V2X-based field-in-the-loop intelligent driving vehicle test method

Abstract

The invention belongs to the technical field of intelligent vehicle testing, particularly relates to a V2X-based field-in-the-loop intelligent driving vehicle testing method, and provides the following scheme for solving the problem that various emergency situations are difficult to identify by an intelligent vehicle proposed in the background technology: the intelligent driving vehicle testing method is composed of an intelligent driving vehicle testing device; the intelligent driving vehicle testing device comprises a base, a fixing frame is welded to the outer wall of the top of the base, an outer protective cover is fixedly connected to the outer wall of one side of the fixing frame through screws, and a monitoring mechanism used for monitoring the external environment and conducting early warning processing in time is arranged in the outer protective cover. The corresponding monitoring mechanism is additionally arranged, the monitoring angle of the visual monitor can be enlarged by adjusting the monitoring range of the visual monitor, the observation definition of the visual monitor can be ensured in cooperation with the corresponding cleaning and wiping mechanism, then the road condition and the target object can be accurately judged, and timely response can be made according to different road conditions.

Description

Technical Field

[0001] The present invention relates to the field of intelligent vehicle testing technology, and in particular to a field-in-the-loop intelligent driving vehicle testing method based on V2X. Background Art

[0002] Intelligent driving essentially involves cognitive engineering of attention attraction and attention distraction, and mainly includes three aspects: network navigation, autonomous driving and manual intervention. The prerequisite for intelligent driving is that the vehicle we choose meets the dynamic requirements of driving, the sensors on the vehicle can obtain relevant visual and auditory signals and information, and control the corresponding follow-up system through cognitive computing.

[0003] The wide application prospects of intelligent driving vehicles have placed extremely high demands on their functional integrity and safety. Traditional testing methods are often limited to laboratory simulations or actual road tests, but the former is difficult to fully reproduce the complexity of real road conditions, while the latter faces problems such as high costs, high risks, and difficulty in controlling test scenarios. Summary of the invention

[0004] In view of the deficiencies of the prior art, the present invention provides a V2X-based field-in-the-loop intelligent driving vehicle testing method, which overcomes the deficiencies of the prior art and effectively solves the problem that it is difficult for smart cars to identify various emergency situations.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A V2X-based field-in-the-loop intelligent driving vehicle testing method, the intelligent driving vehicle testing method comprising an intelligent driving vehicle testing device, the intelligent driving vehicle testing device comprising a base, a fixing frame welded to the top outer wall of the base, and an outer shield fixedly connected to the outer wall of one side of the fixing frame by screws, a monitoring mechanism for monitoring the external environment and making early warning processing in time is arranged inside the outer shield, and a wiping mechanism for preventing lens contamination is arranged on the top outer wall of the outer shield;

[0007] The base is composed of a viewing angle adjustment component, a lifting component and a horizontal component, wherein the viewing angle adjustment component is arranged inside the outer shield and is used to drive the monitoring device to move in a circular motion, the lifting component is used to expand or reduce the monitoring range of the monitoring device, and the horizontal component is used to control the monitoring device to always maintain a horizontal angle;

[0008] The wiping mechanism is composed of a fixed seat, a servo motor three, a bending rod, a fixed sleeve, a disc, a wiping brush and a limit plate, wherein the fixed seat is welded to the fixed seat on the outer wall of the top of the outer shield, the servo motor three is fixedly connected to the outer wall of the top of the fixed seat by screws and is symmetrically distributed, the bending rod is fixedly connected to the output shaft of the servo motor three, the fixed sleeve is welded to the outer wall of one end of the bending rod, the disc is rotatably connected to the inner wall of the fixed sleeve, the wiping brush is bonded to the outer wall of one side of the disc, and the limit plate is welded to the outer wall of the top of the outer shield, wherein the limit plate includes two, which are respectively arranged at the two ends of the outer wall of one side of the fixed seat, and are used to limit the maximum rotation range of the bending rod.

[0009] The testing method of the intelligent driving vehicle comprises the following steps:

[0010] S1: The smart car is driving on a circular track. The suction cup at the bottom of the base is attached to the top of the smart car, and the visual monitoring device in the monitoring mechanism is connected to the V2X system of the smart car.

[0011] S2: When the smart car is driving, the servo motor 2 drives the connecting rod 1 to rotate, which in turn drives the bevel gear 1 to control the bevel gear 2 to rotate, and then controls the screw rod to drive the hinge seat 2 on the top of the internal thread frame to rise and fall. Since the hinge seat 2 is slidably connected to the inner walls of the two docking plates, the lifting and lowering of the hinge seat 2 can adjust the tilt angle of the docking plates;

[0012] S3: In the above process, as the position of the visual monitor changes, the bidirectional tube and the vertical column can be displaced accordingly to ensure that the visual monitor can always maintain a horizontal viewing angle to observe the environment ahead;

[0013] S4: After the distance between the visual monitor and the base plate is determined, the visual monitor can be controlled to rotate with the center of the connecting rod 1 as the axis by driving the connecting rod 1 to rotate through the servo motor 1;

[0014] S5: When the smart car is driving, the test dummy moves from the test bench. When the test dummy moves in front of the smart car, the visual monitor can observe the test dummy with a wide range of monitoring angles and give a timely stop warning. When the smart car continues to drive, the visual monitor can observe and identify the corresponding road test signs and road top signs, so as to make correct driving regulations;

[0015] S6: A V2X roadside perception system is installed on the circular runway 8. The V2X roadside perception system is deployed at key locations in the test site and usually integrates a variety of sensors, such as millimeter wave radar, laser radar, high-definition camera, etc., to perceive the overall traffic conditions and road environment in the test site in a large range and with high precision. The data obtained is sent to the intelligent driving test vehicles with V2X functions in the field in real time through V2X communication for vehicle-road cooperative functions and performance-related tests; on the other hand, it is transmitted to the test control and scenario simulation platform for monitoring and analysis of the entire test scenario;

[0016] S7: When the lens of the visual monitor 415 becomes blurred, the visual monitor 415 is first adjusted to the highest point, and then the servo motor 3 52 drives the bending rod 53 to rotate, thereby controlling the wiping brush 56 on the disk 55 to flip to the side of the lens of the visual monitor 415. During the rotation of the visual monitor 415, the wiping brush 56 can be controlled to rotate together, thereby achieving cleaning of the lens of the visual monitor 415;

[0017] S8: Single-vehicle intelligent testing method

[0018] (1) Test scenario construction: On the test control and scenario simulation platform, first select or customize the corresponding test scenario according to the goal of the single-vehicle intelligent test, such as parking scenarios (including parallel parking, perpendicular parking, diagonal parking, etc.), curve driving scenarios, following vehicle scenarios (different following distances, different changes in the speed of the leading vehicle), etc. For each scenario, set detailed environmental parameters, such as road width, the presence or absence of obstacles, the initial position and speed of surrounding vehicles, and other virtual elements.

[0019] (2) Initial condition configuration: Based on the constructed scenario, the initial condition configuration of the intelligent driving test vehicle is performed, including the vehicle's initial position, speed, heading angle and other state parameters. At the same time, it is ensured that the vehicle's onboard sensors, autonomous driving controller and other subsystems are in normal working condition, and the on-board communication unit is turned on to receive possible auxiliary information from the platform and the V2X roadside perception system (although the single-vehicle intelligent test mainly relies on its own on-board sensors, the communication link is retained to simulate the external information interference that may exist in the real environment).

[0020] (3) Test execution. After the test is started, the intelligent driving vehicle relies on the data collected by its own on-board sensors, and the autonomous driving controller makes decisions and controls the vehicle's driving movements according to the built-in algorithm. During driving, the vehicle continuously feeds back its own status information (such as real-time position, speed, acceleration, etc.) to the test control and scenario simulation platform. The platform monitors in real time whether the vehicle is driving according to the expected trajectory and rules, and whether it can accurately identify and respond to various elements in the scene (such as obstacle avoidance, parking at stop lines, etc.). If the vehicle deviates from the expected trajectory, collides with obstacles, and other situations that do not meet the test requirements, the platform records the corresponding fault information and key data such as the corresponding time node and vehicle status for subsequent detailed analysis.

[0021] (4) Result evaluation: After the single-vehicle intelligent test is completed, the test control and scenario simulation platform evaluates the vehicle's single-vehicle intelligent performance based on the collected vehicle feedback data and preset evaluation indicators. The evaluation indicators can cover multiple dimensions such as path tracking accuracy (for example, calculating the average deviation between the actual driving trajectory and the preset trajectory), obstacle recognition accuracy (the comparison between the number of recognized obstacles and the actual number of obstacles), and response time (such as the time it takes for the vehicle to respond by braking or steering when encountering an emergency). By comprehensively analyzing these indicators, a quantitative evaluation result of the vehicle's single-vehicle intelligent function is given.

[0022] S9: V2X vehicle-road collaboration test method

[0023] (1) Collaborative scenario setting: The vehicle-road collaborative test also constructs scenarios on the test control and scenario simulation platform, but focuses more on scenarios involving interaction and collaboration between vehicles and roadside facilities and other vehicles, such as the scenario of coordinated traffic without traffic lights at intersections (vehicles rely on the information of vehicles in all directions broadcast by the V2X roadside perception system to pass through the intersection in an orderly manner according to the preset collaborative rules to avoid collisions), the scenario of vehicle speed guidance based on vehicle-road collaboration (the V2X roadside perception system obtains the road congestion situation and sends it to the vehicle, and the vehicle automatically adjusts the speed to achieve more efficient traffic), and the scenario of emergency vehicle priority passage (the V2X roadside perception system detects the approach of emergency vehicles such as ambulances and fire trucks, and notifies other ordinary vehicles to avoid them in advance). For each scenario, in addition to configuring the conventional road and environmental parameters, it is also necessary to set the relevant collaborative parameters such as the perception range of the V2X roadside perception system, the frequency of information release, and the V2X communication protocol between different vehicles in detail.

[0024] (2) Information interaction configuration, ensuring that the V2X communication link between the on-board communication unit of the intelligent driving test vehicle and the V2X roadside perception system is stable and reliable, configuring communication parameters such as communication frequency band and encryption method, and setting the interaction format and rules for different types of information (such as traffic event reminder information, road condition information, vehicle location sharing information, etc.). The V2X roadside perception system collects traffic environment information in the venue in real time according to the set parameters and rules, and broadcasts the processed and integrated effective information to the intelligent driving vehicles in the venue through V2X communication; after the vehicle receives this information, the autonomous driving controller parses and integrates it into its own decision-making algorithm to generate the corresponding collaborative driving strategy.

[0025] (3) Collaborative test execution. After the vehicle-road collaborative test is started, in addition to relying on the information obtained by its own on-board sensors, the intelligent driving vehicle must also make full use of the collaborative information received from the V2X roadside perception system to make decisions and control during driving. For example, in the scenario of coordinated traffic at an intersection, the vehicle adjusts its speed and driving trajectory in real time based on the position, speed and other information of other vehicles at the intersection broadcast by the V2X roadside perception system to ensure safe and efficient passage through the intersection. During the entire test process, the test control and scenario simulation platform monitors the information interaction between the vehicle and the V2X roadside perception system and the actual driving performance of the vehicle in real time, and records key data such as information transmission delay and vehicle collaborative action execution.

[0026] (4) Evaluation of collaborative effects. After the vehicle-road collaborative test is completed, the vehicle-road collaborative effects are evaluated from multiple perspectives based on various data collected by the platform. For example, from the perspective of traffic efficiency, it is possible to analyze whether the average travel time of vehicles in collaborative scenarios is shortened and whether road congestion is improved; from the perspective of safety, the number of potential collision risks during the collaborative process and the minimum safe distance maintained between vehicles are counted; from the perspective of information interaction reliability, the packet loss rate, bit error rate of information transmission, and the correct parsing rate of received information by the vehicle are examined. Through a comprehensive analysis of these evaluation indicators, the performance evaluation results of intelligent driving vehicles in V2X vehicle-road collaboration are obtained.

[0027] Preferably, the outer shield comprises a rear end cover and a front end sleeve, and the rear end cover and the front end sleeve are fixedly connected via a flange, wherein the rear end cover is fixedly connected to an outer wall of one side of the fixing frame.

[0028] Preferably, the viewing angle adjustment component is composed of a servo motor, a connecting rod, a hinge seat, a docking plate, a visual monitor, and a base plate, wherein the servo motor is fixedly connected to the top outer wall of the fixing frame by screws, and the connecting rod is fixedly connected to the output shaft of the servo motor by a coupling, and the connecting rod is rotatably connected to the inner wall of the rear end cover, the hinge seat is welded to the outer wall of one end of the connecting rod, the symmetrically distributed docking plates are rotatably connected to the outer walls on both sides of the hinge seat, the visual monitor is rotatably connected between the two docking plates, and the base plate is welded to the outer wall of the connecting rod.

[0029] Preferably, the lifting assembly includes a servo motor 2 fixedly connected to the bottom outer wall of the base plate by screws, a connecting rod 2 fixedly connected to the output shaft of the servo motor 2 by a coupling, a bevel gear 1 installed on the outer wall of one end of the connecting rod 2, a bevel gear 2 meshing with the outer wall of the bevel gear 1, a screw rod fixedly connected to the inner wall of the bevel gear 2, an internal threaded frame screwed on the outer wall of the screw rod, and a hinge seat 2 welded to the top outer wall of the internal threaded frame.

[0030] Preferably, the horizontal component is composed of a transverse column, a two-way tube and a vertical column, wherein the vertical column is fixedly connected to the bottom outer wall of the visual monitor, the two-way tube is slidably connected to the inner wall of the vertical column, one end of the transverse column is slidably connected to the inner wall of the two-way tube, and the other end of the transverse column is fixedly connected to the outer wall of the base plate.

[0031] Preferably, symmetrically distributed suction cups are installed on the outer wall of the bottom of the base.

[0032] Preferably, the outer wall of the bottom of the suction cup is fixedly connected to a smart car, and a circular track is provided at the bottom of the wheel of the smart car.

[0033] Preferably, a test bench is arranged inside the circular runway, and a horizontally movable test dummy is arranged on the test bench.

[0034] Preferably, a road test sign is provided on a straight road of the circular runway away from the smart car.

[0035] Preferably, a U-shaped plate is welded to the bottom outer wall of the base plate, and the second connecting rod is rotatably connected to an inner wall of one side of the U-shaped plate.

[0036] The beneficial effects of the present invention are:

[0037] 1. The V2X-based field-in-the-loop intelligent driving vehicle testing method of the present invention is to install a corresponding monitoring mechanism on the intelligent car, and the monitoring angle of the visual monitor can be expanded by adjusting the monitoring range of the visual monitor. In combination with the corresponding cleaning and wiping mechanism, the clarity of the visual monitor can be ensured, so that the road conditions and targets can be accurately judged, and timely responses can be made according to different road conditions.

[0038] 2. The V2X-based field-in-the-loop intelligent driving vehicle testing method of the present invention can control the screw to drive the hinge seat 2 on the top of the internal threaded frame to rise and fall by driving the connecting rod 1 to rotate through the servo motor 2, thereby realizing the adjustment of the tilt angle of the docking plate, and under the cooperation of the two-way tube and the vertical column, it is ensured that the visual monitor can always maintain a horizontal viewing angle to observe the front environment, thereby improving the stability of the visual monitor during the observation process. As the servo motor 1 drives the connecting rod 1 to rotate, the visual monitor can be controlled to rotate with the center of the connecting rod 1 as the axis, thereby being able to observe the road conditions ahead in a wide range, thereby making timely responses to different road conditions, reflecting the intelligence and safety of smart cars, reducing driving risks, and reducing losses;

[0039] 3. In the V2X-based field-in-the-loop intelligent driving vehicle testing method of the present invention, when the lens of the visual monitor becomes blurred, the visual monitor is first adjusted to the highest point, and then the servo motor drives the bending rod to rotate to control the wiping brush on the disc to flip to the side of the lens of the visual monitor. During the rotation of the visual monitor, the wiping brush can be controlled to rotate together, thereby cleaning the lens of the visual monitor, ensuring the clarity of the lens of the visual monitor, and avoiding the problem of response errors due to blurred lens;

[0040] 4. The V2X-based field-in-the-loop intelligent driving vehicle testing method of the present invention combines the advantages of virtual scenes and actual fields. With the rise of V2X technology, integrating it into the field-in-the-loop testing framework and constructing a testing method that supports single-vehicle intelligence and vehicle-road collaboration are of great significance for the efficient and accurate testing of intelligent driving vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 A front view of the overall structure of a V2X-based field-in-the-loop intelligent driving vehicle testing method proposed by the present invention;

[0042] Figure 2 This is a rear view of the overall structure of a V2X-based field-in-the-loop intelligent driving vehicle testing method proposed by the present invention;

[0043] Figure 3 A schematic diagram of a wiping mechanism of a V2X-based field-in-the-loop intelligent driving vehicle testing method proposed in the present invention;

[0044] Figure 4 A schematic diagram of the internal structure of an outer protective cover of a V2X-based field-in-the-loop intelligent driving vehicle testing method proposed in the present invention;

[0045] Figure 5 A schematic diagram of a monitoring mechanism of a V2X-based field-in-the-loop intelligent driving vehicle testing method proposed in the present invention;

[0046] Figure 6 A schematic diagram of smart car connection for a V2X-based field-in-the-loop smart driving vehicle testing method proposed in the present invention;

[0047] Figure 7 A schematic diagram of the structure of a smart car test in a V2X-based field-in-the-loop smart driving vehicle test method proposed by the present invention;

[0048] Figure 8 This is a schematic diagram of the structure of a V2X roadside perception system for a V2X-based field-in-the-loop intelligent driving vehicle testing method proposed in the present invention.

[0049] In the figure: 1, base; 2, fixing frame; 3, outer shield; 31, rear cover; 32, front cover; 4, monitoring mechanism; 41, viewing angle adjustment component; 411, servo motor 1; 412, connecting rod 1; 413, hinge seat 1; 414, docking plate; 415, visual monitor; 416, bottom plate; 42, lifting component; 421, servo motor 2; 422, connecting rod 2; 423, bevel gear 1; 424, bevel gear 2; 425, screw rod; 426, internal thread frame ; 427, hinge seat two; 43, horizontal component; 431, horizontal column; 432, bidirectional tube; 433, vertical column; 5, wiping mechanism; 51, fixed seat; 52, servo motor three; 53, bending rod; 54, fixed sleeve; 55, disc; 56, wiping brush; 57, limit plate; 6, suction cup; 7, smart car; 8, circular runway; 9, test bench; 10, test dummy; 11, road test sign; 12, V2X roadside perception system; 13, U-shaped plate. DETAILED DESCRIPTION

[0050] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0051] Embodiment 1, refer to Figure 1-8 A V2X-based field-in-the-loop intelligent driving vehicle testing method, the intelligent driving vehicle testing method is composed of an intelligent driving vehicle testing device, the intelligent driving vehicle testing device includes a base 1, a fixing frame 2 is welded to the top outer wall of the base 1, and an outer shield 3 is fixedly connected to the outer wall of one side of the fixing frame 2 by screws, a monitoring mechanism 4 for monitoring the external environment and making early warning processing in time is arranged inside the outer shield 3, and a wiping mechanism 5 for preventing lens contamination is arranged on the top outer wall of the outer shield 3.

[0052] In this embodiment, a corresponding monitoring mechanism 4 is installed on the smart car 7. By adjusting the monitoring range of the visual monitor 415, the monitoring angle of the visual monitor 415 can be expanded. In combination with the corresponding cleaning and wiping mechanism 5, the clarity of the observation of the visual monitor 415 can be ensured, so that the road conditions and target objects can be accurately judged, and timely responses can be made to different road conditions.

[0053] Example 2, refer to Figure 4 A V2X-based field-in-the-loop intelligent driving vehicle testing method, the base 1 is composed of a viewing angle adjustment component 41, a lifting component 42 and a horizontal component 43, wherein the viewing angle adjustment component 41 is arranged inside the outer shield 3, and is used to drive the monitoring device to move in a circular motion, the lifting component 42 is used to expand or reduce the monitoring range of the monitoring device, and the horizontal component 43 is used to control the monitoring device to always maintain a horizontal angle.

[0054] In this embodiment, by driving the connecting rod 1 412 to rotate through the servo motor 2 421, the screw rod 425 can be controlled to drive the hinge seat 2 427 on the top of the internal threaded frame 426 to rise and fall, thereby realizing the adjustment of the tilt angle of the docking plate 414, and with the cooperation of the two-way tube 432 and the vertical column 433, it is ensured that the visual monitor 415 can always maintain a horizontal perspective to observe the front environment, thereby improving the stability of the visual monitor 415 during the observation process. As the connecting rod 1 412 is driven to rotate by the servo motor 1 411, the visual monitor 415 can be controlled to rotate with the center of the connecting rod 1 412 as the axis, thereby being able to observe the road conditions ahead over a large range, thereby making timely responses to different road conditions, reflecting the intelligence and safety of the smart car 7, reducing driving risks, and reducing losses.

[0055] Example 3, refer to Figure 2-3 , a V2X-based field-in-the-loop intelligent driving vehicle testing method, the wiping mechanism 5 is composed of a fixed seat 51, a servo motor 3 52, a bending rod 53, a fixing sleeve 54, a disc 55, a wiping brush 56 and a limiting plate 57, wherein the fixed seat 51 is welded to the fixed seat 51 on the top outer wall of the outer shield 3, the servo motor 3 52 is fixedly connected to the top outer wall of the fixed seat 51 by screws and is symmetrically distributed, the bending rod 53 is fixedly connected to the output shaft of the servo motor 3 52, the fixing sleeve 54 is welded to the outer wall of one end of the bending rod 53, the disc 55 is rotatably connected to the inner wall of the fixing sleeve 54, the wiping brush 56 is bonded to the outer wall of one side of the disc 55, and the limiting plate 57 is welded to the outer wall of the top outer wall of the outer shield 3, wherein the limiting plate 57 includes two, which are respectively arranged at the two ends of the outer wall of one side of the fixed seat 51, and are used to limit the maximum rotation range of the bending rod 53.

[0056] In this embodiment, when the lens of the visual monitor 415 becomes blurred, the visual monitor 415 is first adjusted to the highest point, and then the servo motor 3 52 drives the bending rod 53 to rotate to control the wiping brush 56 on the disk 55 to flip to the side of the lens of the visual monitor 415. During the rotation of the visual monitor 415, the wiping brush 56 can be controlled to rotate together, thereby cleaning the lens of the visual monitor 415, ensuring the clarity of the lens of the visual monitor 415 and avoiding the problem of response errors due to blurred lens.

[0057] Reference Figure 3 The outer shield 3 includes a rear end cover 31 and a front end cover 32 , and the rear end cover 31 and the front end cover 32 are fixedly connected via a flange, wherein the rear end cover 31 is fixedly connected to an outer wall of one side of the fixing frame 2 .

[0058] Reference Figure 5 The viewing angle adjustment component 41 is composed of a servo motor 411, a connecting rod 412, a hinge seat 413, a docking plate 414, a visual monitor 415, and a base plate 416, wherein the servo motor 411 is fixedly connected to the top outer wall of the fixing frame 2 by screws, and the connecting rod 412 is fixedly connected to the output shaft of the servo motor 411 by a coupling, and the connecting rod 412 is rotatably connected to the inner wall of the rear end cover 31, the hinge seat 413 is welded to the outer wall of one end of the connecting rod 412, the symmetrically distributed docking plates 414 are rotatably connected to the outer walls on both sides of the hinge seat 413, the visual monitor 415 is rotatably connected between the two docking plates 414, and the base plate 416 is welded to the outer wall of the connecting rod 412.

[0059] Reference Figure 5 The lifting assembly 42 includes a servo motor 421 fixedly connected to the outer wall of the bottom of the base plate 416 by screws, a connecting rod 422 fixedly connected to the output shaft of the servo motor 421 by a coupling, a bevel gear 423 installed on the outer wall of one end of the connecting rod 422, a bevel gear 424 meshing with the outer wall of the bevel gear 423, a screw rod 425 fixedly connected to the inner wall of the bevel gear 424, an internal threaded frame 426 screwed on the outer wall of the screw rod 425, and a hinge seat 427 welded to the outer wall of the top of the internal threaded frame 426.

[0060] Reference Figure 5 The horizontal component 43 is composed of a horizontal column 431, a two-way tube 432 and a vertical column 433, wherein the vertical column 433 is fixedly connected to the bottom outer wall of the visual monitor 415, the two-way tube 432 is slidably connected to the inner wall of the vertical column 433, one end of the horizontal column 431 is slidably connected to the inner wall of the two-way tube 432, and the other end of the horizontal column 431 is fixedly connected to the outer wall of the bottom plate 416.

[0061] Reference Figure 1The outer wall at the bottom of the base 1 is provided with symmetrically distributed suction cups 6.

[0062] Reference Figure 6-7 The outer wall at the bottom of the suction cup 6 is fixedly connected to a smart car 7, and a circular runway 8 is arranged at the bottom of the wheel of the smart car 7.

[0063] Reference Figure 7 A test bench 9 is arranged inside the circular runway 8, and a horizontally movable test dummy 10 is arranged on the test bench 9.

[0064] Reference Figure 7 A road test sign 11 is provided on a straight road of the circular runway 8 away from the smart car 7 .

[0065] Reference Figure 4-5 A U-shaped plate 13 is welded to the bottom outer wall of the bottom plate 416 , and the second connecting rod 422 is rotatably connected to the inner wall of one side of the U-shaped plate 13 .

[0066] The test method of the intelligent driving vehicle includes the following steps:

[0067] The testing method of the intelligent driving vehicle comprises the following steps:

[0068] S1: The smart car 7 is driving on the circular track 8, the suction cup 6 at the bottom of the base 1 is attached to the top of the smart car 7, and the visual monitoring device 415 in the monitoring mechanism 4 is connected to the V2X system of the smart car 7;

[0069] S2: When the smart car 7 is driving, the servo motor 2 421 drives the connecting rod 1 412 to rotate, which in turn drives the bevel gear 1 423 to control the bevel gear 2 424 to rotate, and then controls the screw rod 425 to drive the hinge seat 2 427 on the top of the internal thread frame 426 to rise and fall. Since the hinge seat 2 427 is slidably connected to the inner walls of the two docking plates 414, the lifting and lowering of the hinge seat 2 427 can adjust the tilt angle of the docking plates 414;

[0070] S3: In the above process, as the position of the visual monitor 415 changes, the bidirectional tube 432 and the vertical column 433 can be displaced accordingly to ensure that the visual monitor 415 can always maintain a horizontal viewing angle to observe the environment ahead;

[0071] S4: After the distance between the visual monitor 415 and the bottom plate 416 is determined, the servo motor 411 drives the connecting rod 412 to rotate, so as to control the visual monitor 415 to rotate with the center of the connecting rod 412 as the axis;

[0072] S5: During the driving process of the smart car 7, the test dummy 10 moves from the test bench 9. When the test dummy 10 moves to the front of the smart car 7, the visual monitor 415 can observe the test dummy 10 with a wide range of monitoring angles and give a timely stop warning. When the smart car 7 continues to drive, the visual monitor 415 can observe and identify the corresponding road test sign 11, so as to make correct driving regulations;

[0073] S6: A V2X roadside perception system 12 is installed on the circular runway 8. The V2X roadside perception system 12 is deployed at key locations in the test site and usually integrates a variety of sensors, such as millimeter wave radar, laser radar, high-definition camera, etc., to perceive the overall traffic conditions and road environment in the test site in a large range and with high precision. The data acquired is sent to the intelligent driving test vehicles with V2X functions in the field in real time through V2X communication for vehicle-road cooperative functions and performance-related tests; on the other hand, it is transmitted to the test control and scenario simulation platform for monitoring and analysis of the entire test scenario;

[0074] S7: When the lens of the visual monitor 415 becomes blurred, the visual monitor 415 is first adjusted to the highest point, and then the servo motor 3 52 drives the bending rod 53 to rotate, thereby controlling the wiping brush 56 on the disk 55 to flip to the side of the lens of the visual monitor 415. During the rotation of the visual monitor 415, the wiping brush 56 can be controlled to rotate together, thereby achieving cleaning of the lens of the visual monitor 415;

[0075] S8: Single-vehicle intelligent testing method

[0076] (1) Test scenario construction: On the test control and scenario simulation platform, first select or customize the corresponding test scenario according to the goal of the single-vehicle intelligent test, such as parking scenarios (including parallel parking, perpendicular parking, diagonal parking, etc.), curve driving scenarios, following vehicle scenarios (different following distances, different changes in the speed of the leading vehicle), etc. For each scenario, set detailed environmental parameters, such as road width, the presence or absence of obstacles, the initial position and speed of surrounding vehicles, and other virtual elements.

[0077] (2) Initial condition configuration: Based on the constructed scenario, the initial condition configuration of the intelligent driving test vehicle is performed, including the vehicle's initial position, speed, heading angle and other state parameters. At the same time, it is ensured that the vehicle-mounted sensors, autonomous driving controller and other subsystems are in normal working condition, and the vehicle-mounted communication unit is turned on to receive possible auxiliary information from the platform and the V2X roadside perception system 12 (although the single-vehicle intelligent test mainly relies on its own vehicle-mounted sensors, the communication link is retained to simulate the external information interference that may exist in the real environment).

[0078] (3) Test execution. After the test is started, the intelligent driving vehicle relies on the data collected by its own on-board sensors, and the autonomous driving controller makes decisions and controls the vehicle's driving movements according to the built-in algorithm. During driving, the vehicle continuously feeds back its own status information (such as real-time position, speed, acceleration, etc.) to the test control and scenario simulation platform. The platform monitors in real time whether the vehicle is driving according to the expected trajectory and rules, and whether it can accurately identify and respond to various elements in the scene (such as obstacle avoidance, parking at stop lines, etc.). If the vehicle deviates from the expected trajectory, collides with obstacles, and other situations that do not meet the test requirements, the platform records the corresponding fault information and key data such as the corresponding time node and vehicle status for subsequent detailed analysis.

[0079] (4) Result evaluation: After the single-vehicle intelligent test is completed, the test control and scenario simulation platform evaluates the vehicle's single-vehicle intelligent performance based on the collected vehicle feedback data and preset evaluation indicators. The evaluation indicators can cover multiple dimensions such as path tracking accuracy (for example, calculating the average deviation between the actual driving trajectory and the preset trajectory), obstacle recognition accuracy (the comparison between the number of recognized obstacles and the actual number of obstacles), and response time (such as the time it takes for the vehicle to respond by braking or steering when encountering an emergency). By comprehensively analyzing these indicators, a quantitative evaluation result of the vehicle's single-vehicle intelligent function is given.

[0080] S9: V2X vehicle-road collaboration test method

[0081] (1) Collaborative scenario setting: The vehicle-road collaborative test also constructs scenarios on the test control and scenario simulation platform, but focuses more on scenarios involving interaction and collaboration between vehicles and roadside facilities and other vehicles, such as the scenario of coordinated traffic without traffic lights at intersections (vehicles rely on the information of vehicles in all directions broadcast by the V2X roadside perception system 12 to pass through the intersection in an orderly manner according to the preset collaborative rules to avoid collisions), the scenario of vehicle speed guidance based on vehicle-road collaboration (the V2X roadside perception system 12 obtains the road congestion situation and sends it to the vehicle, and the vehicle automatically adjusts the speed to achieve more efficient traffic), and the scenario of emergency vehicle priority passage (the V2X roadside perception system 12 detects the approach of emergency vehicles such as ambulances and fire trucks, and notifies other ordinary vehicles to avoid them in advance), etc. For each scenario, in addition to configuring conventional road and environmental parameters, it is also necessary to set detailed collaborative parameters such as the perception range of the V2X roadside perception system 12, the frequency of information release, and the V2X communication protocol between different vehicles.

[0082] (2) Information interaction configuration, ensuring that the V2X communication link between the on-board communication unit of the intelligent driving test vehicle and the V2X roadside perception system 12 is stable and reliable, configuring communication parameters such as communication frequency band and encryption method, and setting the interaction format and rules for different types of information (such as traffic event reminder information, road condition information, vehicle location sharing information, etc.). The V2X roadside perception system 12 collects traffic environment information in the venue in real time according to the set parameters and rules, and broadcasts the processed and integrated effective information to the intelligent driving vehicles in the venue through V2X communication; after the vehicle receives this information, the autonomous driving controller parses and integrates it into its own decision-making algorithm to generate the corresponding collaborative driving strategy.

[0083] (3) Collaborative test execution. After the vehicle-road collaborative test is started, the intelligent driving vehicle not only relies on the information obtained by its own on-board sensors during driving, but also makes full use of the collaborative information received from the V2X roadside perception system 12 for decision-making and control. For example, in the scenario of collaborative traffic at an intersection, the vehicle adjusts its speed and driving trajectory in real time according to the position, speed and other information of other vehicles at the intersection broadcast by the V2X roadside perception system 12 to ensure safe and efficient passage through the intersection. During the entire test process, the test control and scenario simulation platform monitors the information interaction between the vehicle and the V2X roadside perception system 12 and the actual driving performance of the vehicle in real time, and records key data such as information transmission delay and vehicle collaborative action execution.

[0084] (4) Evaluation of collaborative effects. After the vehicle-road collaborative test is completed, the vehicle-road collaborative effects are evaluated from multiple perspectives based on various data collected by the platform. For example, from the perspective of traffic efficiency, it is possible to analyze whether the average travel time of vehicles in collaborative scenarios is shortened and whether road congestion is improved; from the perspective of safety, the number of potential collision risks during the collaborative process and the minimum safe distance maintained between vehicles are counted; from the perspective of information interaction reliability, the packet loss rate, bit error rate of information transmission, and the correct parsing rate of received information by the vehicle are examined. Through a comprehensive analysis of these evaluation indicators, the performance evaluation results of intelligent driving vehicles in V2X vehicle-road collaboration are obtained.

[0085] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0086] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0087] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A V2X-based field-in-the-loop intelligent driving vehicle testing method, the intelligent driving vehicle testing method comprising an intelligent driving vehicle testing device, the intelligent driving vehicle testing device comprising a base (1), characterized in that: A fixing frame (2) is welded to the outer wall of the top of the base (1), and an outer shield (3) is fixedly connected to the outer wall of one side of the fixing frame (2) by screws, a monitoring mechanism (4) for monitoring the external environment and making early warning treatment in time is arranged inside the outer shield (3), and a wiping mechanism (5) for preventing lens contamination is arranged on the outer wall of the top of the outer shield (3); The base (1) is composed of a viewing angle adjustment component (41), a lifting component (42) and a horizontal component (43), wherein the viewing angle adjustment component (41) is arranged inside the outer shield (3) and is used to drive the monitoring device to move in a circular motion, the lifting component (42) is used to expand or reduce the monitoring range of the monitoring device, and the horizontal component (43) is used to control the monitoring device to always maintain a horizontal angle; The wiping mechanism (5) is composed of a fixing seat (51), a servo motor three (52), a bending rod (53), a fixing sleeve (54), a disc (55), a wiping brush (56) and a limiting plate (57), wherein the fixing seat (51) is welded to the fixing seat (51) on the top outer wall of the outer shield (3), and the servo motor three (52) symmetrically distributed on the top outer wall of the fixing seat (51) is fixedly connected to the output shaft of the servo motor three (52) by screws. A bending rod (53) on the fixing seat (51), a fixing sleeve (54) welded to the outer wall of one end of the bending rod (53), a disc (55) rotatably connected to the inner wall of the fixing sleeve (54), a wiping brush (56) bonded to the outer wall of one side of the disc (55), and a limiting plate (57) welded to the outer wall of the top of the outer shield (3), wherein the limiting plate (57) includes two, which are respectively arranged at the two ends of the outer wall of one side of the fixing seat (51) and are used to limit the maximum rotation range of the bending rod (53). The testing method of the intelligent driving vehicle comprises the following steps: S1: The smart car (7) is traveling on a circular track (8), the suction cup (6) at the bottom of the base (1) is attached to the top of the smart car (7), and the visual monitoring device (415) in the monitoring mechanism (4) is connected to the V2X system of the smart car (7); S2: When the intelligent automobile (7) is driving, the servo motor (421) drives the connecting rod (412) to rotate, thereby driving the bevel gear (423) to control the bevel gear (424) to rotate, thereby controlling the screw rod (425) to drive the hinge seat (427) at the top of the internal thread frame (426) to rise and fall. Since the hinge seat (427) is slidably connected to the inner walls of the two docking plates (414), the lifting and lowering of the hinge seat (427) can adjust the tilt angle of the docking plates (414); S3: In the above process, as the position of the visual monitoring device (415) changes, the bidirectional tube (432) and the vertical column (433) can be displaced accordingly to ensure that the visual monitoring device (415) can always maintain a horizontal viewing angle to observe the environment ahead; S4: After the distance between the visual monitor (415) and the bottom plate (416) is determined, the servo motor (411) drives the connecting rod (412) to rotate, so as to control the visual monitor (415) to rotate with the center of the connecting rod (412) as the axis; S5: During the driving process of the smart car (7), the test dummy (10) moves from the test bench (9). When the test dummy (10) moves to the front of the smart car (7), the visual monitoring instrument (415) can observe the test dummy (10) using a wide range of monitoring angles and issue a timely stop warning. When the smart car (7) continues to drive, the visual monitoring instrument (415) can observe and identify the corresponding road test signboard (11) and the road top signboard (12), so as to make correct driving regulations; S6: A V2X roadside perception system (14) is installed on the circular runway (8). The V2X roadside perception system (14) is deployed at key locations in the test site and is usually integrated with a variety of sensors, such as millimeter wave radar, laser radar, high-definition camera, etc., for large-scale, high-precision perception of the overall traffic conditions and road environment in the test site. The data obtained is sent in real time to the V2X-enabled smart driving test vehicles in the field through V2X communication for vehicle-road collaborative functions and performance-related tests; on the other hand, it is transmitted to the test control and scenario simulation platform for monitoring and analyzing the entire test scenario; S7: When the lens of the visual monitor (415) becomes blurred, the visual monitor (415) is first adjusted to the highest point, and then the servo motor (52) drives the bending rod (53) to rotate, thereby controlling the wiping brush (56) on the disk (55) to flip to the side of the lens of the visual monitor (415). During the rotation of the visual monitor (415), the wiping brush (56) can be controlled to rotate together, thereby achieving cleaning of the lens of the visual monitor (415); S8: Single-vehicle intelligent testing method (1) Test scenario construction: On the test control and scenario simulation platform, first select or customize the corresponding test scenario according to the goal of the single-vehicle intelligent test, such as parking scenarios (including parallel parking, perpendicular parking, diagonal parking, etc.), curve driving scenarios, following vehicle scenarios (different following distances, different changes in the speed of the leading vehicle), etc. For each scenario, set detailed environmental parameters, such as road width, the presence or absence of obstacles, the initial position and speed of surrounding vehicles, and other virtual elements. (2) Initial condition configuration: Based on the constructed scenario, the initial condition configuration of the intelligent driving test vehicle is performed, including the vehicle's initial position, speed, heading angle and other state parameters. At the same time, it is ensured that the vehicle's subsystems such as the on-board sensors and the autonomous driving controller are in normal working condition, and the on-board communication unit is turned on to prepare to receive possible auxiliary information from the platform and the V2X roadside perception system (14) (although the single-vehicle intelligent test mainly relies on its own on-board sensors, the communication link is retained to simulate the external information interference that may exist in the real environment). (3) Test execution. After the test is started, the intelligent driving vehicle relies on the data collected by its own on-board sensors, and the autonomous driving controller makes decisions and controls the vehicle's driving movements according to the built-in algorithm. During driving, the vehicle continuously feeds back its own status information (such as real-time position, speed, acceleration, etc.) to the test control and scenario simulation platform. The platform monitors in real time whether the vehicle is driving according to the expected trajectory and rules, and whether it can accurately identify and respond to various elements in the scene (such as obstacle avoidance, parking at stop lines, etc.). If the vehicle deviates from the expected trajectory, collides with obstacles, and other situations that do not meet the test requirements, the platform records the corresponding fault information and key data such as the corresponding time node and vehicle status for subsequent detailed analysis. (4) Result evaluation: After the single-vehicle intelligent test is completed, the test control and scenario simulation platform evaluates the vehicle's single-vehicle intelligent performance based on the collected vehicle feedback data and preset evaluation indicators. The evaluation indicators can cover multiple dimensions such as path tracking accuracy (for example, calculating the average deviation between the actual driving trajectory and the preset trajectory), obstacle recognition accuracy (the comparison between the number of recognized obstacles and the actual number of obstacles), and response time (such as the time it takes for the vehicle to respond by braking or steering when encountering an emergency). By comprehensively analyzing these indicators, a quantitative evaluation result of the vehicle's single-vehicle intelligent function is given. S9: V2X vehicle-road collaboration test method (1) Collaborative scenario setting. The vehicle-road collaborative test also constructs scenarios on the test control and scenario simulation platform, but focuses more on scenarios involving interaction and collaboration between vehicles and roadside facilities and other vehicles, such as the scenario of coordinated traffic without traffic lights at intersections (vehicles rely on the information of vehicles in all directions broadcast by the V2X roadside perception system (14) to pass through the intersection in an orderly manner according to the preset collaborative rules to avoid collisions), the scenario of vehicle speed guidance based on vehicle-road collaboration (the V2X roadside perception system (14) obtains the road congestion situation and sends it to the vehicle, and the vehicle automatically adjusts the speed to achieve more efficient traffic), and the scenario of emergency vehicle priority passage (the V2X roadside perception system (14) detects the approach of emergency vehicles such as ambulances and fire trucks, and notifies other ordinary vehicles to avoid them in advance). For each scenario, in addition to configuring conventional road and environmental parameters, it is also necessary to set detailed collaborative parameters such as the perception range of the V2X roadside perception system (14), the frequency of information release, and the V2X communication protocol between different vehicles. (2) Information interaction configuration, ensuring that the V2X communication link between the on-board communication unit of the intelligent driving test vehicle and the V2X roadside perception system (14) is stable and reliable, configuring communication parameters such as communication frequency band and encryption method, and setting the interaction format and rules of different types of information (such as traffic event reminder information, road condition information, vehicle location sharing information, etc.). The V2X roadside perception system (14) collects traffic environment information in the venue in real time according to the set parameters and rules, and broadcasts the processed and integrated effective information to the intelligent driving vehicles in the venue through V2X communication; after the vehicle receives this information, the autonomous driving controller parses and integrates it into its own decision algorithm to generate the corresponding collaborative driving strategy. (3) Collaborative test execution. After the vehicle-road collaborative test is started, the intelligent driving vehicle not only relies on the information obtained by its own on-board sensors during driving, but also makes full use of the collaborative information received from the V2X roadside perception system (14) to make decisions and control. For example, in the scenario of coordinated traffic at an intersection, the vehicle adjusts its speed and driving trajectory in real time according to the position, speed and other information of other vehicles at the intersection broadcast by the V2X roadside perception system (14) to ensure safe and efficient passage through the intersection. During the entire test process, the test control and scenario simulation platform monitors the information interaction between the vehicle and the V2X roadside perception system (14) and the actual driving performance of the vehicle in real time, and records key data such as information transmission delay and vehicle collaborative action execution. (4) Evaluation of collaborative effects. After the vehicle-road collaborative test is completed, the vehicle-road collaborative effects are evaluated from multiple perspectives based on various data collected by the platform. For example, from the perspective of traffic efficiency, it is possible to analyze whether the average travel time of vehicles in collaborative scenarios is shortened and whether road congestion is improved; from the perspective of safety, the number of potential collision risks during the collaborative process and the minimum safe distance maintained between vehicles are counted; from the perspective of information interaction reliability, the packet loss rate, bit error rate of information transmission, and the correct parsing rate of received information by the vehicle are examined. Through a comprehensive analysis of these evaluation indicators, the performance evaluation results of intelligent driving vehicles in V2X vehicle-road collaboration are obtained.

2. A V2X-based field-in-the-loop intelligent driving vehicle testing method according to claim 1, characterized in that: The outer shield (3) comprises a rear end cover (31) and a front end sleeve (32), wherein the rear end cover (31) and the front end sleeve (32) are fixedly connected via a flange, wherein the rear end cover (31) is fixedly connected to an outer wall of one side of the fixing frame (2).

3. The V2X-based field-in-the-loop intelligent driving vehicle testing method according to claim 1 is characterized in that: The viewing angle adjustment component (41) is composed of a servo motor (411), a connecting rod (412), a hinge seat (413), a docking plate (414), a visual monitor (415), and a base plate (416), wherein the servo motor (411) is fixedly connected to the top outer wall of the fixing frame (2) by screws, and the connecting rod (412) is fixedly connected to the output shaft of the servo motor (411) by a coupling, and the connecting rod (412) is rotatably connected to the inner wall of the rear end cover (31), the hinge seat (413) is welded to the outer wall of one end of the connecting rod (412), the symmetrically distributed docking plates (414) are rotatably connected to the outer walls of both sides of the hinge seat (413), the visual monitor (415) is rotatably connected between the two docking plates (414), and the base plate (416) is welded to the outer wall of the connecting rod (412).

4. The V2X-based field-in-the-loop intelligent driving vehicle testing method according to claim 1, characterized in that: The lifting assembly (42) includes a servo motor 2 (421) fixedly connected to the outer wall of the bottom of the base plate (416) by screws, a connecting rod 2 (422) fixedly connected to the output shaft of the servo motor 2 (421) by a coupling, a bevel gear 1 (423) installed on the outer wall of one end of the connecting rod 2 (422), a bevel gear 2 (424) meshed with the outer wall of the bevel gear 1 (423), a screw rod (425) fixedly connected to the inner wall of the bevel gear 2 (424), an internal thread frame (426) screwed on the outer wall of the screw rod (425), and a hinge seat 2 (427) welded to the outer wall of the top of the internal thread frame (426).

5. The V2X-based field-in-the-loop intelligent driving vehicle testing method according to claim 1, characterized in that: The horizontal component (43) is composed of a transverse column (431), a bidirectional tube (432) and a vertical column (433), wherein the vertical column (433) is fixedly connected to the bottom outer wall of the visual monitor (415), the bidirectional tube (432) is slidably connected to the inner wall of the vertical column (433), one end of the transverse column (431) is slidably connected to the inner wall of the bidirectional tube (432), and the other end of the transverse column (431) is fixedly connected to the outer wall of the bottom plate (416).

6. The V2X-based field-in-the-loop intelligent driving vehicle testing method according to claim 1, characterized in that: The outer wall of the bottom of the base (1) is provided with symmetrically distributed suction cups (6).

7. The V2X-based field-in-the-loop intelligent driving vehicle testing method according to claim 1, characterized in that: The outer wall at the bottom of the suction cup (6) is fixedly connected to a smart car (7), and a circular track (8) is arranged at the bottom of the wheels of the smart car (7).

8. The V2X-based field-in-the-loop intelligent driving vehicle testing method according to claim 7, characterized in that: A test bench (9) is arranged inside the annular runway (8), and a horizontally movable test dummy (10) is arranged on the test bench (9).

9. The V2X-based field-in-the-loop intelligent driving vehicle testing method according to claim 7, characterized in that: A road test signboard (11) is arranged on a straight road of the circular runway (8) away from the smart car (7).

10. The V2X-based field-in-the-loop intelligent driving vehicle testing method according to claim 1, characterized in that: A U-shaped plate (13) is welded to the bottom outer wall of the bottom plate (416), and the second connecting rod (422) is rotatably connected to the inner wall of one side of the U-shaped plate (13).

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