Method, device and system for testing lane departure early warning function and electronic equipment

Abstract

The invention relates to the technical field of auxiliary driving, and provides a method, a device and a system for testing a lane departure early warning function, and electronic equipment, and the method comprises the steps: obtaining the test data of a tested vehicle in a driving process; under the condition that the lane departure early warning signal is received, the departure direction and the actual early warning distance of the tested vehicle are determined based on the test data corresponding to the lane departure early warning moment; and based on the deviation direction of the tested vehicle, comparing the actual early warning distance with a preset early warning distance to obtain a test result of the lane deviation early warning function. According to the lane departure early warning system, the departure direction of the tested vehicle is considered, the actual early warning distance is compared with the preset early warning distance, whether the lane departure early warning system gives out early warning timely and accurately or not can be visually judged, and therefore the accuracy and effectiveness of testing are improved. In addition, a complicated test environment does not need to be built manually, so that the test cost of the lane departure early warning function can be reduced, and the test efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of assisted driving technology, and in particular to a testing method, device, system and electronic equipment for a lane departure warning function. Background Art

[0002] With the continuous development of Advanced Driving Assistance System (ADAS), more and more vehicles are equipped with ADAS. Lane Departure Warning (LDW), as an important part of ADAS, is designed to promptly remind the driver whether the vehicle has accidentally deviated from the intended lane by monitoring the vehicle's driving status. This function is particularly important when the driver is distracted or fatigued. LDW performance testing is not only a key link in ensuring driving safety, but also one of the important indicators for evaluating the level of vehicle intelligence.

[0003] However, the current testing technology for LDW functions has certain defects. Traditional professional testing methods generally rely on complex test environments built manually. This process not only requires a large amount of professional equipment support, such as high-precision sensor calibration devices, simulated lane line facilities, etc., but also requires expensive autonomous driving robots to simulate the situation where the driver does not control the steering wheel. These devices are not only expensive to purchase, but also have cumbersome and time-consuming installation and disassembly processes, which greatly limits the efficiency and scale of the test. In addition, due to the complex installation process and strict requirements on details, the preparation stage before the test is often time-consuming, which further compresses the effective time of the actual test and leads to low overall test efficiency. Summary of the invention

[0004] The present invention provides a lane departure warning function testing method, device, system and electronic equipment, which are used to solve the defects of high testing cost and low testing efficiency of the lane departure warning function in the related art.

[0005] The present invention provides a method for testing a lane departure warning function, comprising: Acquire test data of the tested vehicle during driving; In the case of receiving a lane departure warning signal, determining the deviation direction and actual warning distance of the tested vehicle based on the test data corresponding to the lane departure warning moment, the actual warning distance being the distance between the wheels of the tested vehicle and the lane line at the lane departure warning moment; Based on the deviation direction of the tested vehicle, the actual warning distance is compared with the preset warning distance to obtain a test result of the lane departure warning function.

[0006] According to a method for testing a lane departure warning function provided by the present invention, the test data includes real-time vehicle positioning information, lane line information, and relative position information between the front wheels of the vehicle and the lane line. When a lane departure warning signal is received, the deviation direction and the actual warning distance of the tested vehicle are determined based on the test data corresponding to the lane departure warning moment, including: determining a lane departure warning time when a lane departure warning signal is received; Determining the deviation direction of the detected vehicle based on the relative position information between the front wheels of the vehicle and the lane line at the lane departure warning time; The actual warning distance is determined based on the real-time vehicle positioning information and the lane line information corresponding to the lane departure warning moment.

[0007] According to a lane departure warning function testing method provided by the present invention, the actual warning distance is determined based on the vehicle real-time positioning information and the lane line information corresponding to the lane departure warning moment, including: Determine a lane line fitting curve in a vehicle coordinate system based on the vehicle real-time positioning information and the lane line information; The actual warning distance is determined based on the lane line fitting curve, the longitudinal coordinate of the center point of the front edge of the detected vehicle in the vehicle coordinate system, and the body size of the detected vehicle.

[0008] A method for testing a lane departure warning function provided by the present invention further includes: The deviation speed of the vehicle under test is determined based on the coefficient of the lane line fitting curve and the actual speed of the vehicle under test at the lane departure warning moment.

[0009] According to a lane departure warning function testing method provided by the present invention, the lane line fitting curve includes a left lane line fitting curve and / or a right lane line fitting curve, and the coefficients of the left lane line fitting curve and the right lane line fitting curve are different; The determining the actual warning distance based on the lane line fitting curve, the longitudinal coordinate of the center point of the front edge of the detected vehicle in the vehicle coordinate system, and the body size of the detected vehicle includes: In the case where the deviation direction of the detected vehicle is deviation to the left, determining the actual warning distance based on the longitudinal coordinate, the left lane line fitting curve and the body size of the detected vehicle; When the deviation direction of the detected vehicle is deviation to the right, the actual warning distance is determined based on the longitudinal coordinate and the right lane line fitting curve.

[0010] According to a method for testing a lane departure warning function provided by the present invention, when the deviation direction of the tested vehicle is to the left, the preset warning distance includes a first left warning distance and a second left warning distance, the first left warning distance is a positive value, and the second left warning distance is a negative value, and the actual warning distance is compared with the preset warning distance to obtain a test result of the lane departure warning function, including: In the case where the actual warning distance is a positive value, if the actual warning distance is less than the first left warning distance, it is determined that the lane departure warning function is qualified, otherwise it is determined that the lane departure warning function is unqualified; In the case where the actual warning distance is a negative value, if the actual warning distance is greater than the second left warning distance, it is determined that the lane departure warning function is qualified, otherwise it is determined that the lane departure warning function is unqualified.

[0011] According to a method for testing a lane departure warning function provided by the present invention, when the deviation direction of the tested vehicle is deviation to the right, the preset warning distance includes a first right warning distance and a second right warning distance, the first right warning distance is a negative value, and the second right warning distance is a positive value, and the actual warning distance is compared with the preset warning distance to obtain a test result of the lane departure warning function, including: In the case where the actual warning distance is a negative value, if the actual warning distance is greater than the first right warning distance, it is determined that the lane departure warning function is qualified, otherwise it is determined that the lane departure warning function is unqualified; In the case where the actual warning distance is a positive value, if the actual warning distance is less than the second right warning distance, it is determined that the lane departure warning function is qualified; otherwise, it is determined that the lane departure warning function is unqualified.

[0012] The present invention also provides a test device for a lane departure warning function, comprising: An acquisition unit, used for acquiring test data during the driving process of the tested vehicle; a determination unit, configured to determine, upon receiving a lane departure warning signal, a deviation direction and an actual warning distance of the vehicle under test based on test data corresponding to the lane departure warning moment, wherein the actual warning distance is the distance between the wheels of the vehicle under test and the lane line at the lane departure warning moment; The comparison unit is used to compare the actual warning distance with the preset warning distance based on the deviation direction of the tested vehicle to obtain a test result of the lane departure warning function.

[0013] The present invention also provides a lane departure warning function testing system, comprising: A data acquisition module is used to collect test data during the driving process of the tested vehicle and transmit the test data to the algorithm processing module; The algorithm processing module is used to determine the deviation direction and actual warning distance of the tested vehicle based on the test data corresponding to the lane departure warning moment when receiving the lane departure warning signal, wherein the actual warning distance is the distance between the wheel of the tested vehicle and the lane line at the lane departure warning moment; The algorithm processing module is further used to compare the actual warning distance with the preset warning distance based on the deviation direction of the tested vehicle to obtain a test result of the lane departure warning function.

[0014] According to a lane departure warning function testing system provided by the present invention, the data acquisition module includes a positioning module, a camera module and a signal acquisition module; The positioning module is used to collect the real-time positioning information of the vehicle under test and transmit the real-time positioning information of the vehicle to the algorithm processing module; The camera module is used to collect lane line information and relative position information between the front wheels of the vehicle and the lane line, and transmit the lane line information and the relative position information between the front wheels of the vehicle and the lane line to the algorithm processing module; The signal acquisition module is used to collect lane departure warning signals and send the lane departure warning signals to the algorithm processing module.

[0015] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, a test method for the lane departure warning function as described above is implemented.

[0016] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the test method for the lane departure warning function as described in any one of the above is implemented.

[0017] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the test method for the lane departure warning function as described in any one of the above is implemented.

[0018] The test method, device, system and electronic device of the lane departure warning function provided by the present invention can obtain the test data during the driving process of the tested vehicle, and can evaluate according to the actual driving data, such as the deviation direction, the actual warning distance, etc., when the lane departure warning signal is received, so as to accurately reflect the actual performance of the lane departure warning function. When the lane departure warning signal is received, the deviation direction and the actual warning distance of the tested vehicle can be determined based on the test data corresponding to the lane departure warning moment, so that by comparing the actual warning distance with the preset warning distance, it can be intuitively judged whether the lane departure warning system has issued a warning in a timely and accurate manner, thereby improving the accuracy and effectiveness of the test. In addition, compared with the traditional test method that relies on expensive professional equipment and complex installation processes, the present invention focuses more on data processing and analysis, does not need to manually build a complex test environment, reduces the dependence on complex physical equipment, thereby reducing the test cost and improving the test efficiency. At the same time, the method is not limited to a specific test site or environment, and can be tested under a variety of actual road conditions, which enhances the flexibility and practicality of the test. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the present invention or related technologies, the following briefly introduces the drawings required for use in the embodiments or related technical descriptions. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 It is a flow chart of a method for testing a lane departure warning function provided by the present invention; Figure 2 It is a structural schematic diagram of a test system for a lane departure warning function provided by the present invention; Figure 3 It is a schematic diagram of the algorithm flow of the algorithm processing module provided by the present invention; Figure 4 It is a schematic diagram of a scenario for testing the lane departure warning function provided by the present invention; Figure 5 It is a structural schematic diagram of a test device for lane departure warning function provided by the present invention; Figure 6 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] Lane Departure Warning (LDW) system, as an advanced driver assistance technology, has the core function of real-time monitoring and warning of potential lane departure behavior during vehicle driving, thereby effectively reminding drivers to pay attention to driving safety and reducing traffic accidents caused by inattention or misoperation. The accuracy and reliability of the system are crucial to ensuring driving safety, and are directly related to whether the driver can obtain timely and accurate warning information at critical moments.

[0023] Given the importance of the LDW system, it is particularly necessary to conduct comprehensive and rigorous testing of the accuracy of its warning function. However, the current mainstream testing methods generally rely on complex test environments built manually, which not only requires a large amount of professional equipment support, such as high-precision sensor calibration devices, simulated lane line facilities, etc., but also requires expensive autonomous driving robots to simulate the situation where the driver does not control the steering wheel. These devices require a lot of time for environmental layout and equipment debugging. This testing method is not only costly, but also has a long test cycle, which seriously affects the test efficiency.

[0024] In addition, artificially constructed test environments are often difficult to fully simulate the complexity and diversity of real road scenarios, such as the impact of different weather conditions, road materials, curve curvature and other factors on system performance. This may lead to large deviations between test results and actual application scenarios, affecting the accuracy and effectiveness of the test.

[0025] In this regard, the present invention provides a testing method and system for lane departure warning function. By installing the testing system on the vehicle under test and cooperating with the corresponding testing method, professional LDW function testing can be achieved. The system is low-cost, easy to install, and has a high degree of reuse. The test results can be given in real time through the algorithm processing module, and the testing efficiency is high, thereby overcoming the above-mentioned defects.

[0026] Figure 1 FIG. 1 is a flow chart of a method for testing a lane departure warning function provided by the present invention. Figure 1 As shown, the method includes: Step 110, obtaining test data of the tested vehicle during its driving process.

[0027] It should be noted that the method provided in the embodiment of the present invention can be applied to a test system for a lane departure warning function, which has a simple structure, low cost, and is easy to install, and can be directly installed on a vehicle under test to test the LDW function of the vehicle. Here, the vehicle under test refers to a vehicle that needs to be tested for the lane departure warning function.

[0028] Specifically, the test system may include a data acquisition module, which is mainly responsible for collecting test data during the driving process of the tested vehicle. Here, the test data may include real-time vehicle positioning information, lane line information in visual form, vehicle front wheel information, relative position information between the vehicle front wheel and the lane line, etc. These data are all related to the driving process of the tested vehicle and are used to evaluate whether the LDW function of the tested vehicle is accurate and timely.

[0029] For example, the data acquisition module may include various sensors, such as GPS locators, cameras, wheel angle sensors, signal acquisition sensors, etc. By installing these sensors on the vehicle under test, the test data of the vehicle during driving can be collected and obtained in real time. For example, the real-time positioning information of the vehicle under test can be obtained through the GPS locator, and the visual information of the lane line and the front wheel information of the vehicle can be captured through the camera.

[0030] Step 120, when a lane departure warning signal is received, the deviation direction and actual warning distance of the vehicle under test are determined based on the test data corresponding to the lane departure warning moment, and the actual warning distance is the distance between the wheels of the vehicle under test and the lane line at the lane departure warning moment.

[0031] Specifically, the test system may also include an algorithm processing module. Various sensors in the data acquisition module may send the test data collected in real time to the algorithm processing module. The algorithm processing module processes and analyzes the test data, thereby testing the LDW function of the vehicle under test. Specifically, when the algorithm processing module receives the lane departure warning signal, it indicates that the LDW system currently detects that the vehicle under test has a tendency to deviate from the lane and issues an alarm signal. At this time, the algorithm processing module may test the LDW system according to the test data corresponding to the lane departure warning moment, and determine whether the timing of the LDW system issuing the warning meets the requirements.

[0032] Here, the lane departure warning signal refers to a warning signal issued by the lane departure warning system (i.e., LDW system) on the vehicle when the vehicle has a tendency to deviate from the current lane due to reasons such as driver distraction, operating errors, or changes in road conditions during driving. The signal can be sent through visual (such as flashing warning lights on the dashboard), auditory (such as buzzers or voice prompts), tactile (such as steering wheel vibrations), or vehicle-mounted CAN signals, and the embodiments of the present invention do not specifically limit this. It should be understood that the lane departure warning signal issued by the LDW system can be collected by the signal acquisition sensor of the data acquisition module, and the signal can be transmitted to the algorithm processing module so that the algorithm processing module immediately enters the test process of the LDW function.

[0033] It is understandable that the lane departure warning moment refers to the moment when the LDW system detects that the vehicle has a tendency to deviate from the current lane and triggers the warning signal during the vehicle's driving. This moment is the key point when the system determines that the vehicle is about to deviate from the lane and needs to warn the driver. The test system will record the test data collected by the data acquisition module in real time. When the algorithm processing module receives the lane departure warning signal, it can obtain the test data corresponding to the lane departure warning moment according to the lane departure warning moment, so that the subsequent test of the LDW function will be more accurate.

[0034] Specifically, according to the test data at the time of lane departure warning, the deviation direction and actual warning distance of the tested vehicle can be determined by the following steps: First, by analyzing the real-time positioning information of the vehicle in the test data, the relative position information between the front wheels of the vehicle and the lane line, etc., it can be determined whether the vehicle deviates to the left or to the right, thereby obtaining the deviation direction of the tested vehicle. Here, the deviation direction refers to the deviation direction of the vehicle relative to the current driving lane, which can be divided into two situations: deviation to the left and deviation to the right. Secondly, according to the real-time positioning information of the vehicle and the lane line information in the test data, the distance between the front wheels of the vehicle and the lane line can be calculated, thereby obtaining the actual warning distance of the tested vehicle. Here, the actual warning distance refers to the actual distance between the wheels of the tested vehicle and the lane line at the time of lane departure warning (i.e. when the lane departure warning system triggers the warning signal), which is an important indicator for evaluating the accuracy and timeliness of the LDW system warning.

[0035] Step 130 , based on the deviation direction of the tested vehicle, the actual warning distance is compared with a preset warning distance to obtain a test result of the lane departure warning function.

[0036] Specifically, after determining the deviation direction and actual warning distance of the tested vehicle, the actual warning process can be compared with the preset warning distance according to the deviation direction of the tested vehicle (departure to the left or to the right), so as to obtain the test result of the LDW function. Here, the preset warning distance refers to the distance threshold set according to safety standards and actual needs in the design stage, which is used to determine whether the LDW function meets the requirements, that is, whether the LDW system sends a warning signal at the right time. It should be understood that evaluating according to the deviation direction of the tested vehicle is an important part of the lane departure warning function test. First, lane departure is usually divided into two situations: deviation to the left and deviation to the right, and the driver needs to take corresponding corrective measures according to the deviation direction after receiving the warning signal. Therefore, the deviation direction factor needs to be considered during the test process to ensure that the system can send accurate and timely warning signals in different situations. Secondly, deviations in different directions may have different effects on the driver's reaction time and difficulty of operation. For example, in some cases, deviations to the left may be easier for the driver to detect and correct, while deviations to the right may require more time and attention to deal with. Therefore, by considering the departure direction to evaluate the performance of the lane departure warning function, we can have a more comprehensive understanding of the actual performance of the system and provide more valuable reference information for subsequent optimization and improvement.

[0037] It is understandable that the preset warning distance can be set based on a comprehensive consideration of multiple factors such as vehicle speed, driver reaction time, road conditions, etc., to ensure that the driver has enough time and space to react and correct the vehicle's direction after receiving the warning signal, while also ensuring the timeliness and effectiveness of the warning. Therefore, the preset warning distance can be a threshold range.

[0038] When comparing the actual warning distance with the preset warning distance, this can be achieved by comparing the actual warning distance with the preset warning distance in terms of value. For example, if the actual warning distance is within the threshold range of the preset warning distance, it is considered that the LDW system warning is timely and effective, and the LDW function meets the requirements; if the actual warning distance exceeds the threshold range of the preset warning distance, it indicates that the LDW system warns too early, resulting in frequent triggering of warning signals to cause trouble to the driver, or that the LDW system warns too late, resulting in insufficient time for the driver to react, thereby increasing the risk of lane departure accidents.

[0039] After the distance comparison, the test result of the lane departure warning function can be obtained. The test result refers to the conclusion drawn after evaluating the performance of the lane departure warning system through a series of test methods and steps.

[0040] The method provided by the embodiment of the present invention can accurately reflect the actual performance of the lane departure warning function by obtaining the test data during the driving process of the tested vehicle, based on the actual driving data, such as the deviation direction, the actual warning distance, etc., when the lane departure warning signal is received. When the lane departure warning signal is received, the deviation direction and the actual warning distance of the tested vehicle can be determined based on the test data corresponding to the lane departure warning moment, thereby intuitively judging whether the lane departure warning system has issued a warning in a timely and accurate manner by comparing the actual warning distance with the preset warning distance, thereby improving the accuracy and effectiveness of the test. In addition, compared with the traditional test method that relies on expensive professional equipment and complex installation processes, the present invention focuses more on data processing and analysis, does not require manual construction of a complex test environment, reduces dependence on complex physical equipment, thereby reducing test costs and improving test efficiency. At the same time, the method is not limited to a specific test site or environment, and can be tested under a variety of actual road conditions, enhancing the flexibility and practicality of the test.

[0041] Based on any of the above embodiments, the test data includes real-time vehicle positioning information, lane line information, and relative position information between the vehicle's front wheels and the lane lines.

[0042] Specifically, vehicle real-time positioning information refers to the precise location data of the vehicle at a certain moment, which may include geographic coordinate information such as longitude, latitude, altitude, etc., and may also include dynamic information such as the vehicle's direction and speed. Vehicle real-time positioning information can be obtained through a GPS locator, and can also be combined with other sensors (such as radar, lidar, etc.) for auxiliary positioning.

[0043] Lane line information refers to the visual information of lane lines captured by the vehicle-mounted camera. It should be understood that the data acquisition module may include at least two cameras for capturing the visual information of the left and right wheels and the left and right lane lines of the tested vehicle in real time.

[0044] Based on the visual information of the wheels and lane lines captured by the camera, the image processing algorithm can be used to identify the positions of the lane lines and the front wheels of the vehicle in the image. Then, the lane lines and the front wheel positions of the vehicle in the image are converted into actual positions in the vehicle coordinate system or the global coordinate system using the real-time positioning information of the vehicle under test and the camera parameters (such as focal length, installation position, etc.). Finally, by comparing the position of the front wheel of the vehicle with the position of the lane line, the relative position information between them can be determined, such as whether the front wheel is close to the edge of the lane line, whether it crosses the lane line, etc. Here, the relative position information between the front wheel of the vehicle and the lane line refers to the position relationship of the front wheel of the vehicle relative to the lane line.

[0045] Accordingly, step 120 specifically includes: Step 121, when a lane departure warning signal is received, determining a lane departure warning time.

[0046] Specifically, when the algorithm processing module receives the lane departure warning signal from the LDW system, it can record the time when the signal is issued, which is the lane departure warning moment. It should be noted that the LDW system will determine whether the vehicle is about to deviate from the lane based on a series of complex algorithms and sensor data, and issue a warning signal when it is determined to be about to deviate. By monitoring the signal, the algorithm processing module can record the exact time when it is issued.

[0047] Step 122: Determine the deviation direction of the detected vehicle based on the relative position information between the front wheels of the vehicle and the lane line at the lane departure warning time.

[0048] Specifically, the deviation direction of the detected vehicle can be determined based on the relative position information between the front wheel of the vehicle and the lane line corresponding to the lane departure warning moment. For example, if the front wheel of the vehicle is close to and about to cross the left lane line, it can be determined that the vehicle is deviating to the left; if it is close to and about to cross the right lane line, it can be determined that the vehicle is deviating to the right. This judgment can be achieved based on the direction of the lane line, the driving direction of the vehicle, and the position relationship of the front wheel relative to the lane line.

[0049] Step 123: Determine the actual warning distance based on the real-time vehicle positioning information and the lane line information corresponding to the lane departure warning moment.

[0050] Specifically, based on the vehicle's real-time positioning information and lane line information corresponding to the lane departure warning moment, the actual warning distance of the tested vehicle at the lane departure warning moment can be determined through technologies such as map matching, vehicle positioning, and geometric calculation. First, the vehicle's real-time positioning information and lane line information can be used to determine the actual position of the vehicle's front wheels and lane lines in the vehicle coordinate system. Then, based on this information, the distance between the vehicle's front wheels and the lane lines, i.e., the actual warning distance, can be calculated.

[0051] Based on any of the above embodiments, step 123 specifically includes: Step 1231, based on the real-time positioning information of the vehicle and the lane line information, determine the lane line fitting curve in the vehicle coordinate system.

[0052] It should be noted that the coordinate system usually includes a global coordinate system and a self-vehicle coordinate system, wherein the global coordinate system (also called an absolute coordinate system or a geographic coordinate system) is a fixed reference system that is not dependent on any specific vehicle. It usually takes the center of the earth as the origin and longitude and latitude as the coordinate axes, and is used to determine the position of any point on the earth. The self-vehicle coordinate system (also called a vehicle coordinate system or a relative coordinate system) is a coordinate system that uses the measured vehicle as a reference. It usually takes the center of the vehicle (such as the center of mass) as the origin, the longitudinal direction of the vehicle (i.e., the forward direction) as the X-axis, the transverse direction as the Y-axis, and the vertical direction as the Z-axis. For ease of calculation, the embodiments of the present invention are implemented in the self-vehicle coordinate system.

[0053] Specifically, the algorithm processing module first determines the position of the vehicle in the global coordinate system based on the real-time positioning information of the vehicle under test, and then converts the lane line information in the global coordinate system into the coordinates in the ego-vehicle coordinate system through coordinate transformation. Next, the lane line information is extracted from the image captured by the camera using image processing or computer vision technology. Finally, the extracted lane line information is modeled using mathematical methods (such as polynomial fitting, curve fitting, etc.) to obtain the lane line fitting curve in the ego-vehicle coordinate system. Here, the lane line fitting curve in the ego-vehicle coordinate system refers to the curve obtained by modeling the lane line in the ego-vehicle coordinate system using mathematical methods. This curve can describe the position and shape of the lane line in the vehicle's field of view and provide the vehicle with accurate information about the lane line.

[0054] It is understandable that the above vehicle real-time positioning information is used to determine the precise position of the vehicle in the global coordinate system, which is the basis for subsequent coordinate transformation and lane line fitting. The vehicle real-time positioning information provides the necessary reference when converting the lane line information in the global coordinate system to the coordinates in the ego vehicle coordinate system. Specifically, it helps the algorithm processing module understand the current direction, position and posture of the vehicle, so that the lane line information can be accurately mapped to the ego vehicle coordinate system.

[0055] Step 1232, determining the actual warning distance based on the lane line fitting curve, the longitudinal coordinate of the center point of the front edge of the vehicle under test in the vehicle coordinate system, and the body size of the vehicle under test.

[0056] Specifically, the center point of the front edge of the vehicle under test refers to the center point of the front end of the vehicle (such as the bumper or front grille). In the ego vehicle coordinate system, this point is usually used to describe the front position of the vehicle. The longitudinal coordinate of the center point of the front edge of the vehicle under test in the ego vehicle coordinate system refers to the position of the center point along the X axis (longitudinal direction of the vehicle) in the ego vehicle coordinate system. Since the body size of the vehicle under test is fixed, the value of the longitudinal coordinate is fixed in the ego vehicle coordinate system.

[0057] After determining the lane line fitting curve in the ego-vehicle coordinate system, the position coordinates of the lane line corresponding to the longitudinal coordinate in the ego-vehicle coordinate system along the Y-axis direction (i.e., the lateral direction of the vehicle) can be calculated based on the equation of the fitting curve and the longitudinal coordinates of the center point of the front edge of the measured vehicle. Therefore, based on the position coordinates and the body size of the measured vehicle, the distance between the front wheel of the vehicle and the lane line can be calculated, that is, the actual warning distance.

[0058] Based on any of the above embodiments, the lane line fitting curve includes a left lane line fitting curve and / or a right lane line fitting curve, and the coefficients of the left lane line fitting curve and the right lane line fitting curve are different.

[0059] It should be noted that in actual driving, the road is usually a dual-lane road, including a left lane line and a right lane line. In order to more accurately test the LDW function in actual driving scenarios, the lane line fitting curve may include a left lane line fitting curve and a right lane line fitting curve, wherein the left lane line fitting curve refers to a curve equation or model describing the shape of the left lane line, and the right lane line fitting curve refers to a curve equation or model describing the shape of the right lane line.

[0060] Specifically, the data acquisition module may include left and right cameras, through which the visual information of the lane line of the lane where the tested vehicle is located is input into the algorithm processing module, and the algorithm processing module may convert the lane line visual information into a lane line cubic fitting equation in the vehicle coordinate system, which is used to describe the left and right lane lines of the lane. The cubic polynomial road model is defined as: Among them, X is the longitudinal coordinate of the vehicle, and Y is the lateral coordinate of the vehicle, both in meters. At Y=0, there are: intercept = C0 (m), azimuth = C1 (radian), curvature = , curvature change rate = .

[0061] The cubic fitting curve coefficients of the left lane line are: left_c0, left_cl, left_c2, left_c3; The cubic fitting curve coefficients of the right lane line are: right_c0, right_cl, right_c2, right_c3.

[0062] Accordingly, step 1232 specifically includes: In the case where the deviation direction of the detected vehicle is deviation to the left, determining the actual warning distance based on the longitudinal coordinate, the left lane line fitting curve and the body size of the detected vehicle; In the case that the deviation direction of the detected vehicle is deviation to the right, the actual warning distance is determined based on the longitudinal coordinate, the right lane line fitting curve and the body size of the detected vehicle.

[0063] Specifically, when the LDW system of the tested vehicle triggers the lane departure warning signal, if the deviation direction of the tested vehicle is to the left, the distance between the left wheel of the tested vehicle and the lane line at the LDW warning time, fl_wheel_dist_to_line, can be calculated by the following formula: Among them, y_front represents the longitudinal coordinate of the center point of the front edge of the measured vehicle in the self-vehicle coordinate system, and half_vehi_width represents half the width of the measured vehicle (excluding the rearview mirror), which can be obtained according to the body size parameters of the measured vehicle.

[0064] If the deviation direction of the tested vehicle is to the right, the distance between the right wheel of the tested vehicle and the lane line at the LDW warning time, fr_wheel_dist_to_line, can be calculated by the following formula: Assuming that the vehicle under test is deviating to the left at this time, fl_wheel_dist_to_line is a positive value, indicating that in the vehicle coordinate system, the left wheel is on the right side of the left lane line, and the vehicle has not deviated from the lane; assuming that the vehicle is deviating to the right at this time, fr_wheel_dist_to_line is a negative value, indicating that in the vehicle coordinate system, the right wheel is on the left side of the right lane line, and the vehicle has not deviated from the lane.

[0065] Based on any of the above embodiments, the method further includes: The deviation speed of the vehicle under test is determined based on the coefficient of the lane line fitting curve and the actual speed of the vehicle under test at the lane departure warning moment.

[0066] Specifically, during the test of the LDW function, the algorithm processing module can also calculate the deviation speed of the tested vehicle based on the coefficient of the lane line fitting curve and the actual speed of the tested vehicle at the time of lane departure warning. Here, the actual speed refers to the actual driving speed of the vehicle at the moment of lane departure warning. The deviation speed refers to the instantaneous speed of the vehicle along the lane deviation direction, that is, the lateral speed of the vehicle, which is used to describe the speed change or degree of deviation of the vehicle during the lane departure process. Specifically, the deviation speed of the tested vehicle can be calculated by the following formula: Among them, actual_speed represents the actual speed, left_depature_speed represents the deviation speed when the vehicle deviates to the left, and right_depature_speed represents the deviation speed when the vehicle deviates to the right.

[0067] Based on any of the above embodiments, when the deviation direction of the tested vehicle is to the left, the preset warning distance includes a first left warning distance and a second left warning distance, the first left warning distance is a positive value, and the second left warning distance is a negative value.

[0068] It should be noted that the first left warning distance and the second left warning distance are both pre-set distance thresholds. These two distances can be flexibly set according to the test standards of different regions, and can also be set by different companies according to test requirements and test standards. The embodiment of the present invention does not make specific limitations on this.

[0069] The first left warning distance refers to the distance between the vehicle and the lane line when the LDW system issues the earliest warning when the vehicle deviates to the left. This distance is a positive value, indicating that the vehicle has not deviated from the lane, but there is a risk of deviating from the lane. The first left warning distance is set to ensure that the driver has enough time and space to react and correct the vehicle's driving direction, thereby avoiding the potential dangers caused by lane deviation.

[0070] The second left warning distance refers to the distance between the vehicle and the lane line when the lane departure warning system issues a warning at the latest after the vehicle has deviated from the lane (the distance is on the other side of the lane line, so it is a negative value). This distance is set so that the system can continue to issue warnings after the vehicle has deviated from the lane, reminding the driver to return the vehicle to the original lane as soon as possible to ensure driving safety.

[0071] Accordingly, step 130 specifically includes: In the case where the actual warning distance is a positive value, if the actual warning distance is less than the first left warning distance, it is determined that the lane departure warning function is qualified, otherwise it is determined that the lane departure warning function is unqualified; In the case where the actual warning distance is a negative value, if the actual warning distance is greater than the second left warning distance, it is determined that the lane departure warning function is qualified, otherwise it is determined that the lane departure warning function is unqualified.

[0072] Specifically, in the scenario where the vehicle under test deviates to the left, assume that the first left warning distance at the earliest warning moment of LDW is left_dist_early (a positive value, indicating that the vehicle has not deviated out of the lane), and the second left warning distance at the latest warning moment of LDW is left_dist_late (a negative value, indicating that the vehicle has deviated out of the lane). The actual warning distance determined by the algorithm processing module when receiving the LDW warning signal, that is, the distance between the left wheel of the vehicle and the left lane line is fl_wheel_dist_to_line.

[0073] If fl_wheel_dist_to_line is a positive value, when fl_wheel_dist_to_line < left_dist_early, it can be determined that the LDW performance is qualified; otherwise, it is considered that the LDW performance is unqualified. If fl_wheel_dist_to_line is a negative value, when fl_wheel_dist_to_line > left_dist_late, it is determined that the LDW performance is qualified; otherwise, it is considered that the LDW performance is unqualified.

[0074] Based on any of the above embodiments, in the case where the deviation direction of the vehicle under test is to the right, the preset warning distances include a first right warning distance and a second right warning distance. The first right warning distance is a negative value, and the second right warning distance is a positive value.

[0075] It should be noted that both the first right warning distance and the second right warning distance are preset distance thresholds. These two distances can be flexibly set according to the test standards of different regions, or can be set by different enterprises according to test requirements and test standards. The embodiments of the present invention do not make specific limitations on this.

[0076] Among them, the first right warning distance refers to the distance between the vehicle and the lane line when the LDW system issues the earliest warning when the vehicle under test deviates to the right. In the vehicle's own coordinate system, this distance is a negative value, indicating that the vehicle has not deviated out of the lane but there is a risk of deviating from the lane. The setting of the first right warning distance is to ensure that the driver has enough time and space to react and correct the vehicle's driving direction, so as to avoid potential dangers caused by lane departure.

[0077] The second right warning distance refers to the distance between the vehicle and the lane line when the lane departure warning system issues the latest warning after the vehicle under test has deviated out of the lane (at this time, this distance is on the other side of the lane line, so it is a positive value). The setting of this distance is to ensure that the system can still continuously issue warnings after the vehicle has deviated from the lane, reminding the driver to quickly drive the vehicle back to the original lane to ensure driving safety.

[0078] Correspondingly, step 130 specifically includes: In the case where the actual warning distance is negative, if the actual warning distance is greater than the first right warning distance, it is determined that the lane departure warning function is qualified; otherwise, it is determined that the lane departure warning function is unqualified. In the case where the actual warning distance is positive, if the actual warning distance is less than the second right warning distance, it is determined that the lane departure warning function is qualified; otherwise, it is determined that the lane departure warning function is unqualified.

[0079] Specifically, in the scenario where the measured vehicle deviates to the right, assume that the first right warning distance at the earliest warning moment of LDW is right_dist_early (negative value, indicating that the vehicle has not deviated out of the current lane), and the second right warning distance at the latest warning moment of LDW is right_dist_late (positive value, indicating that the vehicle has deviated out of the current lane). The actual warning distance determined by the algorithm processing module when receiving the LDW warning signal, that is, the distance between the right wheel of the vehicle and the right lane line, is fr_wheel_dist_to_line.

[0080] If fr_wheel_dist_to_line is negative, when fr_wheel_dist_to_line > right_dist_early, it can be determined that the LDW performance is qualified; otherwise, it is considered that the LDW performance is unqualified. If fr_wheel_dist_to_line is positive, when fr_wheel_dist_to_line < right_dist_late, it is determined that the LDW performance is qualified; otherwise, it is considered that the LDW performance is unqualified.

[0081] Based on any of the above embodiments, Figure 2 is a schematic structural diagram of a test system for a lane departure warning function provided by the present invention. As Figure 2 shown, the system may include: A data acquisition module 210, configured to acquire test data during the driving of the measured vehicle and transmit the test data to an algorithm processing module 220; The algorithm processing module 220 is configured to, in the case of receiving a lane departure warning signal, determine the deviation direction and the actual warning distance of the measured vehicle based on the test data corresponding to the lane departure warning moment, where the actual warning distance is the distance between the wheel of the measured vehicle and the lane line at the lane departure warning moment; The algorithm processing module 220 is further configured to compare the actual warning distance with a preset warning distance based on the deviation direction of the measured vehicle to obtain a test result of the lane departure warning function.

[0082] Specifically, the data acquisition module 210 may include a positioning module 211, a camera module 212, and a signal acquisition module 213, wherein the positioning module 211 (such as a GPS locator) is used to collect the real-time vehicle positioning information of the vehicle under test, and transmit the real-time vehicle positioning information to the algorithm processing module 220; the camera module 212 is used to collect lane line information and the relative position information between the front wheels of the vehicle and the lane line, and transmit the lane line information and the relative position information between the front wheels of the vehicle and the lane line to the algorithm processing module 220; the signal acquisition module 213 is used to collect lane departure warning signals, and send the lane departure warning signals to the algorithm processing module 220. It should be understood that the camera module may include at least a left camera and a right camera, which are used to capture the visual information of the front wheels on the left and right sides of the vehicle and the visual information of the left and right lane lines in real time.

[0083] Figure 3 It is a schematic diagram of the algorithm flow of the algorithm processing module provided by the present invention, such as Figure 3 As shown in the figure, the algorithm processing module is used to process the test data obtained by the data acquisition module, and calculate the distance between the outer edge of the vehicle tire and the lane line at the LDW warning time based on these test data. Specifically, the left camera and the right camera input the visual lane line information of the lane where the tested vehicle is located to the algorithm processing module, and the positioning module transmits the real-time positioning information of the tested vehicle to the algorithm processing module. The algorithm processing module processes the lane line information according to the vehicle positioning information, and converts the visual lane line information into a cubic fitting equation in the vehicle coordinate system, which is used to describe the left and right lane lines of the lane, that is, to obtain the left lane line fitting curve equation and the right lane line fitting curve equation.

[0084] Subsequently, according to the lane line fitting curve equation, the longitudinal coordinate of the center point of the front edge of the tested vehicle in the self-vehicle coordinate system, and half the width of the tested vehicle (excluding the rearview mirror), the distance between the left wheel of the tested vehicle and the left lane line at the LDW warning time, or the distance between the right wheel of the tested vehicle and the right lane line at the LDW warning time can be calculated, that is, the actual warning distance X of the tested vehicle at the LDW warning time can be obtained. Finally, according to the pre-set LDW earliest alarm time distance threshold Y1 and the latest alarm time distance threshold Y2, X is compared with Y1 or Y2 to determine whether the LDW function is qualified.

[0085] Figure 4 Schematic diagram of a lane departure warning function test scenario provided by the present invention, such as Figure 4As shown in the figure, in the straight road dotted line deviation test scenario, the vehicle under test (VUT) will deviate from the dotted line to the left and right at a lateral deviation speed of 0.3m / s and 0.5m / s respectively. Figure 4 (a) is a schematic diagram of the test scene that deviates from the dotted line on the left. Figure 4 (b) is a schematic diagram of the test scenario of the right side deviation from the dotted line. Since the test system provided by the embodiment of the present invention does not have the ability to control the steering wheel, throttle, and brake of the vehicle under test, the vehicle under test needs to be tested under the driving of an experienced driver. After the driver drives the vehicle to a certain speed on a straight road, the lane deviation condition can be achieved by manually tilting the steering wheel to a certain angle and then releasing the steering wheel. Different slip angles will achieve different deviation speeds, and the larger the steering wheel slip angle, the greater the deviation speed. By testing different slip angles, the algorithm processing module can calculate the maximum deviation speed during the lane deviation process. All test data are collected and processed in real time by the test system provided by the embodiment of the present invention. After the driver completes a test, the test system can output the performance evaluation of LDW.

[0086] The system provided by the embodiment of the present invention does not need to build a complex test environment, the overall system price is low, the installation is convenient, the reuse degree is high, and the test results can be given in real time through the algorithm processing module, and the test efficiency is high.

[0087] Based on any of the above embodiments, Figure 5 Schematic diagram of the structure of the lane departure warning function testing device provided by the present invention. Figure 5 As shown, the device comprises: An acquisition unit 510 is used to acquire test data during the driving process of the tested vehicle; A determination unit 520 is configured to determine, upon receiving a lane departure warning signal, a deviation direction and an actual warning distance of the vehicle under test based on test data corresponding to the lane departure warning moment, wherein the actual warning distance is the distance between the wheels of the vehicle under test and the lane line at the lane departure warning moment; The comparison unit 530 is used to compare the actual warning distance with the preset warning distance based on the deviation direction of the tested vehicle to obtain a test result of the lane departure warning function.

[0088] The device provided by the embodiment of the present invention can obtain the test data during the driving process of the tested vehicle, and can perform an evaluation based on the actual driving data (such as the deviation direction, the actual warning distance, etc.) when receiving the lane departure warning signal, so as to accurately reflect the actual performance of the lane departure warning function. When the lane departure warning signal is received, the deviation direction and the actual warning distance of the tested vehicle can be determined based on the test data corresponding to the lane departure warning moment, so that by comparing the actual warning distance with the preset warning distance, it can be intuitively judged whether the lane departure warning system has issued a warning in a timely and accurate manner, thereby improving the accuracy and effectiveness of the test. In addition, compared with the traditional test method that relies on expensive professional equipment and complex installation processes, the present invention focuses more on data processing and analysis, does not require manual construction of a complex test environment, reduces the dependence on complex physical equipment, thereby reducing the test cost and improving the test efficiency. At the same time, the method is not limited to a specific test site or environment, and can be tested under a variety of actual road conditions, which enhances the flexibility and practicality of the test.

[0089] Based on any of the above embodiments, the test data includes real-time vehicle positioning information, lane line information, and relative position information between the front wheels of the vehicle and the lane line; accordingly, the determination unit 520 includes: a warning time determination unit, configured to determine a lane departure warning time when a lane departure warning signal is received; a deviation direction determination unit, configured to determine the deviation direction of the detected vehicle based on the relative position information between the front wheels of the vehicle and the lane line at the lane departure warning time; The warning distance determination unit is used to determine the actual warning distance based on the vehicle real-time positioning information and the lane line information corresponding to the lane departure warning moment.

[0090] Based on any of the above embodiments, the warning distance determination unit includes: A curve determination subunit, used to determine a lane line fitting curve in a self-vehicle coordinate system based on the real-time positioning information of the vehicle and the lane line information; The distance determination subunit is used to determine the actual warning distance based on the lane line fitting curve, the longitudinal coordinate of the center point of the front edge of the detected vehicle in the vehicle coordinate system, and the body size of the detected vehicle.

[0091] Based on any of the above embodiments, the device further includes a deviation speed determining unit, and the deviation speed determining unit is used to: The deviation speed of the vehicle under test is determined based on the coefficient of the lane line fitting curve and the actual speed of the vehicle under test at the lane departure warning moment.

[0092] Based on any of the above embodiments, the lane line fitting curve includes a left lane line fitting curve and / or a right lane line fitting curve, and the coefficients of the left lane line fitting curve and the right lane line fitting curve are different; accordingly, the distance determination subunit is specifically used for: In the case where the deviation direction of the detected vehicle is deviation to the left, determining the actual warning distance based on the longitudinal coordinate and the left lane line fitting curve; When the deviation direction of the detected vehicle is deviation to the right, the actual warning distance is determined based on the longitudinal coordinate and the right lane line fitting curve.

[0093] Based on any of the above embodiments, when the deviation direction of the detected vehicle is deviation to the left, the preset warning distance includes a first left warning distance and a second left warning distance, the first left warning distance is a positive value, and the second left warning distance is a negative value; accordingly, the comparison unit 530 is specifically used to: In the case where the actual warning distance is a positive value, if the actual warning distance is less than the first left warning distance, it is determined that the lane departure warning function is qualified, otherwise it is determined that the lane departure warning function is unqualified; In the case where the actual warning distance is a negative value, if the actual warning distance is greater than the second left warning distance, it is determined that the lane departure warning function is qualified, otherwise it is determined that the lane departure warning function is unqualified.

[0094] Based on any of the above embodiments, when the deviation direction of the tested vehicle is deviation to the right, the preset warning distance includes a first right warning distance and a second right warning distance, the first right warning distance is a negative value, and the second right warning distance is a positive value; accordingly, the comparison unit 530 is specifically used to: In the case where the actual warning distance is a negative value, if the actual warning distance is greater than the first right warning distance, it is determined that the lane departure warning function is qualified, otherwise it is determined that the lane departure warning function is unqualified; In the case where the actual warning distance is a positive value, if the actual warning distance is less than the second right warning distance, it is determined that the lane departure warning function is qualified; otherwise, it is determined that the lane departure warning function is unqualified.

[0095] Figure 6 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 6As shown, the electronic device may include: a processor 610, a communication interface 620, a memory 630 and a communication bus 640, wherein the processor 610, the communication interface 620 and the memory 630 communicate with each other through the communication bus 640. The processor 610 may call the logic instructions in the memory 630 to execute a test method for a lane departure warning function, the method comprising: obtaining test data during the driving process of the tested vehicle; in the case of receiving a lane departure warning signal, determining the deviation direction and the actual warning distance of the tested vehicle based on the test data corresponding to the lane departure warning moment, the actual warning distance being the distance between the wheels of the tested vehicle and the lane line at the lane departure warning moment; based on the deviation direction of the tested vehicle, comparing the actual warning distance with the preset warning distance to obtain a test result of the lane departure warning function.

[0096] In addition, the logic instructions in the above-mentioned memory 630 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present invention, or the part that contributes to the relevant technology or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0097] On the other hand, the present invention also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the lane departure warning function test method provided by the above methods, the method including: obtaining test data during the driving process of the vehicle under test; when a lane departure warning signal is received, based on the test data corresponding to the lane departure warning moment, determining the deviation direction and actual warning distance of the vehicle under test, the actual warning distance being the distance between the wheels of the vehicle under test and the lane line at the lane departure warning moment; based on the deviation direction of the vehicle under test, comparing the actual warning distance with the preset warning distance to obtain the test result of the lane departure warning function.

[0098] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a test method for the lane departure warning function provided by the above-mentioned methods, the method comprising: obtaining test data during the driving process of the vehicle under test; upon receiving a lane departure warning signal, determining the deviation direction and actual warning distance of the vehicle under test based on the test data corresponding to the lane departure warning moment, the actual warning distance being the distance between the wheels of the vehicle under test and the lane line at the lane departure warning moment; based on the deviation direction of the vehicle under test, comparing the actual warning distance with the preset warning distance to obtain a test result of the lane departure warning function.

[0099] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0100] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the relevant technology can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiment.

[0101] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for testing a lane departure warning function, characterized in that: include: Acquire test data of the tested vehicle during driving; In the case of receiving a lane departure warning signal, determining the deviation direction and actual warning distance of the tested vehicle based on the test data corresponding to the lane departure warning moment, the actual warning distance being the distance between the wheels of the tested vehicle and the lane line at the lane departure warning moment; Based on the deviation direction of the tested vehicle, the actual warning distance is compared with the preset warning distance to obtain a test result of the lane departure warning function.

2. The lane departure warning function testing method according to claim 1, characterized in that: The test data includes real-time vehicle positioning information, lane line information, and relative position information between the front wheels of the vehicle and the lane line. When a lane departure warning signal is received, the deviation direction and actual warning distance of the tested vehicle are determined based on the test data corresponding to the lane departure warning moment, including: determining a lane departure warning time when a lane departure warning signal is received; Determining the deviation direction of the detected vehicle based on the relative position information between the front wheels of the vehicle and the lane line at the lane departure warning time; The actual warning distance is determined based on the real-time vehicle positioning information and the lane line information corresponding to the lane departure warning moment.

3. The method for testing the lane departure warning function according to claim 2, characterized in that: The determining the actual warning distance based on the real-time vehicle positioning information and the lane line information corresponding to the lane departure warning moment includes: Determine a lane line fitting curve in a vehicle coordinate system based on the vehicle real-time positioning information and the lane line information; The actual warning distance is determined based on the lane line fitting curve, the longitudinal coordinate of the center point of the front edge of the detected vehicle in the vehicle coordinate system, and the body size of the detected vehicle.

4. The method for testing the lane departure warning function according to claim 3, characterized in that: Also includes: The deviation speed of the vehicle under test is determined based on the coefficient of the lane line fitting curve and the actual speed of the vehicle under test at the lane departure warning moment.

5. The method for testing the lane departure warning function according to claim 3, characterized in that: The lane line fitting curve includes a left lane line fitting curve and / or a right lane line fitting curve, and the coefficients of the left lane line fitting curve and the right lane line fitting curve are different; The determining the actual warning distance based on the lane line fitting curve, the longitudinal coordinate of the center point of the front edge of the detected vehicle in the vehicle coordinate system, and the body size of the detected vehicle includes: In the case where the deviation direction of the detected vehicle is deviation to the left, determining the actual warning distance based on the longitudinal coordinate, the left lane line fitting curve and the body size of the detected vehicle; In the case that the deviation direction of the detected vehicle is deviation to the right, the actual warning distance is determined based on the longitudinal coordinate, the right lane line fitting curve and the body size of the detected vehicle.

6. The method for testing the lane departure warning function according to any one of claims 1 to 5, characterized in that: In the case where the deviation direction of the tested vehicle is deviation to the left, the preset warning distance includes a first left warning distance and a second left warning distance, the first left warning distance is a positive value, and the second left warning distance is a negative value, and the actual warning distance is compared with the preset warning distance to obtain a test result of the lane departure warning function, including: In the case where the actual warning distance is a positive value, if the actual warning distance is less than the first left warning distance, it is determined that the lane departure warning function is qualified, otherwise it is determined that the lane departure warning function is unqualified; In the case where the actual warning distance is a negative value, if the actual warning distance is greater than the second left warning distance, it is determined that the lane departure warning function is qualified, otherwise it is determined that the lane departure warning function is unqualified.

7. The method for testing the lane departure warning function according to any one of claims 1 to 5, characterized in that: In the case where the deviation direction of the tested vehicle is deviation to the right, the preset warning distance includes a first right warning distance and a second right warning distance, the first right warning distance is a negative value, and the second right warning distance is a positive value, and the actual warning distance is compared with the preset warning distance to obtain a test result of the lane departure warning function, including: In the case where the actual warning distance is a negative value, if the actual warning distance is greater than the first right warning distance, it is determined that the lane departure warning function is qualified, otherwise it is determined that the lane departure warning function is unqualified; In the case where the actual warning distance is a positive value, if the actual warning distance is less than the second right warning distance, it is determined that the lane departure warning function is qualified; otherwise, it is determined that the lane departure warning function is unqualified.

8. A test device for testing lane departure warning function, characterized in that: include: An acquisition unit, used for acquiring test data during the driving process of the tested vehicle; a determination unit, configured to determine, upon receiving a lane departure warning signal, a deviation direction and an actual warning distance of the vehicle under test based on test data corresponding to the lane departure warning moment, wherein the actual warning distance is the distance between the wheels of the vehicle under test and the lane line at the lane departure warning moment; The comparison unit is used to compare the actual warning distance with the preset warning distance based on the deviation direction of the tested vehicle to obtain a test result of the lane departure warning function.

9. A test system for testing lane departure warning function, characterized in that: include: A data acquisition module is used to collect test data during the driving process of the tested vehicle and transmit the test data to the algorithm processing module; The algorithm processing module is used to determine the deviation direction and actual warning distance of the tested vehicle based on the test data corresponding to the lane departure warning moment when receiving the lane departure warning signal, wherein the actual warning distance is the distance between the wheel of the tested vehicle and the lane line at the lane departure warning moment; The algorithm processing module is further used to compare the actual warning distance with the preset warning distance based on the deviation direction of the tested vehicle to obtain a test result of the lane departure warning function.

10. The test system for testing the lane departure warning function according to claim 9, characterized in that: The data acquisition module includes a positioning module, a camera module and a signal acquisition module; The positioning module is used to collect the real-time positioning information of the vehicle under test and transmit the real-time positioning information of the vehicle to the algorithm processing module; The camera module is used to collect lane line information and relative position information between the front wheels of the vehicle and the lane line, and transmit the lane line information and the relative position information between the front wheels of the vehicle and the lane line to the algorithm processing module; The signal acquisition module is used to collect lane departure warning signals and send the lane departure warning signals to the algorithm processing module.

11. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the test method for the lane departure warning function as described in any one of claims 1 to 7 is implemented.

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