Lane centering control test method, device and equipment

Abstract

The invention provides a method for testing lane centering control, which comprises the following steps of: designing a test route which comprises a straight lane and at least three curves with different minimum radiuses; driving the vehicle along the test route while activating lane centering control, so that a driver of the vehicle does not intervene in steering of the vehicle; the road curvature, the vehicle speed and the centering control deviation value are sampled according to a preset sampling period; and determining a test result of lane centering control based on the road curvature, the vehicle speed and the centering control deviation value obtained by sampling. The invention further provides a testing device and equipment for lane centering control.

Description

Technical Field

[0001] The present disclosure relates to the field of diagnostic testing technology, and in particular to a testing method, device and equipment for lane centering control. Background Art

[0002] Lane centering control is one of the basic functions of intelligent driving technology. With the popularization of driving assistance functions, lane centering control is being applied to general vehicles. The so-called lane centering control is a control technology that controls the vehicle steering system by sensing the lane line to keep the vehicle in the middle of the lane.

[0003] At present, the testing mode adopted by most autonomous driving technology research and development is mainly focused on setting up a test environment in a specific closed environment for simulation testing. This approach can systematically evaluate the response and performance of the autonomous driving system in certain typical situations in a controllable scenario, laying the foundation for subsequent improvement of technical level and safety. However, as autonomous driving technology develops towards more complex and open application scenarios, simulation tests based on fixed sites can no longer fully cover the complexity and diversity of the actual driving environment.

[0004] In addition, current actual road tests are mainly based on subjective experience and the experience of testers. Therefore, it is difficult to quantify and standardize the test results, and it is difficult to objectively evaluate the performance of the car. Summary of the invention

[0005] The present disclosure is completed to solve the above-mentioned problems, and its purpose is to provide a lane centering control testing method, device and equipment, which can effectively and intuitively detect the lane centering control capability boundary under different road environments under real working conditions and discover the defects of lane centering control.

[0006] According to one aspect of the present disclosure, a lane centering control testing method is provided, comprising: designing a test route, the test route comprising a straight road and at least three curves with different minimum radii; a vehicle travels along the test route while activating lane centering control, and the vehicle driver does not intervene in the steering of the vehicle; sampling the road curvature, the vehicle speed, and the centering control deviation at a predetermined sampling period; and determining the lane centering control test result based on the sampled road curvature, the vehicle speed, and the centering control deviation.

[0007] Preferably, the test result of determining lane centering control based on the sampled road curvature, the vehicle speed and the centering control deviation further includes: performing statistics on the sampled road curvature, the vehicle speed and the centering control deviation to obtain a first test result, the first test result including the road curvature, the vehicle speed, and the mean of the centering control deviation corresponding to the road curvature and the vehicle speed, the mean of the centering control deviation being obtained by averaging the centering control deviations of sampling points with the same road curvature and the vehicle speed; and obtaining a second test result based on the first test result, the second test result including the maximum value of the mean of the centering control deviation corresponding to the combination range of each minimum radius range and each vehicle speed range.

[0008] Preferably, the centering control deviation is set to the distance from the outer edge of the right wheel of the vehicle to the inner side of the lane line minus the distance from the outer edge of the left wheel to the inner side of the lane line.

[0009] Preferably, the minimum radii of the three curves with different minimum radii are respectively within the ranges of 1000-500 m, 500-250 m, and less than 250 m.

[0010] Preferably, the road types of the test route include expressways, urban roads and suburban roads.

[0011] Preferably, the lane centering control test method further comprises the following step: setting the maximum vehicle speed in sections according to the speed limit information of the roads in the test route.

[0012] Preferably, when sampling the road curvature, the vehicle speed and the centering control deviation at a predetermined sampling period, the positive and negative values ​​of the road curvature are predetermined.

[0013] According to another aspect of the present disclosure, a test device for lane centering control is provided, comprising: a design unit for designing a test route, the test route comprising a straight road and at least three curves with different minimum radii; a sampling unit for sampling a road curvature, a vehicle speed, and a centering control deviation at a predetermined sampling period when a vehicle is traveling along the test route with the lane centering control activated and the vehicle driver does not intervene in the steering of the vehicle; and a determination unit for determining a test result of the lane centering control based on the road curvature, the vehicle speed, and the centering control deviation obtained by sampling.

[0014] According to another aspect of the present disclosure, an electronic device is provided, comprising a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded by the processor and executes the method described in the above aspect.

[0015] According to another aspect of the present disclosure, a computer storage medium is provided, wherein at least one instruction or at least one program is stored in the storage medium, and the at least one instruction or the at least one program is loaded by a processor and executes the method according to the above aspect of claim 1.

[0016] According to another aspect of the present disclosure, a computer program product is provided, comprising at least one instruction or at least one program segment, wherein the at least one instruction or the at least one program segment is loaded by a processor and executes the method according to the above aspect of claim 1 . BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a flow chart of the lane centering control testing method provided in the embodiment of the present disclosure.

[0018] Figure 2 It is an example of the centering control deviation amount used to illustrate the embodiment of the present disclosure.

[0019] Figure 3 is an example of the second test result of the embodiment of the present disclosure.

[0020] Figure 4 It is a structural block diagram of a lane centering control testing device provided in an embodiment of the present disclosure.

[0021] Figure 5 It is a structural block diagram of an electronic device provided by an embodiment of the present disclosure. DETAILED DESCRIPTION

[0022] The present disclosure is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant invention, rather than to limit the invention. It should also be noted that, for ease of description, only the parts related to the relevant invention are shown in the accompanying drawings.

[0023] The terms used herein are only used to describe specific embodiments and are not intended to limit the present disclosure. As used herein, the singular forms "a", "an" and "the" are also intended to include the plural forms, unless the context clearly indicates otherwise. It will also be understood that when the terms "comprising" and / or "made of" are used in this specification, the presence of the features, wholes, steps, operations, elements and / or components is specified, but the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or groups thereof is not excluded.

[0024] The embodiments described herein may be described with reference to plan views and / or cross-sectional views by means of idealized schematic diagrams of the present disclosure. Therefore, the example illustrations may be modified according to manufacturing techniques and / or tolerances. Therefore, the embodiments are not limited to the embodiments shown in the accompanying drawings, but include modifications of the configurations formed based on the manufacturing process. Therefore, the regions illustrated in the accompanying drawings have schematic properties, and the shapes of the regions shown in the figures illustrate the specific shapes of the regions of the elements, but are not intended to be limiting.

[0025] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by those of ordinary skill in the art. It will also be understood that terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant art and the present disclosure, and will not be interpreted as having an idealized or overly formal meaning unless explicitly defined as such herein.

[0026] The present disclosure provides a lane centering control testing method, device and equipment, which can effectively and intuitively detect the lane centering control capability boundary under different road environments under real working conditions and discover the defects of lane centering control.

[0027] Figure 1 It is a flow chart of the test method for lane centering control provided by the embodiment of the present disclosure. This specification provides method operation steps such as the embodiment or flow chart, but may include more or fewer operation steps based on conventional or non-creative labor. The order of steps listed in the embodiment is only one way of executing the order of many steps and does not represent the only execution order. When the actual system or server product is executed, it can be executed in the order of the method shown in the embodiment or the accompanying drawings or in parallel (for example, in a parallel processor or multi-threaded processing environment).

[0028] S101: Design a test route, where the test route includes a straight road and at least three curves with different minimum radii.

[0029] In this step, a test route can be designed based on the map data. The test route needs to include a straight road and at least three curves with different minimum radii R. The minimum radius of the road refers to the minimum radius of the circular curve of the road. Preferably, the minimum radii of the three curves with different minimum radii R are respectively within the ranges of 1000-500m, 500-250m, and less than 250m. That is, the minimum radius R of one curve is within the range of 1000-500m, the minimum radius R of one curve is within the range of 500-250m, and the minimum radius R of another curve is less than 250m. In addition, the test route can include various road types, such as expressways, urban roads, and suburban roads. Through this test route design method, as many scenarios as possible can be covered to obtain real performance in complex scenarios.

[0030] S102: Setting the maximum vehicle speed V1 in sections according to the speed limit information of the roads in the test route.

[0031] As described above, the test route includes various road types. Therefore, the maximum vehicle speed can be set in sections according to the speed limit information of various roads in the test route for use in subsequent testing processes.

[0032] S103: The vehicle travels along the test route while activating lane centering control, and the vehicle driver does not intervene in the steering of the vehicle.

[0033] When the vehicle is driving along the test route, the vehicle's automatic driving / assisted driving system will control the vehicle speed V according to the actual driving road conditions, but the vehicle speed V must be less than or equal to the maximum vehicle speed V1 set in the segment in step S102. Of course, when the vehicle is driving along the test route, the vehicle driver needs to confirm the safety of the surrounding environment at any time and take over safety when necessary.

[0034] S104: Sampling the road curvature, vehicle speed and centering control deviation at a predetermined sampling period.

[0035] The road curvature is the reciprocal 1 / R of the minimum road radius R. In order to make the test result more accurate, the positive and negative of the road curvature can be pre-specified, for example, the left is positive and the right is negative. In this case, a curve to the right is negative and a curve to the left is positive.

[0036] In this embodiment, the centering control deviation is set to the distance from the outer edge of the right wheel of the vehicle to the inner side of the lane line minus the distance from the outer edge of the left wheel to the inner side of the lane line. Figure 2 As shown, when vehicle A is traveling along the lane, the centering control deviation Offset = L1-L2. The lane lines here include but are not limited to single solid lines, double solid lines, one solid line on one side and one dotted line on the other side, double dotted lines, fishbone lines, and other line types that can meet the requirements of the lane centering assistance system. Of course, the centering control deviation is not limited to this, and the centering control deviation can also be obtained by calculating the deviation from the center line of the lane.

[0037] S105: Determine a lane centering control test result based on the sampled road curvature, vehicle speed, and centering control deviation.

[0038] The test result of determining the lane centering control based on the sampled road curvature, vehicle speed and centering control deviation further includes the following sub-steps:

[0039] (1) The sampled road curvature, vehicle speed, and centering control deviation are statistically analyzed to obtain a first test result, wherein the first test result includes the road curvature, the vehicle speed, and an average of the centering control deviations corresponding to the road curvature and the vehicle speed, wherein the average of the centering control deviations at sampling points having the same road curvature and the same vehicle speed is obtained.

[0040] Here, the road curvature, vehicle speed and centering control deviation obtained by sampling at a predetermined sampling period can be defined as X, Y and Z respectively, and the units of the road curvature, vehicle speed and centering control deviation are 1 / m, Km / h and m respectively. The centering control deviations of the sampling points with the same road curvature and vehicle speed are averaged to obtain the mean centering control deviation corresponding to X and Y. When there is only one sampling point under a certain road curvature and vehicle speed, the centering control deviation of the single sampling point is used as the mean centering control deviation. Through the above statistical processing, the first test result showing the corresponding relationship among the road curvature, vehicle speed and the mean centering control deviation can be obtained.

[0041] (2) A second test result is obtained based on the first test result, where the second test result includes the maximum average value of the centering control deviation corresponding to the combination range of each minimum radius range and each vehicle speed range.

[0042] The first test result includes the road curvature, vehicle speed and the average of the centering control deviation sampled during the test process. Based on the first test result, further statistics are performed to obtain the second test result with the maximum value of the average of the centering control deviation within the combination range of each minimum radius range and each vehicle speed range.

[0043] For example, the minimum radius R (m) is divided into the ranges of R>3000, 1000<R≤3000, 500<R≤1000, 250<R≤500, and R≤250, and the vehicle speed V (Km / h) is divided into the ranges of V≤30, 30<V≤60, 60<V≤80, 80<V≤100, and 100<V≤120. According to the road curvature, vehicle speed, and the mean of the centering control deviation in the first test result, the maximum value of the mean of the centering control deviation within the pairwise combination range of the above minimum radius range and vehicle speed range is obtained as the maximum value of the mean of the centering control deviation. In the above example, it can be obtained Figure 3 An example of the second test result is shown, Figure 3 Zmax 11 、Zmax 12 ...Zmax 55 They respectively represent the maximum mean values ​​of the centering control deviations when the vehicle speed is within the speed range shown in the row and the minimum radius is within the minimum radius range shown in the column. Figure 3For illustration only, the numerical value is not shown, but the value is expressed in terms of Zmax. 11 、Zmax 12 ...Zmax 55 To express it, it should actually be the value of the maximum mean value of the centered control deviation.

[0044] According to the first test result, a three-dimensional graph can be obtained with the road curvature as the x-axis, the vehicle speed as the y-axis, and the mean of the centering control deviation as the z-axis, and according to the second test result, the maximum mean of the centering control deviation corresponding to the combination of each minimum radius range and each speed range can be obtained. In this way, the system capability boundary under different road environments under real working conditions can be effectively and intuitively detected. The inherent defects, production defects or design defects of the lane centering assist system can be discovered, and the effects of iterative optimization of system versions can be compared to provide support for product development.

[0045] Figure 4 FIG. 2 shows a structural block diagram of a lane centering control test device provided by an embodiment of the present disclosure. Figure 4 As shown, the lane centering control testing device 200 includes: a design unit 201 , a sampling unit 202 , and a determination unit 203 .

[0046] The design unit 201 is used to design a test route, which includes a straight road and at least three curves with different minimum radii. The sampling unit 202 is used to sample the road curvature, vehicle speed and centering control deviation at a predetermined sampling period when the vehicle is traveling along the test route with the lane centering control activated and the vehicle driver does not intervene in the steering of the vehicle. The determination unit 203 is used to determine the test result of the lane centering control based on the sampled road curvature, vehicle speed and centering control deviation.

[0047] Figure 5 is a structural block diagram of an electronic device provided by an embodiment of the present disclosure. Figure 5 As shown, the present disclosure also provides an electronic device 300, which includes a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded by the processor and executes the method described in the above embodiment.

[0048] The present disclosure also provides a computer storage medium, in which at least one instruction or at least one program is stored. The at least one instruction or at least one program is loaded by a processor to execute the method described in the above embodiment.

[0049] Optionally, in this embodiment, the storage medium may be located in at least one of the multiple network servers of the computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to, various media that can store program codes, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk, or an optical disk.

[0050] The present disclosure also provides a computer program product, including at least one instruction or at least one program, characterized in that the at least one instruction or the at least one program is loaded by a processor and executes the method described in the above embodiment.

[0051] Those skilled in the art should be able to appreciate that the modules, units and method steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software or a combination of the two. In order to clearly illustrate the interchangeability of electronic hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in electronic hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this disclosure.

[0052] Although the present disclosure has been described with reference to the current specific embodiments, those skilled in the art should recognize that the scope of the invention involved in the present disclosure is not limited to the technical solutions formed by the specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the above features are replaced with the technical features disclosed in the present disclosure (but not limited to) with similar functions.

Claims

1. A lane centering control test method, characterized in that: include: Design a test route, which includes a straight line and at least three curves with different minimum radii; The vehicle travels along the test route while activating lane centering control, and the vehicle driver does not intervene in the steering of the vehicle; Sampling the road curvature, vehicle speed and centering control deviation at a predetermined sampling period; as well as A lane centering control test result is determined based on the sampled road curvature, the vehicle speed, and the centering control deviation.

2. The lane centering control testing method according to claim 1, characterized in that: The test result of lane centering control is determined based on the sampled road curvature, the vehicle speed and the centering control deviation, further comprising: Performing statistics on the sampled road curvature, the vehicle speed, and the centering control deviation to obtain a first test result, the first test result including the road curvature, the vehicle speed, and an average of the centering control deviations corresponding to the road curvature and the vehicle speed, the average of the centering control deviations being obtained by averaging the centering control deviations of sampling points having the same road curvature and the same vehicle speed; and A second test result is obtained based on the first test result, where the second test result includes the maximum average value of the centering control deviation corresponding to a combination of each minimum radius range and each vehicle speed range.

3. The lane centering control testing method according to claim 1 or 2, characterized in that: The centering control deviation is set to the distance from the outer edge of the right wheel of the vehicle to the inner side of the lane line minus the distance from the outer edge of the left wheel to the inner side of the lane line.

4. The lane centering control testing method according to claim 1 or 2, characterized in that: The minimum radii of the three curves with different minimum radii are respectively within the ranges of 1000-500m, 500-250m, and less than 250m.

5. The lane centering control testing method according to claim 1 or 2, characterized in that: The road types of the test route include expressways, urban roads and suburban roads.

6. The lane centering control testing method according to claim 1 or 2, characterized in that: The following steps are also included: The maximum vehicle speed is set in sections according to the speed limit information of the roads in the test route.

7. The lane centering control testing method according to claim 1 or 2, characterized in that: The road curvature, vehicle speed and centering control deviation are sampled at a predetermined sampling period. The positive and negative curvature of the road is predetermined.

8. A lane centering control test device, characterized in that: include: A design unit, used for designing a test route, wherein the test route includes a straight track and at least three curves with different minimum radii; a sampling unit, for sampling the road curvature, the vehicle speed and the centering control deviation at a predetermined sampling period when the vehicle is traveling along the test route in a state where the lane centering control is activated and the vehicle driver does not intervene in the steering of the vehicle; as well as A determination unit is used to determine a lane centering control test result based on the road curvature, the vehicle speed and the centering control deviation obtained by sampling.

9. An electronic device, characterized in that: The electronic device comprises a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded by the processor and executes the method according to any one of claims 1 to 7.

10. A computer storage medium, characterized in that: The storage medium stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded by a processor and executes the method according to any one of claims 1 to 7.

11. A computer program product, comprising at least one instruction or at least one program, characterized in that: The at least one instruction or the at least one program is loaded by a processor and executes the method according to any one of claims 1 to 7.

Images