A V2X-based field-in-the-loop intelligent driving vehicle testing method

Abstract

The present invention belongs to the field of intelligent vehicle testing technology, and in particular, is a method for testing intelligent driving vehicles in a field-in-the-loop based on V2X. In response to the problem raised in the background art that intelligent vehicles have difficulty identifying various emergency situations, the following solution is proposed: the intelligent driving vehicle testing method comprises 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, the outer shield being provided with a monitoring mechanism for monitoring the external environment and making timely early warnings. The present invention adds a corresponding monitoring mechanism, which can expand the monitoring angle of the visual monitor by adjusting the monitoring range of the visual monitor, and can ensure the clarity of the visual monitor's observation by cooperating with a corresponding cleaning and wiping mechanism, thereby accurately judging road conditions and targets, and making timely responses 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 V2X-based field-in-the-loop intelligent driving vehicle testing method. Background Art

[0002] Intelligent driving essentially involves the cognitive engineering of attention capture and distraction, encompassing three key components: network navigation, autonomous driving, and human intervention. The prerequisite for intelligent driving is that the vehicle we select meets driving dynamics requirements, that its sensors can acquire relevant visual and auditory signals and information, and that the corresponding servo systems can be controlled through cognitive computing.

[0003] The widespread adoption of intelligent vehicles places extremely high demands on their functional integrity and safety. Traditional testing methods are often limited to laboratory simulations or actual road testing. The former struggles to fully replicate the complexity of real-world road conditions, while the latter faces challenges such as high costs, high risks, and difficulty controlling test scenarios. Summary of the Invention

[0004] In response to the shortcomings of the existing technology, the present invention provides a V2X-based field-in-the-loop intelligent driving vehicle testing method, which overcomes the shortcomings of the existing technology and effectively solves the problem that smart cars have difficulty identifying 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, comprising an intelligent driving vehicle testing device, the intelligent driving vehicle testing device comprising a base, a fixing bracket welded to a top outer wall of the base, an outer shield fixedly connected to one side outer wall of the fixing bracket by screws, a monitoring mechanism disposed within the outer shield for monitoring the external environment and providing timely warnings, and a wiping mechanism disposed on the top outer wall of the outer shield to prevent lens contamination;

[0007] The base is composed of a viewing angle adjustment component, a lifting component and a horizontal component. The viewing angle adjustment component is arranged inside the outer shield and is used to drive the monitoring mechanism to move in a circular motion. The lifting component is used to expand or reduce the monitoring range of the monitoring mechanism. The horizontal component is used to control the monitoring mechanism 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 symmetrically distributed outer wall on the top of the fixed seat by screws, the bending rod is fixedly connected to the output shaft of the servo motor three, the fixed sleeve is welded on 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 the limit plate is 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 drives 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 smart car's V2X system.

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

[0012] S3: During 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 servo motor 1 drives the connecting rod 1 to rotate, thereby controlling the visual monitor to rotate with the center of the connecting rod 1 as the axis;

[0014] S5: While 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 monitoring device can observe the test dummy using a wide range of monitoring angles and issue a timely stop warning. As the smart car continues to drive, the visual monitoring device can observe and identify the corresponding road test signs and roadside signs, so that the car can make correct driving decisions.

[0015] S6: A V2X roadside perception system is installed on the circular track. Deployed at key locations within the test site, the V2X roadside perception system typically integrates multiple sensors, such as millimeter-wave radar, lidar, and high-definition cameras, to provide large-scale, high-precision perception of the test site's overall traffic conditions and road environment. The data acquired is transmitted in real time via V2X communication to V2X-enabled intelligent driving vehicles within the test site for vehicle-road collaboration and performance testing. The data is also 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 becomes blurry, the visual monitor is first adjusted to the highest point, and then the servo motor drives the bending rod to rotate, thereby controlling 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 achieving cleaning of the visual monitor lens;

[0017] S8: Bicycle Intelligent Test

[0018] (1) Test scenario construction: On the test control and scenario simulation platform, first select or customize the corresponding test scenario based on the goal of the single-vehicle intelligent test, such as parking scenarios (including parallel parking, perpendicular parking, and diagonal parking), curve driving scenarios, and following vehicle scenarios (different following distances and different changes in the speed of the leading vehicle). For each scenario, set detailed environmental parameters, such as road width, the presence 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 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 subsystems such as the on-board sensors and the automatic driving controller are in normal working condition, and the on-board communication unit is turned on, ready 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 automatic driving controller makes decisions and controls the vehicle's driving movements according to the built-in algorithm. During the driving process, 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 (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 to braking or steering in an emergency). By comprehensively analyzing effective indicators, a quantitative evaluation result of the vehicle's single-vehicle intelligent function is given.

[0022] S9: V2X vehicle-road collaboration test

[0023] (1) Collaborative scenario setting. Vehicle-road collaborative testing also constructs scenarios on the test control and scenario simulation platform, but focuses more on scenarios involving the interaction and collaboration between vehicles, roadside facilities, and other vehicles. For example, 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 road congestion information and sends it to vehicles, and the vehicles automatically adjust their speed to achieve more efficient passage), 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 detailed 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.

[0024] (2) Information interaction configuration: ensure that the V2X communication link between the on-board communication unit of the intelligent driving vehicle and the V2X roadside perception system is stable and reliable, configure communication parameters such as communication frequency band and encryption method, and set 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 onboard 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. 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 in real time, as well as the actual driving performance of the vehicle, and records key data such as information transmission delay and vehicle collaborative action execution.

[0026] (4) Collaborative effect evaluation: After the V2X collaborative test is completed, the V2X collaborative effect is evaluated from multiple perspectives based on the various data collected by the platform. For example, from the perspective of traffic efficiency, it can be analyzed whether the average travel time of vehicles in the collaborative scenario 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, indicators such as the packet loss rate and bit error rate of information transmission and the correct interpretation 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 V2X collaborative vehicle-road are obtained.

[0027] Preferably, the outer shield includes 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 assembly 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 through a coupling, a bevel gear 1 installed on the outer wall of one end of the connecting rod 2, a bevel gear 2 engaged 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 outer wall of the top 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 runway is provided at the bottom of the wheel of the smart car.

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

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

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

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

[0037] The V2X-based field-in-the-loop intelligent driving vehicle testing method of the present invention installs a corresponding monitoring mechanism on the smart car. By adjusting the monitoring range of the visual monitor, the monitoring angle of the visual monitor can be expanded. In combination with a corresponding cleaning and wiping mechanism, the clarity of the visual monitor can be ensured, thereby accurately judging road conditions and targets, and making timely responses to different road conditions.

[0038] The V2X-based field-in-the-loop intelligent driving vehicle testing method of the present invention drives the rotation of the connecting rod 1 by the servo motor 2 to control the screw rod to drive the hinge seat 2 on the top of the internal threaded frame to rise and fall, thereby adjusting the tilt angle of the docking plate. The cooperation between the bidirectional tube and the vertical column ensures 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 rotation of the connecting rod 1, 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 over 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] 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. Then, the servo motor drives the bending rod to rotate, which can control the wiping brush on the disk 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 achieving cleaning of the visual monitor lens, ensuring the clarity of the visual monitor lens and avoiding the problem of response errors due to lens blur.

[0040] The V2X-based field-in-the-loop intelligent driving vehicle testing method of this invention combines the advantages of virtual scenarios and actual field conditions. With the rise of V2X technology, integrating it into the field-in-the-loop testing framework to develop a testing method that supports both single-vehicle intelligence and vehicle-road collaboration is of great significance for the efficient and accurate testing of intelligent driving vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

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

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

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

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

[0048] Figure 8 This is a schematic diagram of the V2X roadside perception system structure of the 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 assembly; 411. Servo motor 1; 412. Connecting rod 1; 413. Hinge seat 1; 414. Docking plate; 415. Visual monitor; 416. Bottom plate; 42. Lifting assembly; 421. Servo motor 2; 422. Connecting rod 2; 423. Bevel gear 1; 424. Bevel gear 2; 425. Screw; 426. Internal screw Frame; 427, hinge seat 2; 43, horizontal component; 431, horizontal column; 432, bidirectional tube; 433, vertical column; 5, wiping mechanism; 51, fixed seat; 52, servo motor 3; 53, bending rod; 54, fixing 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, road top sign; 13, U-shaped plate. DETAILED DESCRIPTION

[0050] The technical solutions in the embodiments of the present invention will be clearly and completely described 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] Example 1, refer to Figures 1-8 A V2X-based field-in-the-loop intelligent driving vehicle testing method, the intelligent driving vehicle testing method comprises an intelligent driving vehicle testing device, the intelligent driving vehicle testing device comprises 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 timely early warning processing is provided inside the outer shield 3, and a wiping mechanism 5 is provided on the top outer wall of the outer shield 3 to prevent lens contamination.

[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. Combined with the corresponding cleaning and wiping mechanism 5, the clarity of the observation of the visual monitor 415 can be ensured, and 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, wherein the base 1 is composed of a viewing angle adjustment component 41, a lifting component 42 and a horizontal component 43. Among them, the viewing angle adjustment component 41 is arranged inside the outer shield 3 and is used to drive the monitoring mechanism 4 to move in a circular motion. The lifting component 42 is used to expand or reduce the monitoring range of the monitoring mechanism 4. The horizontal component 43 is used to control the monitoring mechanism 4 to always maintain a horizontal angle.

[0054] In this embodiment, by driving the connecting rod 2 422 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 mutual 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 circle of the connecting rod 1 412 as the axis, thereby being able to observe the road conditions ahead in 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 losses.

[0055] Example 3, refer to Figure 2-Figure 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 limit 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 symmetrically distributed servo motor 3 52 is fixedly connected to the top outer wall of the fixed seat 51 by screws, 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 adhered to the outer wall of one side of the disc 55, and the limit plate 57 is welded to the outer wall of the top outer wall of the outer shield 3, wherein the limit 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 the limit plate 57 is 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 sleeve 32 , and 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 .

[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 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 through 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 engaged 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 threaded 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 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 base plate 416.

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

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

[0063] Reference Figure 7 A test bench 9 is provided inside the circular runway 8, and a horizontally movable test dummy 10 is provided 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-Figure 5 A U-shaped plate 13 is welded to the outer wall of the bottom 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: Smart car 7 is traveling on circular track 8. The suction cup 6 at the bottom of the base 1 is attached to the top of the smart car 7. 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 2 422 to rotate, which in turn drives the bevel gear 1 423 to control the rotation of the bevel gear 2 424, which in turn controls the screw rod 425 to drive the hinge seat 2 427 on the top of the internal threaded 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: During 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, ensuring 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 base plate 416 is determined, the servo motor 1 411 drives the connecting rod 1 412 to rotate, thereby controlling the visual monitor 415 to rotate around the center of the connecting rod 1 412;

[0072] S5: While the smart car 7 is driving, the test dummy 10 moves from the test bench 9. When the test dummy 10 moves in front of the smart car 7, the visual monitoring device 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 device 415 can observe and identify the corresponding road test sign 11 and road top sign 12, so as to make correct driving decisions.

[0073] S6: A V2X roadside perception system is installed on circular track 8. Deployed at key locations across the test site, the V2X roadside perception system typically integrates multiple sensors, such as millimeter-wave radar, lidar, and high-definition cameras, to provide large-scale, high-precision perception of the test site's overall traffic conditions and road environment. The data acquired is transmitted in real time via V2X communication to V2X-enabled intelligent driving vehicles within the test site for testing vehicle-road collaboration functions and performance. The data is also 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 based on the goal of the single-vehicle intelligent test, such as parking scenarios (including parallel parking, perpendicular parking, and diagonal parking), curve driving scenarios, and following vehicle scenarios (different following distances and different changes in the speed of the leading vehicle). For each scenario, set detailed environmental parameters, such as road width, the presence 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 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 subsystems such as the on-board sensors and the automatic driving controller are in normal working condition, and the on-board communication unit is turned on, ready 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).

[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 automatic driving controller makes decisions and controls the vehicle's driving movements according to the built-in algorithm. During the driving process, 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 (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 to braking or steering in an emergency). By comprehensively analyzing effective 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. Vehicle-road collaborative testing also constructs scenarios on the test control and scenario simulation platform, but focuses more on scenarios involving the interaction and collaboration between vehicles, roadside facilities, and other vehicles. For example, 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 road congestion information and sends it to vehicles, and the vehicles automatically adjust their speed to achieve more efficient passage), 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 detailed 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.

[0082] (2) Information interaction configuration: ensure that the V2X communication link between the on-board communication unit of the intelligent driving vehicle and the V2X roadside perception system is stable and reliable, configure communication parameters such as communication frequency band and encryption method, and set 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.

[0083] (3) Collaborative test execution. After the vehicle-road collaborative test is started, in addition to relying on the information obtained by its own onboard 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. 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 in real time, as well as the actual driving performance of the vehicle, and records key data such as information transmission delay and vehicle collaborative action execution.

[0084] (4) Collaborative effect evaluation: After the V2X collaborative test is completed, the V2X collaborative effect is evaluated from multiple perspectives based on the various data collected by the platform. For example, from the perspective of traffic efficiency, it can be analyzed whether the average travel time of vehicles in the collaborative scenario 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, indicators such as the packet loss rate and bit error rate of information transmission and the correct interpretation 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 V2X collaborative vehicle-road 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 to 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, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0086] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature identified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0087] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection 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 timely warnings is provided inside the outer shield (3), and a wiping mechanism (5) for preventing lens contamination is provided 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 mechanism (4) to move in a circular motion, the lifting component (42) is used to expand or reduce the monitoring range of the monitoring mechanism (4), and the horizontal component (43) is used to control the monitoring mechanism (4) to always maintain a horizontal angle; The wiping mechanism (5) is composed of a fixed seat (51), a servo motor three (52), a bending rod (53), a fixed sleeve (54), a disc (55), a wiping brush (56) and a limit plate (57), wherein the fixed seat (51) is welded to the top outer wall of the outer shield (3), the symmetrically distributed servo motor three (52) is fixedly connected to the top outer wall of the fixed seat (51) by screws, and the bending rod (53) is fixedly connected to the output shaft of the servo motor three (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 top outer wall of the outer shield (3), wherein the limiting plate (57) includes two, which are respectively arranged at both ends of the outer wall of one side of the fixing seat (51), and the limiting plate (57) is 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 car (7) is driving, the servo motor (421) drives the connecting rod (422) to rotate, thereby driving the bevel gear (423) to control the bevel gear (424) to rotate, thereby controlling the screw (425) to drive the hinge seat (427) on 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: 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; S4: After the distance between the visual monitor (415) and the base plate (416) is determined, the servo motor (411) drives the connecting rod (412) to rotate, thereby controlling the visual monitor (415) to rotate with the center of the connecting rod (412) as the axis; S5: When the smart car (7) is driving, the test dummy (10) moves from the test bench (9). When the test dummy (10) moves in front of the smart car (7), the visual monitoring device (415) can observe the test dummy (10) using a wide range of monitoring angles and issue a timely parking warning. When the smart car (7) continues to drive, the visual monitoring device (415) can observe and identify the corresponding road test signboard (11) and the road top signboard (12), thereby making correct driving regulations; 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 integrates a variety of sensors, including millimeter wave radar, laser radar, and high-definition cameras, 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 intelligent driving vehicles with V2X functions in the field through V2X communication for vehicle-road cooperative function and performance-related testing. On the other hand, it is transmitted to the test control and scenario simulation platform for monitoring and analysis of 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 bending rod (53) is driven to rotate by the servo motor 3 (52), thereby controlling the wiping brush (56) on the disc (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: Bicycle Intelligent Test (1) Test scenario construction. On the test control and scenario simulation platform, first select or customize the corresponding test scenario based on the goal of the single-vehicle intelligent test. The test scenarios include parking scenarios, curve driving scenarios, and following vehicle scenarios. For each scenario, set detailed environmental parameters, including road width, the presence of obstacles, and the initial position and speed of surrounding vehicles. (2) Initial condition configuration: Based on the constructed scenario, the initial condition configuration of the intelligent driving vehicle is performed, including the vehicle's initial position, speed, and heading angle. At the same time, it is ensured that the on-board sensors and the autonomous driving controller are in normal working condition, and the on-board communication unit is turned on and ready to receive possible auxiliary information from the platform and the V2X roadside perception system; (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 automatic driving controller makes decisions and controls the vehicle's driving movements according to the built-in algorithm. During the driving process, the vehicle continuously feeds back its own status information 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. If the vehicle deviates from the expected trajectory or collides with an obstacle, the platform records the corresponding fault information and 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 include path tracking accuracy, obstacle recognition accuracy, and response time. Through comprehensive analysis of effective indicators, a quantitative evaluation result of the vehicle's single-vehicle intelligent function is given; S9: V2X vehicle-road collaboration test (1) Collaborative scenario setting. The vehicle-road collaborative test is constructed on the test control and scenario simulation platform, involving scenarios of interaction and collaboration between vehicles, roadside facilities, and other vehicles. For each scenario, in addition to configuring conventional road and environmental parameters, the perception range of the V2X roadside perception system, information release frequency, and V2X communication protocol between different vehicles must be set in detail; (2) Information interaction configuration, ensuring that the V2X communication link between the on-board communication unit of the intelligent driving vehicle and the V2X roadside perception system is stable and reliable, configuring the communication frequency band and encryption method, and setting the exchange format and rules for different types of information. 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 the effective information, the autonomous driving controller parses and integrates it into its own decision-making algorithm to generate the corresponding cooperative 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 uses the collaborative information received from the V2X roadside perception system to make decisions and control. In the intersection collaborative traffic scenario, the vehicle adjusts its speed and driving trajectory in real time according to the position and speed of other vehicles at the intersection broadcast by the V2X roadside perception system. 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 the information transmission delay and the execution of vehicle collaborative actions; (4) Collaborative effect evaluation: After the vehicle-road collaborative test is completed, the vehicle-road collaborative effect is evaluated from multiple perspectives based on various data collected by the platform. From the perspective of traffic efficiency, it is analyzed whether the average travel time of vehicles in the collaborative scenario is shortened and whether the road congestion situation is improved. From the perspective of safety, the number of potential collision risks in the collaborative process and the minimum safe distance maintained between vehicles are counted. From the perspective of information interaction reliability, the packet loss rate and bit error rate of information transmission and the correct parsing rate of received information by the vehicle are examined.

2. The 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, 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 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 transverse column (431) is slidably connected to the inner wall of the two-way 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: Symmetrically distributed suction cups (6) are installed on the outer wall of the bottom of the base (1).

7. 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 suction cup (6) is fixedly connected to a smart car (7), and a circular runway (8) is provided at the bottom of the wheel 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 provided inside the annular runway (8), and a horizontally movable test dummy (10) is provided 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 provided 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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