wherein the heading angle adjustment instruction carries a heading angle adjustment value; generate a longitudinal speed adjustment instruction when the difference between the second longitudinal driving speed and the target driving speed is greater than a second set threshold, wherein the longitudinal speed adjustment instruction carries a first pedal opening adjustment value of the throttle or a second pedal opening adjustment value of the brake; The combined robot is used to make a corresponding adjustment to the steering wheel angle of the target vehicle based on the heading angle adjustment value carried in the heading angle adjustment instruction, and / or to make a corresponding adjustment to the throttle opening or brake opening of the target vehicle based on the first pedal opening adjustment value of the throttle or the second pedal opening adjustment value of the brake carried in the longitudinal speed adjustment instruction.

10. The device according to claim 1, characterized in that The mobile platform is loaded with a 3D fake car model, and the radar reflection surface of the 3D fake car model is the same as that of a real vehicle.

11. A testing method, characterized in that: Applicable to the test device according to any one of claims 1 to 10, the method comprising: Determining real-time position correction information based on the first real-time measured position and the first real-time true position of the fixed base station, and outputting the real-time position correction information to the mobile platform and the target vehicle; The mobile platform determines its second real-time position based on its second real-time measured position and the received real-time position correction information, and sends the first longitudinal driving speed, the first acceleration and the second real position of the mobile platform to the target vehicle; The target vehicle makes adjustments based on the relative difference between its own heading angle and the target heading angle, and makes adjustments based on the relative difference between its own second longitudinal driving speed and the target longitudinal driving speed, and during the adjustment process, determines its third real-time position based on its third real-time measured position and the received real-time position correction information; when it is determined that the relative speed between the first longitudinal driving speed and the second longitudinal driving speed meets the first preset condition, and the first relative distance between the second real-time position and the third real-time position meets the second preset condition, sends a lateral cut-in trigger instruction to the mobile platform; Responding to the lateral cut-in trigger instruction through the mobile platform, performing a lateral cut-in action at a preset cut-in speed; The target vehicle performs emergency braking in response to the lateral cutting-in action, records the first acceleration and its own second acceleration from the emergency braking to the second longitudinal driving speed being zero, and records the second relative distance between the second real-time position and the third real-time position when it is determined that the second longitudinal driving speed is zero.

12. An electronic device, characterized in that: The electronic device comprises at least one processor and a memory connected to the at least one processor, and the at least one processor is configured to implement the steps of the method according to claim 11 when executing a computer program stored in the memory.

13. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to claim 11 are implemented.

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