Vehicle-mounted sensor testing system and method, storage medium and target controller

Abstract

The invention provides a vehicle-mounted sensor testing system and method, a storage medium and a target controller, and according to the vehicle-mounted sensor testing method provided by the invention, a multi-degree-of-freedom adjusting mechanism contained in a testing device at the vehicle-mounted sensor testing system can be used for connecting a vehicle-mounted sensor or a vehicle-mounted sensor calibration plate, and the target controller can be used for testing the vehicle-mounted sensor or the vehicle-mounted sensor calibration plate. After target position information of the vehicle-mounted sensor or the vehicle-mounted sensor calibration plate is obtained by using a target controller at the vehicle-mounted sensor test system, generating a first control instruction for the multi-degree-of-freedom adjusting mechanism according to the target position information; and the first control instruction is sent to the multi-degree-of-freedom adjusting mechanism, so that the multi-degree-of-freedom adjusting mechanism can respond to the first control instruction to move, and the vehicle-mounted sensor or the vehicle-mounted sensor calibration plate is controlled to reach a target position.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle-mounted sensor testing, and in particular to a vehicle-mounted sensor testing system, method, storage medium and target controller. Background Art

[0002] With the continuous development of science and technology, automobile manufacturers have gradually begun to install on-board sensors such as radar sensors, image sensors, inertial navigation sensors, etc. in vehicles to perceive and monitor the surrounding environment and the operation of the vehicle itself, and then combine other related technologies to improve vehicle performance and ensure driving safety. This inevitably requires some testing of vehicle on-board sensors in the automobile research and development stage, automobile production stage and automobile after-sales stage. Based on this, how to improve the operational convenience of the testing process for on-board sensors has become an urgent problem to be solved. Summary of the invention

[0003] Based on this, the present invention provides a vehicle-mounted sensor testing system, method, storage medium and target controller. By adopting the vehicle-mounted sensor testing system or method, the vehicle-mounted sensor or the vehicle-mounted sensor calibration plate can be automatically adjusted to reach the target position, which is conducive to improving the convenience of the vehicle-mounted sensor testing process.

[0004] In one aspect, the present invention provides a vehicle-mounted sensor test system, the test system comprising: a test device and a target controller capable of communication connection;

[0005] Wherein, the test device includes a multi-degree-of-freedom adjustment mechanism for connecting the vehicle-mounted sensor or the vehicle-mounted sensor calibration plate;

[0006] The target controller is used to receive the target position information of the vehicle-mounted sensor or the vehicle-mounted sensor calibration plate, and to control the multi-degree-of-freedom adjustment mechanism at the test device to move according to the target position information, so as to control the vehicle-mounted sensor or the vehicle-mounted sensor calibration plate to reach the target position.

[0007] Furthermore, in some embodiments, the multi-degree-of-freedom adjustment mechanism includes:

[0008] a first rotating mechanism;

[0009] a first slide mechanism connected to the first rotating mechanism, the first rotating mechanism being capable of driving the first slide mechanism to rotate around a rotating shaft of the first rotating mechanism; a first slider being provided on the first slide mechanism and being capable of sliding along an extension direction of the first slide mechanism;

[0010] A second rotating mechanism connected to the first sliding block;

[0011] A second slide mechanism, which is connected to the second rotating mechanism, and the second rotating mechanism can drive the second slide mechanism to rotate around the rotating axis of the second rotating mechanism; the second slide mechanism is provided with a second slider, which can slide along the extension direction of the second slide mechanism;

[0012] A third rotating mechanism is connected to the second slider; and the third rotating mechanism is also used to connect the vehicle-mounted sensor or the vehicle-mounted sensor calibration plate, and the third rotating mechanism can drive the vehicle-mounted sensor or the vehicle-mounted sensor calibration plate to rotate around the rotating axis of the third rotating mechanism.

[0013] Further, in some embodiments, the target position information is used to determine a first moving distance of the first slider at the first slide mechanism, a second moving distance of the second slider at the second slide mechanism, a first rotation angle of the first rotation mechanism, a second rotation angle of the second rotation mechanism, and a third rotation angle of the third rotation mechanism;

[0014] The target controller is specifically used to: control the first rotating mechanism to drive the first sliding mechanism to rotate the first rotating angle around the rotating axis of the first rotating mechanism, control the first slider to slide the first moving distance along the extension direction of the first sliding mechanism, control the second rotating mechanism to drive the second sliding mechanism to rotate the second rotating angle around the rotating axis of the second rotating mechanism, control the second slider to slide the second moving distance along the extension direction of the second sliding mechanism, and control the third rotating mechanism to drive the vehicle-mounted sensor or the vehicle-mounted sensor calibration plate to rotate the third rotating angle around the rotating axis of the third rotating mechanism;

[0015] Wherein, the extension direction of the first slide mechanism is a vertical direction, and the extension direction of the second slide mechanism is a different direction from the extension direction of the first slide mechanism.

[0016] Further, in some embodiments, the first slide mechanism and the second slide mechanism respectively include any one of a screw slide and a synchronous belt slide;

[0017] The first rotating mechanism, the second rotating mechanism and the third rotating mechanism respectively include: any one of a rotating slide and a stepping motor.

[0018] Further, in some embodiments, if the third rotating mechanism is connected to the vehicle-mounted sensor, the test system further comprises: a non-volatile data acquisition device capable of being communicatively connected to the vehicle-mounted sensor;

[0019] The non-volatile data acquisition device is used to receive and store the sensor data collected by the vehicle-mounted sensor.

[0020] Furthermore, in some embodiments, the test system further includes: a preset controller equipped with at least one of an intelligent cockpit system, an intelligent driving system, and a cockpit-driving fusion system;

[0021] At least one of the vehicle-mounted sensor and the non-volatile data acquisition device is communicatively connected to the preset controller; the preset controller and the target controller are the same controller, or the preset controller is another controller communicatively connected to the target controller;

[0022] The preset controller is used to generate warning information reflecting that the sensor data does not meet the preset condition after using at least one of the intelligent cockpit system, the intelligent driving system and the cabin-drive fusion system to identify that the sensor data does not meet the preset condition;

[0023] The vehicle-mounted sensor is further used to stop transmitting the sensor data to the non-volatile data acquisition device based on the warning information, or the non-volatile data acquisition device is further used to stop storing the sensor data based on the warning information;

[0024] The target controller is used to control the multi-degree-of-freedom adjustment mechanism to move according to the early warning information, so as to control the vehicle-mounted sensor to reach the target position again.

[0025] Further, in some embodiments, the first slide mechanism, the second slide mechanism, the first rotation mechanism, the second rotation mechanism, and the third rotation mechanism are respectively connected to the target controller by wire, or the first slide mechanism, the second slide mechanism, the first rotation mechanism, the second rotation mechanism, and the third rotation mechanism are respectively connected to the target controller wirelessly through a wireless communication module;

[0026] The vehicle-mounted sensor is connected to the non-volatile data acquisition device by wire, or the vehicle-mounted sensor is connected to the non-volatile data acquisition device by wireless communication module;

[0027] The preset controller is connected to the vehicle-mounted sensor by wire, or the preset controller is connected to the vehicle-mounted sensor by wireless communication module;

[0028] The preset controller is connected to the non-volatile data acquisition device by wire, or the preset controller is connected to the non-volatile data acquisition device by wireless via a wireless communication module;

[0029] If the preset controller is a controller other than the target controller, the preset controller is connected to the target controller by wire, or the preset controller is connected to the target controller wirelessly via a wireless communication module.

[0030] Further, in some embodiments, the vehicle-mounted sensor includes: at least one of a radar sensor, an image sensor, and an inertial navigation sensor;

[0031] The vehicle-mounted sensor calibration plate includes: at least one of a radar calibration plate and a visual calibration plate;

[0032] The testing device comprises one or more multi-degree-of-freedom adjustment mechanisms, and each of the multi-degree-of-freedom adjustment mechanisms is connected to only one of the vehicle-mounted sensors or one of the vehicle-mounted sensor calibration plates.

[0033] On the other hand, the present invention also provides a vehicle-mounted sensor testing method, the method comprising:

[0034] Obtaining target position information of a vehicle-mounted sensor or a vehicle-mounted sensor calibration plate connected to a multi-degree-of-freedom adjustment mechanism included in a test device at a vehicle-mounted sensor test system; wherein the vehicle-mounted sensor test system is the above-mentioned vehicle-mounted sensor test system;

[0035] Generate a first control instruction for the multi-degree-of-freedom adjustment mechanism according to the target position information; the first control instruction is used to control the multi-degree-of-freedom adjustment mechanism to move, so as to control the vehicle-mounted sensor or the vehicle-mounted sensor calibration plate to reach the target position;

[0036] The first control instruction is sent to the multi-degree-of-freedom adjustment mechanism.

[0037] Furthermore, in some embodiments, if the multi-degree-of-freedom adjustment mechanism is connected to the vehicle-mounted sensor, the vehicle-mounted sensor testing system further includes: a preset controller equipped with at least one of an intelligent cockpit system, an intelligent driving system, and a cockpit-driver fusion system; the method further includes:

[0038] Acquire warning information generated by the preset controller; the warning information is information generated by the preset controller after using at least one of the intelligent cockpit system, the intelligent driving system and the cockpit-driving fusion system to identify that the sensor data collected by the vehicle-mounted sensor does not meet the preset conditions;

[0039] generating a second control instruction for the multi-degree-of-freedom adjustment mechanism; the second control instruction is used to control the multi-degree-of-freedom adjustment mechanism to move, so as to control the vehicle-mounted sensor to reach a preset initial position;

[0040] sending the second control instruction to the multi-degree-of-freedom adjustment mechanism;

[0041] generating a third control instruction for the multi-degree-of-freedom adjustment mechanism according to the target position information; the third control instruction is used to control the multi-degree-of-freedom adjustment mechanism to move, so as to control the vehicle-mounted sensor to reach the target position;

[0042] The third control instruction is sent to the multi-degree-of-freedom adjustment mechanism.

[0043] Further, in some embodiments, the vehicle-mounted sensor testing system further includes: a non-volatile data acquisition device capable of being communicatively connected to the vehicle-mounted sensor;

[0044] After obtaining the warning information generated by the preset controller, the method further includes:

[0045] Based on the warning information, generating a first instruction for prohibiting the vehicle-mounted sensor from sending the sensor data to the non-volatile data acquisition device;

[0046] Sending the first instruction to the vehicle-mounted sensor; or,

[0047] Based on the warning information, generating a second instruction for prohibiting the non-volatile data acquisition device from storing the sensor data;

[0048] The second instruction is sent to the non-volatile data acquisition device.

[0049] Furthermore, in some embodiments, the multi-degree-of-freedom adjustment mechanism includes:

[0050] a first rotating mechanism;

[0051] a first slide mechanism connected to the first rotating mechanism, the first rotating mechanism being capable of driving the first slide mechanism to rotate around a rotating shaft of the first rotating mechanism; a first slider being provided on the first slide mechanism and being capable of sliding along an extension direction of the first slide mechanism;

[0052] A second rotating mechanism connected to the first sliding block;

[0053] A second slide mechanism, which is connected to the second rotating mechanism, and the second rotating mechanism can drive the second slide mechanism to rotate around the rotating axis of the second rotating mechanism; the second slide mechanism is provided with a second slider, which can slide along the extension direction of the second slide mechanism;

[0054] A third rotating mechanism connected to the second slider; and the third rotating mechanism is also used to connect the vehicle-mounted sensor or the vehicle-mounted sensor calibration plate, and the third rotating mechanism can drive the vehicle-mounted sensor or the vehicle-mounted sensor calibration plate to rotate around the rotating shaft of the third rotating mechanism;

[0055] The step of generating a first control instruction for the multi-degree-of-freedom adjustment mechanism according to the target position information includes:

[0056] Determine, according to preset coordinate data and preset orientation data of the vehicle-mounted sensor or the vehicle-mounted sensor calibration plate in a preset coordinate system contained in the target position information, a first moving distance of the first slider at the first slide mechanism, a second moving distance of the second slider at the second slide mechanism, a first rotation angle of the first rotating mechanism, a second rotation angle of the second rotating mechanism, and a third rotation angle of the third rotating mechanism;

[0057] A first control instruction for the multi-degree-of-freedom adjustment mechanism is generated according to the first moving distance, the second moving distance, the first rotation angle, the second rotation angle, and the third rotation angle.

[0058] Further, in some embodiments, the vehicle-mounted sensor includes: at least one of a radar sensor, an image sensor, and an inertial navigation sensor;

[0059] The vehicle-mounted sensor calibration plate includes: at least one of a radar calibration plate and a visual calibration plate;

[0060] The testing device comprises one or more multi-degree-of-freedom adjustment mechanisms, and each of the multi-degree-of-freedom adjustment mechanisms is connected to only one of the vehicle-mounted sensors or one of the vehicle-mounted sensor calibration plates.

[0061] On the other hand, the present invention further provides a storage medium having a computer program stored thereon, wherein the computer program implements the steps of the above method when executed by a processor.

[0062] On the other hand, the present invention also provides a target controller, comprising: a processor and a memory; wherein the memory stores computer-readable instructions, and the computer-readable instructions are suitable for being loaded by the processor and executing the steps of the above method

[0063] According to the vehicle-mounted sensor testing method provided by the present invention, the vehicle-mounted sensor or the vehicle-mounted sensor calibration plate can be connected to the multi-degree-of-freedom adjustment mechanism included in the test device at the vehicle-mounted sensor testing system, and after the target position information of the vehicle-mounted sensor or the vehicle-mounted sensor calibration plate is obtained by using the target controller at the vehicle-mounted sensor testing system, a first control instruction for the multi-degree-of-freedom adjustment mechanism is generated according to the target position information; the first control instruction is sent to the multi-degree-of-freedom adjustment mechanism so that the multi-degree-of-freedom adjustment mechanism can move in response to the first control instruction, thereby controlling the vehicle-mounted sensor or the vehicle-mounted sensor calibration plate to reach the target position; it is not only conducive to improving the operational convenience of the testing process for the vehicle-mounted sensor, but also can improve the flexibility of the testing process for the vehicle-mounted sensor, meet various testing requirements involving vehicle-mounted sensors in various scenarios such as automobile development, production and after-sales maintenance, and has good practicality.

[0064] It should be understood that the contents described in the summary of the invention are not intended to limit the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] Figure 1 A schematic diagram of the structure of a vehicle-mounted sensor testing system provided by an embodiment of the present invention;

[0066] Figure 2 A schematic diagram of the structure of a multi-degree-of-freedom adjustment mechanism provided by an embodiment of the present invention;

[0067] Figure 3 A schematic diagram of an application scenario of a vehicle-mounted sensor testing system provided by an embodiment of the present invention;

[0068] Figure 4 A schematic diagram of another application scenario of a vehicle-mounted sensor testing system provided by an embodiment of the present invention;

[0069] Figure 5 A schematic diagram of an application scenario of another vehicle-mounted sensor testing system provided by an embodiment of the present invention;

[0070] Figure 6 A schematic diagram of a process flow of a vehicle-mounted sensor testing method provided by an embodiment of the present invention;

[0071] Figure 7 A schematic diagram of the structure of a target controller provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0072] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the specific embodiments of the present invention and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0073] In the description of one or more embodiments of the present invention, the term "including" and similar terms should be understood as open inclusion, that is, "including but not limited to". The term "based on" should be understood as "based at least in part on". The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment". The terms "first", "second", etc. may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0074] With the continuous development of science and technology, automobile manufacturers have gradually begun to install on-board sensors in vehicles to perceive and monitor the vehicle's surrounding environment and the vehicle's own operation. Then, they can use the autonomous driving system, smart cockpit system or cabin-driver fusion system to calculate and process the sensor data collected by the on-board sensors, which is beneficial to improving vehicle performance and ensuring driving safety.

[0075] At present, in the early stage of automobile development, automobile manufacturers usually only design a virtual digital model of the whole vehicle. Therefore, the staff can only conduct theoretical analysis based on the virtual digital model of the whole vehicle to simulate the test of the layout position and perception range of each vehicle-mounted sensor, and analyze and obtain the optimized deployment plan of the vehicle-mounted sensors by manually adjusting the deployment position of the virtual vehicle-mounted sensors, which affects the authenticity and ease of operation of the test process for the deployment method of the vehicle-mounted sensors.

[0076] During the R&D and testing phase of autonomous driving systems, smart cockpit systems, or cockpit-driver fusion systems, it is usually necessary to place a fixed set of on-board sensor combinations on the top of the data collection vehicle to collect a large amount of real sensor data to meet the development, verification, and optimization requirements of the above systems. However, since the deployment position of the on-board sensor combination at the data collection vehicle is inconsistent with the theoretical deployment position designed by the automobile manufacturer in the early stage, the deployment position of each on-board sensor carried by the data collection vehicle is usually unable to be adjusted, which affects the data authenticity, validity, and convenience when using the on-board sensors to collect sensor data.

[0077] Also, during the automobile production process and automobile after-sales maintenance process, when it is necessary to calibrate the on-board sensors installed in each model, since the types, quantities and deployment locations of the on-board sensors in different models are often different, it is usually necessary to set up different calibration and testing environments for each model in advance, which also affects the calibration efficiency and operational convenience of the on-board sensors.

[0078] Based on this, how to improve the operational convenience of the testing process for vehicle-mounted sensors has become an urgent problem to be solved.

[0079] The present invention proposes a vehicle-mounted sensor testing system and method. According to the vehicle-mounted sensor testing system and method provided by the present invention, a multi-degree-of-freedom adjustment mechanism included in a test device at the vehicle-mounted sensor testing system can be used to connect a vehicle-mounted sensor or a vehicle-mounted sensor calibration plate, and after obtaining the target position information of the vehicle-mounted sensor or the vehicle-mounted sensor calibration plate by using a target controller at the vehicle-mounted sensor testing system, a first control instruction for the multi-degree-of-freedom adjustment mechanism is generated according to the target position information; the first control instruction is sent to the multi-degree-of-freedom adjustment mechanism so that the multi-degree-of-freedom adjustment mechanism can move in response to the first control instruction, thereby controlling the vehicle-mounted sensor or the vehicle-mounted sensor calibration plate to reach the target position; this is not only conducive to improving the operational convenience of the test process for the vehicle-mounted sensor, but also can improve the flexibility of the test process for the vehicle-mounted sensor, meet various test requirements involving vehicle-mounted sensors in various scenarios such as automobile development, production and after-sales maintenance, and has good practicality.

[0080] See also Figure 1 , is a schematic diagram of the structure of a vehicle sensor testing system provided by an embodiment of the present invention. Figure 1 As shown, the vehicle-mounted sensor testing system may include: a testing device 11 and a target controller 12 that are communicatively connected.

[0081] The testing device 11 may include a multi-degree-of-freedom adjustment mechanism for connecting the vehicle-mounted sensor or the vehicle-mounted sensor calibration plate.

[0082] The target controller 12 can be used to receive the target position information of the vehicle-mounted sensor or the vehicle-mounted sensor calibration plate, and control the multi-degree-of-freedom adjustment mechanism at the test device to move according to the target position information to control the vehicle-mounted sensor or the vehicle-mounted sensor calibration plate to reach the target position.

[0083] In an embodiment of the present invention, the testing device 11 may at least include a multi-degree-of-freedom adjustment mechanism, which may refer to a mechanism capable of moving and rotating in space. By installing and fixing the vehicle-mounted sensor or the vehicle-mounted sensor calibration plate at the multi-degree-of-freedom adjustment mechanism, the multi-degree-of-freedom adjustment mechanism can drive the vehicle-mounted sensor or the vehicle-mounted sensor calibration plate to move and rotate during movement, so as to control the position and orientation of the vehicle-mounted sensor or the vehicle-mounted sensor calibration plate.

[0084] In an embodiment of the present invention, the target controller 12 can be responsible for issuing commands, directing and coordinating the various components of the vehicle-mounted sensor testing system to automatically operate according to the steps set by the program, thereby realizing the function of adjusting the position and orientation of the vehicle-mounted sensor or the vehicle-mounted sensor calibration plate based on software and hardware.

[0085] Specifically, the target controller 12 can determine the distance that the multi-degree-of-freedom adjustment mechanism needs to move or the angle of rotation at each degree of freedom according to the target position information of the vehicle-mounted sensor or the vehicle-mounted sensor calibration plate set at the multi-degree-of-freedom adjustment mechanism, and thus automatically control the movement of the multi-degree-of-freedom adjustment mechanism to automatically control the vehicle-mounted sensor or the vehicle-mounted sensor calibration plate carried by it to reach the target position, thereby facilitating the use of the vehicle-mounted sensor or the vehicle-mounted sensor calibration plate to meet the relevant testing requirements involving vehicle-mounted sensors in the stages of automobile research and development, automobile production, and automobile after-sales maintenance, which is convenient, fast, efficient and practical.

[0086] In practical applications, the target controller may be implemented by an integrated circuit, a chip, or the like, or may be implemented by other methods, which are not specifically limited.

[0087] In a feasible implementation, the multi-degree-of-freedom adjustment mechanism may include: a first slide mechanism, a second slide mechanism, a first rotation mechanism, a second rotation mechanism, and a third rotation mechanism. Each of the above slide mechanisms and each rotation mechanism can be used to achieve a movement of one degree of freedom, and the movement directions corresponding to the movement of each slide mechanism and the rotation mechanism are usually not consistent, so that the multi-degree-of-freedom adjustment mechanism can drive the vehicle-mounted sensor or the vehicle-mounted sensor calibration plate to any position and any orientation during operation, and has good flexibility.

[0088] Figure 2 Schematic diagram of a multi-degree-of-freedom adjustment mechanism provided in an embodiment of the present invention. In order to facilitate understanding of the structure and working principle of the multi-degree-of-freedom adjustment mechanism, Figure 2 Explain. Figure 2 As shown, the multi-degree-of-freedom adjustment mechanism may include:

[0089] The first rotating mechanism 21 .

[0090] The first slide mechanism 22 can be connected to the first rotating mechanism 21, and the first rotating mechanism 21 can drive the first slide mechanism 22 to rotate around the rotating axis of the first rotating mechanism 21; the first slide mechanism 22 can be provided with a first slider 201, which can slide along the extension direction of the first slide mechanism 22.

[0091] The second rotating mechanism 23 may be connected to the first sliding block 201 .

[0092] The second slide mechanism 24 can be connected to the second rotating mechanism 23, and the second rotating mechanism 23 can drive the second slide mechanism 24 to rotate around the rotating axis of the second rotating mechanism 23; the second slide mechanism 24 can be provided with a second slider 202, which can slide along the extension direction of the second slide mechanism 24.

[0093] The third rotating mechanism 25 can be connected to the second slider 202; and the third rotating mechanism 25 can also be used to connect the vehicle-mounted sensor 27 or the vehicle-mounted sensor calibration plate 26. The third rotating mechanism 25 can drive the vehicle-mounted sensor 27 or the vehicle-mounted sensor calibration plate 26 to rotate around the rotating axis of the third rotating mechanism 25.

[0094] In the embodiment of the present invention, the bottom surface of the first rotating mechanism 21 can be generally arranged on a horizontal plane, and in this case, the plane formed by the rotation of the rotating shaft of the first rotating mechanism 21 can be parallel to the horizontal plane. The first slide mechanism 22 can be specifically arranged on the top surface of the first rotating mechanism 21, and the extension direction of the first slide mechanism 22 can be perpendicular to the horizontal plane, so that the sliding direction of the first slider 201 at the first slide mechanism 22 can also be perpendicular to the horizontal plane.

[0095] The bottom surface of the second rotating mechanism 23 can be connected to the side wall of the first slider 201, and the plane formed by the rotation of the rotating shaft of the second rotating mechanism 23 can be perpendicular to the horizontal plane. The second slide mechanism 24 can be connected to the second rotating mechanism 23, so that the second slide mechanism 24 can drive the second slide mechanism 24 to rotate in a plane perpendicular to the horizontal plane when in operation. At this time, the angle between the second slide mechanism 24 and the extension direction of the first slide mechanism 22 can change with the rotation of the rotating shaft of the second rotating mechanism 23. However Figure 2Only the case where the angle between the extension direction of the second slide mechanism 24 and the first slide mechanism 22 is 90 degrees is shown. At this time, the extension direction of the second slide mechanism 24 can be parallel to the horizontal plane, so that the sliding direction of the second slider 202 at the second slide mechanism 24 can also be parallel to the horizontal plane. It can be understood that when the angle between the extension direction of the second slide mechanism 24 and the first slide mechanism 22 is other angles, the extension direction of the second slide mechanism 24 may not be parallel to the horizontal plane, so that the sliding direction of the second slider 202 at the second slide mechanism 24 may not be parallel to the horizontal plane, which will not be described in detail.

[0096] The third rotating mechanism 25 can be connected to the top surface, bottom surface or side wall of the second slider 202, and the extension direction of the second slide mechanism 24 can usually be perpendicular to the plane formed by the rotation of the rotation axis of the third rotating mechanism 25. In addition, the third rotating mechanism 25 can also be directly connected to the vehicle-mounted sensor 27 or the vehicle-mounted sensor calibration plate 26 or connected through a fixing plate, a fixing member, etc., so as to fix the vehicle-mounted sensor 27 or the vehicle-mounted sensor calibration plate 26 at the third rotating mechanism 25.

[0097] Subsequently, by controlling the movement of the first slider 201 of the first slide mechanism 22 and the second slider 202 of the second slide mechanism 24, and controlling the rotation axes of the first rotating mechanism 21, the second rotating mechanism 23 and the third rotating mechanism 25, the position and orientation of the vehicle-mounted sensor or the vehicle-mounted sensor calibration plate can be conveniently adjusted to meet various testing requirements involving vehicle-mounted sensors, which is efficient, convenient and flexible.

[0098] In a feasible implementation, the target position information can be used to determine the first moving distance of the first slider at the first slide mechanism, the second moving distance of the second slider at the second slide mechanism, the first rotation angle of the first rotation mechanism, the second rotation angle of the second rotation mechanism and the third rotation angle of the third rotation mechanism.

[0099] Correspondingly, the target controller can be specifically used to: control the first rotating mechanism to drive the first sliding mechanism to rotate the first rotation angle around the rotation axis of the first rotating mechanism, control the first slider to slide the first moving distance along the extension direction of the first sliding mechanism, control the second rotating mechanism to drive the second sliding mechanism to rotate the second rotation angle around the rotation axis of the second rotating mechanism, control the second slider to slide the second moving distance along the extension direction of the second sliding mechanism, and control the third rotating mechanism to drive the vehicle-mounted sensor or the vehicle-mounted sensor calibration plate to rotate the third rotation angle around the rotation axis of the third rotating mechanism.

[0100] Among them, the extension direction of the first slide mechanism can be a vertical direction, and the extension direction of the second slide mechanism and the extension direction of the first slide mechanism can be different directions, so that five-degree-of-freedom movement can be achieved, which is convenient and flexible.

[0101] In an embodiment of the present invention, the application installed in the target controller usually has the ability to parse and calculate the target position information to clarify the first moving distance required for the first slider at the first slide mechanism, the second moving distance required for the second slider at the second slide mechanism, the first rotation angle required for the first rotation mechanism, the second rotation angle required for the second rotation mechanism, and the third rotation angle required for the third rotation mechanism.

[0102] In practical applications, the first slider of the first slide mechanism, the second slider of the second slide mechanism, the first rotating mechanism, the second rotating mechanism and the third rotating mechanism usually have an initial position, and they may also have a corresponding current position after movement. In order to ensure that the vehicle-mounted sensor or the vehicle-mounted sensor calibration plate can be controlled to accurately reach the target position, the target controller may first control the slider and the rotating mechanism to restore the initial position. At this time, the first moving distance, the second moving distance, the first rotation angle, the second rotation angle and the third rotation angle may be the distance that the slider or the rotating mechanism needs to move or the angle that it needs to rotate relative to the initial position.

[0103] Of course, in order to improve the efficiency of position adjustment, it is also possible not to control the above-mentioned slider and rotating mechanism to restore the initial position, and let the target controller combine the current position of the above-mentioned slider and rotating mechanism with the target position information to calculate the distance required for the above-mentioned slider and rotating mechanism to move or the angle required to rotate relative to its current position, so as to obtain the first moving distance, the second moving distance, the first rotation angle, the second rotation angle and the third rotation angle. There is no specific limitation on this.

[0104] In an embodiment of the present invention, the first slide mechanism and the second slide mechanism may respectively include any one of a screw slide and a synchronous belt slide. Of course, the first slide mechanism and the second slide mechanism may also include other types of mechanisms that can drive the slider to perform linear motion, and no specific limitation is made to this.

[0105] The first rotating mechanism, the second rotating mechanism and the third rotating mechanism can respectively include: any one of a rotating slide and a stepping motor. Of course, the first rotating mechanism, the second rotating mechanism and the third rotating mechanism can also include other types of mechanisms that can drive the rotating shaft to rotate, and there is no specific limitation on this.

[0106] In practical applications, the first slide mechanism, the second slide mechanism, the first rotation mechanism, the second rotation mechanism and the third rotation mechanism are usually electric mechanisms that can use electric energy to respond to control instructions to move. Based on this, the target controller can generate and send a first instruction for controlling the first rotation mechanism to rotate a first rotation angle to the first rotation mechanism, generate and send a second instruction for controlling the first slider to slide a first moving distance along the extension direction of the first slide mechanism to the first slide mechanism, generate and send a third instruction for controlling the second rotation mechanism to rotate a second rotation angle to the second rotation mechanism, generate and send a fourth instruction for controlling the second slider to slide a second moving distance along the extension direction of the second slide mechanism to the second slide mechanism, and generate and send a fifth instruction for controlling the third rotation mechanism to rotate a third rotation angle to the third rotation mechanism.

[0107] After the above mechanism moves in response to the first to fifth instructions, it can eventually make the vehicle-mounted sensor or vehicle-mounted sensor calibration plate carried by the third rotating mechanism reach the target position and have the target sensing range or target orientation, so as to facilitate the use of the above vehicle-mounted sensor or vehicle-mounted sensor calibration plate to carry out relevant testing work and meet various testing requirements related to vehicle-mounted sensors. It can be understood that the above first to fifth instructions can be different instructions or can be implemented by one or more comprehensive instructions, and there is no specific limitation on this.

[0108] In a feasible implementation manner, the vehicle-mounted sensor connected to the multi-degree-of-freedom adjustment mechanism may include, but is not limited to: at least one of a radar sensor, an image sensor, and an inertial navigation sensor.

[0109] The vehicle-mounted sensor calibration plate may include, but is not limited to: at least one of a radar calibration plate and a vision calibration plate.

[0110] Furthermore, the testing device may include one or more of the multi-degree-of-freedom adjustment mechanisms, and each of the multi-degree-of-freedom adjustment mechanisms may generally be connected to only one of the vehicle-mounted sensors or one of the vehicle-mounted sensor calibration plates.

[0111] In the embodiment of the present invention, in order to facilitate understanding of the implementation principle of using the vehicle-mounted sensor test system to meet the testing requirements for vehicle-mounted sensors in the automobile development stage, automobile production stage or automobile after-sales maintenance stage, Figure 3-Figure 5 Provide explanation.

[0112] Figure 3 A schematic diagram of an application scenario of a vehicle-mounted sensor testing system provided by an embodiment of the present invention; Figure 3As shown, assuming that the layout position and sensing range of each vehicle-mounted sensor need to be clarified during the automobile development stage, the approximate deployment range of each vehicle-mounted sensor can be roughly determined in combination with the virtual digital model of the entire vehicle, and a multi-degree-of-freedom adjustment mechanism 31 equipped with a corresponding type of vehicle-mounted sensor can be set at the approximate deployment range of each vehicle-mounted sensor, and a target controller 32 of the vehicle-mounted sensor test system can be deployed at the specified position.

[0113] After obtaining the target position information of the vehicle-mounted sensor carried by the multi-degree-of-freedom adjustment mechanism 31, the target controller 32 can generate and send a control instruction for the multi-degree-of-freedom adjustment mechanism 31 to make the multi-degree-of-freedom adjustment mechanism 31 move in response to the control instruction, thereby driving the vehicle-mounted sensor to reach the target position and have a target perception range.

[0114] In addition, the sensor data collected by the vehicle-mounted sensors carried by each multi-degree-of-freedom adjustment mechanism 31 can be analyzed and processed to clarify the optimized position information of each vehicle-mounted sensor. Subsequently, after obtaining the optimized position information of the vehicle-mounted sensor carried by the multi-degree-of-freedom adjustment mechanism 31, the target controller 32 can control the multi-degree-of-freedom adjustment mechanism 31 to move based on a similar principle, thereby driving the vehicle-mounted sensor to reach the optimized position and have an optimized sensing range. In this way, the final deployment method of each vehicle-mounted sensor can be determined efficiently and conveniently, which is convenient, fast and flexible.

[0115] Or, if Figure 3 As shown, assuming that the on-board sensors required to be carried by the vehicle need to be calibrated during the automobile production stage or the automobile after-sales maintenance stage, the approximate deployment area information of each on-board sensor can be determined in combination with the automobile parameter information, and a multi-degree-of-freedom adjustment mechanism 31 equipped with a corresponding type of on-board sensor is set at the approximate deployment area of ​​each on-board sensor, and a target controller 32 of the on-board sensor test system is deployed at the specified position.

[0116] Furthermore, the target position information with good accuracy of various types of vehicle-mounted sensors can be input to the target controller 32, so that the target controller 32 can generate and send a control instruction for the multi-degree-of-freedom adjustment mechanism 31 based on the target position information, so that the multi-degree-of-freedom adjustment mechanism 31 moves in response to the control instruction, thereby driving the vehicle-mounted sensor to reach its target position at the real vehicle, and making it have the target perception range required at the real vehicle. Subsequently, by calibrating each vehicle-mounted sensor mounted at the multi-degree-of-freedom adjustment mechanism 31, it is equivalent to performing a sensor calibration operation on the real vehicle equipped with each vehicle-mounted sensor. However, since there is no need to drive the real vehicle into the designated calibration environment for the sensor calibration operation, it is conducive to improving the operational convenience of the calibration process for the vehicle-mounted sensor.

[0117] Figure 4 A schematic diagram of another application scenario of a vehicle-mounted sensor testing system provided by an embodiment of the present invention; Figure 4 As shown, assuming that it is necessary to use on-board sensors to collect real sensor data during the automobile development stage, the approximate deployment area information of each on-board sensor can be determined first in combination with the automobile parameter information; so that based on the approximate deployment area information of each on-board sensor, a multi-degree-of-freedom adjustment mechanism 41 equipped with corresponding types of on-board sensors is set in the car body of the data collection vehicle, and a target controller 42 of the on-board sensor test system is deployed at a specified position.

[0118] Furthermore, the target position information with good accuracy of various types of vehicle-mounted sensors can be input into the target controller 42, so that the target controller 42 can generate and send control instructions to the multi-degree-of-freedom adjustment mechanism 41 based on the target position information, so that the multi-degree-of-freedom adjustment mechanism 41 moves in response to the control instructions, thereby driving the vehicle-mounted sensor to reach its target position at the real vehicle, and making it have the target perception range required at the real vehicle.

[0119] Later, during the driving of the data collection vehicle, the above-mentioned on-board sensors can collect real sensor data with good accuracy and effectiveness, thereby meeting the demand for real sensor data in the research and development and testing phase of the autonomous driving system, intelligent cockpit system or cockpit-driver fusion system. And because the position of the above-mentioned on-board sensors can be easily adjusted, the on-board sensor test system can be used to meet the demand for collecting real sensor data for different models, which is flexible and practical.

[0120] Figure 5 A schematic diagram of an application scenario of another vehicle-mounted sensor testing system provided by an embodiment of the present invention; Figure 5As shown, assuming that the multi-degree-of-freedom adjustment mechanism at the vehicle-mounted sensor test system is equipped with a vehicle-mounted sensor calibration plate, when the vehicle-mounted sensors required to be carried by the actual vehicle need to be calibrated during the automobile production stage or the automobile after-sales maintenance stage, the deployment area of ​​the multi-degree-of-freedom adjustment mechanism 51 equipped with the corresponding type of vehicle-mounted sensor calibration plate can be determined in combination with the approximate deployment area information and perception range information of each vehicle-mounted sensor carried by the actual vehicle, and the target controller 52 of the vehicle-mounted sensor test system can be deployed at the specified position.

[0121] Furthermore, the target position information with good accuracy of various types of vehicle-mounted sensor calibration plates can also be input into the target controller 52, so that the target controller 52 can generate and send a control instruction for the multi-degree-of-freedom adjustment mechanism 51 based on the target position information, so that the multi-degree-of-freedom adjustment mechanism 51 moves in response to the control instruction, and then drives the vehicle-mounted sensor calibration plate to reach the target position. Thus, the vehicle-mounted sensor calibration plate carried by the multi-degree-of-freedom adjustment mechanism 51 can be used to calibrate the vehicle-mounted sensor carried by the real vehicle. Since the position of the above-mentioned vehicle-mounted sensor calibration plate can be easily adjusted, the vehicle-mounted sensor test system can be used to meet the calibration requirements of vehicle-mounted sensors carried by different models, without the need to specially deploy different calibration environments or calibration stations for each model, with good flexibility and practicality, which is also conducive to improving the operational convenience of the calibration process for vehicle-mounted sensors.

[0122] In a feasible implementation manner, if the third rotating mechanism is connected to the vehicle-mounted sensor, the test system may further include: a non-volatile data acquisition device capable of being communicatively connected to the vehicle-mounted sensor.

[0123] The non-volatile data acquisition device may be used to receive and store sensor data acquired by the vehicle-mounted sensor.

[0124] In the embodiment of the present invention, whether it is necessary to use the vehicle-mounted sensor mounted at the multi-degree-of-freedom adjustment mechanism to collect real sensor data, or to calibrate the vehicle-mounted sensor, or to determine the optimal deployment position of the vehicle-mounted sensor, it is usually necessary to collect or analyze the sensor data collected by the vehicle-mounted sensor mounted at the multi-degree-of-freedom adjustment mechanism. Based on this, a non-volatile data acquisition device can also be set at the test system to use the non-volatile data acquisition device to store the sensor data collected by the vehicle-mounted sensor connected to the third rotating mechanism at the multi-degree-of-freedom adjustment mechanism, which is practical.

[0125] In practical applications, there may be many ways to implement the non-volatile data acquisition device, for example, it may include but is not limited to Universal Flash Storage (UFS), hard disk, magnetic disk, etc., as long as it can ensure the security and authenticity of the sensor data stored therein, and no specific limitation is made to this.

[0126] In a feasible implementation, the test system may further include: a preset controller equipped with at least one of an intelligent cockpit system, an intelligent driving system, and a cabin-driver fusion system.

[0127] Among them, at least one of the vehicle-mounted sensor and the non-volatile data acquisition device can be communicatively connected to the preset controller; the preset controller and the target controller can be the same controller, or the preset controller can be another controller communicatively connected to the target controller.

[0128] The preset controller can be used to generate warning information reflecting that the sensor data does not meet the preset conditions after using at least one of the intelligent cockpit system, the intelligent driving system and the cabin-drive fusion system to identify that the sensor data does not meet the preset conditions.

[0129] The vehicle-mounted sensor may also be used to stop transmitting the sensor data to the non-volatile data acquisition device based on the warning information, or the non-volatile data acquisition device may also be used to stop storing the sensor data based on the warning information.

[0130] The target controller can also be used to control the multi-degree-of-freedom adjustment mechanism to move according to the early warning information, so as to control the on-board sensor to reach the target position again.

[0131] In the embodiment of the present invention, in order to avoid the displacement of the on-board sensors carried by the multi-degree-of-freedom adjustment mechanism due to factors such as aging and failure, as well as factors such as failure of the on-board sensors, which affect the credibility of the sensor data stored in the non-volatile data acquisition device, a preset controller equipped with at least one of the intelligent cockpit system, the intelligent driving system and the cabin-driver fusion system can also be set at the test system. By using the above-mentioned intelligent cockpit system, the intelligent driving system and the cabin-driver fusion system to analyze and process the sensor data, after identifying that the sensor data does not meet the preset conditions, a warning message reflecting that the sensor data does not meet the preset conditions can be generated.

[0132] Among them, the preset conditions can be set according to actual needs; however, under normal circumstances, when the sensor data does not meet the preset conditions, it may indicate that an abnormality has occurred in the sensor data or the corresponding vehicle-mounted sensor; for example, the preset condition may be the identification of a change in the perception overlap area of ​​two vehicle-mounted sensors, or the preset condition may be the missing sensor data of some fields or time periods, etc., and there is no specific limitation on this.

[0133] In an embodiment of the present invention, the preset controller can directly send the warning information to the vehicle-mounted sensor or the non-volatile data acquisition device to stop the vehicle-mounted sensor from transmitting relevant sensor data to the non-volatile data acquisition device, or to stop the non-volatile data acquisition device from storing relevant sensor data. Of course, the preset controller can also send the warning information to the target controller to cause the target controller to send a control instruction to the vehicle-mounted sensor or the non-volatile data acquisition device based on the warning information, thereby prohibiting the vehicle-mounted sensor from transmitting relevant sensor data to the non-volatile data acquisition device, or prohibiting the non-volatile data acquisition device from continuing to store relevant sensor data. This is beneficial to ensure the validity and accuracy of the sensor data stored in the non-volatile data acquisition device.

[0134] In addition, after obtaining the warning information, the target controller can also control the multi-degree-of-freedom adjustment mechanism to move so as to control the vehicle-mounted sensor to reach the target position again, thereby helping to solve the sensor data abnormality problem caused by the displacement of the vehicle-mounted sensor, and further helping to ensure the normal operation of related test processes involving vehicle-mounted sensors.

[0135] In an embodiment of the present invention, the first slide mechanism, the second slide mechanism, the first rotation mechanism, the second rotation mechanism and the third rotation mechanism can be respectively connected to the target controller by wire, or the first slide mechanism, the second slide mechanism, the first rotation mechanism, the second rotation mechanism and the third rotation mechanism can be respectively connected to the target controller wirelessly through a wireless communication module.

[0136] The vehicle-mounted sensor and the non-volatile data acquisition device may be connected by wire, or the vehicle-mounted sensor and the non-volatile data acquisition device may be connected wirelessly via a wireless communication module.

[0137] The preset controller and the vehicle-mounted sensor may be connected by wire, or the preset controller and the vehicle-mounted sensor may be connected wirelessly via a wireless communication module.

[0138] The preset controller and the non-volatile data acquisition device may be connected by wire, or the preset controller and the non-volatile data acquisition device may be connected wirelessly via a wireless communication module.

[0139] If the preset controller is a controller other than the target controller, the preset controller and the target controller may be connected by wire, or the preset controller and the target controller may be connected wirelessly via a wireless communication module.

[0140] In an embodiment of the present invention, by enabling the controller, multi-degree-of-freedom adjustment mechanism, vehicle sensor and non-volatile data acquisition device included in the vehicle-mounted sensor testing system to be connected both by wire and by wireless connection, it is beneficial to improve the operational convenience and flexibility when using the vehicle-mounted sensor testing system to carry out testing work related to the vehicle-mounted sensor.

[0141] See also Figure 6 , is a flow chart of a vehicle sensor testing method provided by an embodiment of the present invention. From a program perspective, the execution subject of the process may be a program in a target controller installed in a vehicle sensor testing system. Alternatively, the execution subject of the process may also be a target controller in a vehicle sensor testing system, which is not specifically limited.

[0142] The following is for Figure 6 The process shown is described in detail, and the vehicle-mounted sensor testing method may specifically include the following steps:

[0143] Step S602, obtaining target position information of a vehicle-mounted sensor or a vehicle-mounted sensor calibration plate connected to a multi-degree-of-freedom adjustment mechanism included in a test device at a vehicle-mounted sensor test system; wherein the vehicle-mounted sensor test system is Figure 1 And the vehicle-mounted sensor testing system described in its embodiments.

[0144] In an embodiment of the present invention, Figure 6 There are many ways for the execution subject of the method to obtain the target position information of the vehicle-mounted sensor or the vehicle-mounted sensor calibration plate. For example, the user can obtain the target position information of the vehicle-mounted sensor or the vehicle-mounted sensor calibration plate through the Figure 6 The target location information input by the information input device connected to the execution subject of the method; or Figure 6 The target position information sent by other controllers (for example, preset controllers) or other systems (for example, smart cockpit systems, smart driving systems, or cabin-drive fusion systems) connected to the execution subject of the method is not specifically limited.

[0145] The target position information may be the preset coordinate data and the preset orientation data of the vehicle-mounted sensor or the vehicle-mounted sensor calibration plate in the preset coordinate system. Alternatively, the target position information may also be the actual moving distance or the actual rotation angle required for the multi-degree-of-freedom adjustment mechanism to start running from the initial position in each degree of freedom. Of course, it may also be other types of data, which are not specifically limited.

[0146] Step S604, generating a first control instruction for the multi-degree-of-freedom adjustment mechanism according to the target position information; the first control instruction can be used to control the multi-degree-of-freedom adjustment mechanism to move, so as to control the vehicle-mounted sensor or the vehicle-mounted sensor calibration plate to reach the target position.

[0147] Step S606: sending the first control instruction to the multi-degree-of-freedom adjustment mechanism.

[0148] In the embodiment of the present invention, due to Figure 1 The structure and working principle of the multi-degree-of-freedom adjustment mechanism have been explained in the embodiments thereof, so they will not be repeated here.

[0149] By order Figure 6 The execution subject of the method generates and sends a first control instruction for a multi-degree-of-freedom adjustment mechanism to the multi-degree-of-freedom adjustment mechanism, which can control the vehicle-mounted sensor or the vehicle-mounted sensor calibration plate carried by the multi-degree-of-freedom adjustment mechanism to reach a target position, so as to meet various test requirements involving vehicle-mounted sensors based on the vehicle-mounted sensor or the vehicle-mounted sensor calibration plate. It is convenient, fast and flexible.

[0150] In a feasible implementation manner, if the multi-degree-of-freedom adjustment mechanism is connected to the vehicle-mounted sensor, the vehicle-mounted sensor test system may further include: a preset controller equipped with at least one of an intelligent cockpit system, an intelligent driving system, and a cockpit-driving fusion system; correspondingly, Figure 6 The method may also include:

[0151] Obtain the warning information generated by the preset controller; the warning information is information generated by the preset controller after using at least one of the intelligent cockpit system, the intelligent driving system and the cabin-driving fusion system to identify that the sensor data collected by the on-board sensor does not meet the preset conditions.

[0152] A second control instruction for the multi-degree-of-freedom adjustment mechanism is generated; the second control instruction is used to control the multi-degree-of-freedom adjustment mechanism to move, so as to control the vehicle-mounted sensor to reach a preset initial position.

[0153] The second control instruction is sent to the multi-degree-of-freedom adjustment mechanism.

[0154] A third control instruction for the multi-degree-of-freedom adjustment mechanism is generated according to the target position information; the third control instruction is used to control the multi-degree-of-freedom adjustment mechanism to move, so as to control the vehicle-mounted sensor to reach the target position.

[0155] The third control instruction is sent to the multi-degree-of-freedom adjustment mechanism.

[0156] In the embodiment of the present invention, when Figure 6 When the execution subject of the method recognizes that the preset controller generates a warning message, it can usually indicate that the position or orientation of the vehicle-mounted sensor carried by the multi-degree-of-freedom adjustment mechanism is abnormal. Figure 6 The execution subject of the method generates a second control instruction and a third control instruction for the multi-degree-of-freedom adjustment mechanism, which can control the movement of the multi-degree-of-freedom adjustment mechanism and drive the vehicle-mounted sensor to reach the target position again, which is conducive to overcoming the problem of displacement of the vehicle-mounted sensor, thereby ensuring the accuracy and effectiveness of the relevant data collection results and related test and calibration results obtained based on the vehicle-mounted sensor.

[0157] In practical applications, due to Figure 6 After the execution subject of the method generates and sends the first control instruction to the multi-degree-of-freedom adjustment mechanism, it may be unable to control the vehicle-mounted sensor or the vehicle-mounted sensor calibration plate to reach the target position due to various factors; based on this, Figure 6 When the execution subject of the method determines that the multi-degree-of-freedom adjustment mechanism does not drive the vehicle-mounted sensor or the vehicle-mounted sensor calibration plate to reach the target position after completing the movement in response to the first control instruction, Figure 6 The execution subject of the method can also generate a second control instruction and a third control instruction for the multi-degree-of-freedom adjustment mechanism to drive the multi-degree-of-freedom adjustment mechanism to move again, thereby trying to make the vehicle-mounted sensor or the vehicle-mounted sensor calibration plate reach the target position, which has good flexibility.

[0158] In a feasible implementation manner, the vehicle-mounted sensor testing system may further include: a non-volatile data acquisition device capable of communicating with the vehicle-mounted sensor,

[0159] Correspondingly, after obtaining the warning information generated by the preset controller, the following steps may also be included:

[0160] Based on the warning information, a first instruction is generated for prohibiting the vehicle-mounted sensor from sending the sensor data to the non-volatile data acquisition device.

[0161] Sending the first instruction to the vehicle-mounted sensor; or,

[0162] Based on the warning information, a second instruction is generated for prohibiting the non-volatile data acquisition device from storing the sensor data.

[0163] The second instruction is sent to the non-volatile data acquisition device.

[0164] In the embodiment of the present invention, due to Figure 6 When the execution subject of the method obtains the warning information, it usually reflects that the sensor data collected by the vehicle sensor is abnormal and cannot meet the use requirements. Based on this, Figure 6 The executor of the method can generate and send a first instruction to the on-board sensor, or generate and send a second instruction to the non-volatile data acquisition device, so as to ultimately realize the function of preventing the non-volatile data acquisition device from storing abnormal sensor data, thereby ensuring the validity and accuracy of the sensor data stored in the non-volatile data acquisition device, and further facilitating the normal implementation of relevant testing work involving on-board sensors based on the sensor data stored in the non-volatile data acquisition device.

[0165] In a feasible implementation manner, the multi-degree-of-freedom adjustment mechanism may include:

[0166] The first rotating mechanism.

[0167] The first slide mechanism is connected to the first rotating mechanism, and the first rotating mechanism can drive the first slide mechanism to rotate around the rotating axis of the first rotating mechanism; the first slide mechanism is provided with a first slider, which can slide along the extension direction of the first slide mechanism.

[0168] A second rotating mechanism is connected to the first sliding block.

[0169] The second slide mechanism is connected to the second rotating mechanism, and the second rotating mechanism can drive the second slide mechanism to rotate around the rotating axis of the second rotating mechanism; the second slide mechanism is provided with a second slider, which can slide along the extension direction of the second slide mechanism.

[0170] A third rotating mechanism is connected to the second slider; and the third rotating mechanism is also used to connect the vehicle-mounted sensor or the vehicle-mounted sensor calibration plate, and the third rotating mechanism can drive the vehicle-mounted sensor or the vehicle-mounted sensor calibration plate to rotate around the rotating axis of the third rotating mechanism.

[0171] Correspondingly, generating a first control instruction for the multi-degree-of-freedom adjustment mechanism according to the target position information may include:

[0172] According to the preset coordinate data and the preset orientation data of the vehicle-mounted sensor or the vehicle-mounted sensor calibration plate in the preset coordinate system contained in the target position information, determine the first moving distance of the first slider at the first slide mechanism, the second moving distance of the second slider at the second slide mechanism, the first rotation angle of the first rotating mechanism, the second rotation angle of the second rotating mechanism and the third rotation angle of the third rotating mechanism.

[0173] A first control instruction for the multi-degree-of-freedom adjustment mechanism is generated according to the first moving distance, the second moving distance, the first rotation angle, the second rotation angle, and the third rotation angle.

[0174] In the embodiment of the present invention, the first slider of the first slide mechanism, the second slider of the second slide mechanism, the first rotating mechanism, the second rotating mechanism and the third rotating mechanism usually have initial positions, and they may also have corresponding current positions after they are running. In order to ensure that the vehicle-mounted sensor or the vehicle-mounted sensor calibration plate can be controlled to accurately reach the target position, the target controller can first control the above sliders and rotating mechanisms to restore the initial positions. At this time, Figure 6 The first moving distance, the second moving distance, the first rotation angle, the second rotation angle and the third rotation angle calculated by the execution subject of the method based on the target position information may be the distance required to move or the angle required to rotate the slider or rotating mechanism relative to the initial position.

[0175] Of course, in order to improve the efficiency of position adjustment, it is also possible not to control the above-mentioned slider and rotating mechanism to restore the initial position, and let the target controller combine the current position of the above-mentioned slider and rotating mechanism with the target position information to calculate the distance required for the above-mentioned slider and rotating mechanism to move or the angle required to rotate relative to its current position, so as to obtain the first moving distance, the second moving distance, the first rotation angle, the second rotation angle and the third rotation angle. There is no specific limitation on this.

[0176] In practical applications, the preset coordinate system of the preset coordinate data and preset orientation data contained in the target position information may be position data in a three-dimensional coordinate system created with the position of the target controller at the vehicle-mounted sensor system as the origin, wherein the target position information may reflect the absolute distance between the vehicle-mounted sensor or the vehicle-mounted sensor calibration plate and the target controller. Figure 6The execution of the method can also calculate the specified position information of the vehicle-mounted sensor or the vehicle-mounted sensor calibration plate in a three-dimensional coordinate system created with the specified position of the multi-degree-of-freedom adjustment mechanism (for example, the preset center point of the rotating shaft of the first rotation mechanism) as the origin based on the relative position information between the target controller and the multi-degree-of-freedom adjustment mechanism carrying the vehicle-mounted sensor or the vehicle-mounted sensor calibration plate, and combined with the target position information, wherein the specified position information can reflect the absolute distance between the vehicle-mounted sensor or the vehicle-mounted sensor calibration plate and the specified position of the multi-degree-of-freedom adjustment mechanism, so that the above-mentioned first moving distance, second moving distance, first rotation angle, second rotation angle and third rotation angle can be calculated conveniently and accurately.

[0177] Of course, the target position information may also be other types of information. It only needs to be able to accurately calculate the first moving distance, the second moving distance, the first rotation angle, the second rotation angle and the third rotation angle based on the target position information, and no specific limitation is made to this.

[0178] In actual applications, one or more of the values ​​of the first moving distance, the second moving distance, the first rotation angle, the second rotation angle and the third rotation angle may be 0 or non-zero, so that one or more of the first slider of the first slide mechanism, the second slider of the second slide mechanism, the first rotation mechanism, the second rotation mechanism and the third rotation mechanism can be controlled to operate according to actual needs, with good flexibility and no specific limitation is made.

[0179] In a feasible implementation manner, the vehicle-mounted sensor may include: at least one of a radar sensor, an image sensor, and an inertial navigation sensor.

[0180] The vehicle-mounted sensor calibration plate may include: at least one of a radar calibration plate and a vision calibration plate.

[0181] The testing device may include one or more of the multi-degree-of-freedom adjustment mechanisms, and each of the multi-degree-of-freedom adjustment mechanisms may be connected to only one of the vehicle-mounted sensors or one of the vehicle-mounted sensor calibration plates.

[0182] The present invention also provides a storage medium, which can store a computer program. When the computer program is executed by a processor, it can implement the vehicle sensor testing method as described in the above embodiments. The specific execution process can be found in the specific descriptions of the above embodiments, which will not be repeated here.

[0183] In one embodiment, the present invention also provides Figure 7 The schematic diagram of the target controller is shown in Figure 1. Figure 7At the hardware level, the target controller may include a processor 71 and a memory 75, and may also include an internal bus 72, a network interface 73, a memory 74, and other hardware required for other services. The target controller may be set in a vehicle-mounted sensor test system, wherein the processor 71 may read the corresponding computer-readable instructions from the memory 75 into the memory and then run them to implement the above-mentioned vehicle-mounted sensor test method. The specific execution process may refer to the specific descriptions in the above-mentioned embodiments, and will not be repeated here.

[0184] Finally, each embodiment of the present invention is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the embodiments such as the storage medium and the target controller, since they are basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0185] The above description is only an embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A vehicle-mounted sensor testing system, the testing system comprising: A test device and a target controller capable of being communicatively connected; Wherein, the test device includes a multi-degree-of-freedom adjustment mechanism for connecting the vehicle-mounted sensor or the vehicle-mounted sensor calibration plate; The target controller is used to receive the target position information of the vehicle-mounted sensor or the vehicle-mounted sensor calibration plate, and to control the multi-degree-of-freedom adjustment mechanism at the test device to move according to the target position information, so as to control the vehicle-mounted sensor or the vehicle-mounted sensor calibration plate to reach the target position.

2. The test system according to claim 1, wherein the multi-degree-of-freedom adjustment mechanism comprises: a first rotating mechanism; a first slide mechanism connected to the first rotating mechanism, the first rotating mechanism being capable of driving the first slide mechanism to rotate around a rotating shaft of the first rotating mechanism; a first slider being provided on the first slide mechanism and being capable of sliding along an extension direction of the first slide mechanism; A second rotating mechanism connected to the first sliding block; A second slide mechanism, which is connected to the second rotating mechanism, and the second rotating mechanism can drive the second slide mechanism to rotate around the rotating axis of the second rotating mechanism; the second slide mechanism is provided with a second slider, which can slide along the extension direction of the second slide mechanism; A third rotating mechanism is connected to the second slider; and the third rotating mechanism is also used to connect the vehicle-mounted sensor or the vehicle-mounted sensor calibration plate, and the third rotating mechanism can drive the vehicle-mounted sensor or the vehicle-mounted sensor calibration plate to rotate around the rotating axis of the third rotating mechanism.

3. The test system according to claim 2, wherein the target position information is used to determine a first moving distance of the first slider at the first slide mechanism, a second moving distance of the second slider at the second slide mechanism, a first rotation angle of the first rotating mechanism, a second rotation angle of the second rotating mechanism, and a third rotation angle of the third rotating mechanism; The target controller is specifically used to: control the first rotating mechanism to drive the first sliding mechanism to rotate the first rotating angle around the rotating axis of the first rotating mechanism, control the first slider to slide the first moving distance along the extension direction of the first sliding mechanism, control the second rotating mechanism to drive the second sliding mechanism to rotate the second rotating angle around the rotating axis of the second rotating mechanism, control the second slider to slide the second moving distance along the extension direction of the second sliding mechanism, and control the third rotating mechanism to drive the vehicle-mounted sensor or the vehicle-mounted sensor calibration plate to rotate the third rotating angle around the rotating axis of the third rotating mechanism; in, The extension direction of the first slide mechanism is a vertical direction, and the extension direction of the second slide mechanism is different from the extension direction of the first slide mechanism.

4. The test system according to claim 2, wherein the first slide mechanism and the second slide mechanism respectively comprise any one of a screw slide and a synchronous belt slide; The first rotating mechanism, the second rotating mechanism and the third rotating mechanism respectively include: Either a rotary slide or a stepper motor.

5. The test system according to claim 2, if the third rotating mechanism is connected to the vehicle-mounted sensor, the test system further comprises: A non-volatile data acquisition device capable of being communicatively connected with the vehicle-mounted sensor; The non-volatile data acquisition device is used to receive and store the sensor data collected by the vehicle-mounted sensor.

6. The test system according to claim 5, further comprising: A preset controller equipped with at least one of an intelligent cockpit system, an intelligent driving system and a cockpit-driving fusion system; At least one of the vehicle-mounted sensor and the non-volatile data acquisition device is communicatively connected to the preset controller; The preset controller and the target controller are the same controller, or the preset controller is another controller that is communicatively connected with the target controller; The preset controller is used to generate warning information reflecting that the sensor data does not meet the preset condition after using at least one of the intelligent cockpit system, the intelligent driving system and the cabin-drive fusion system to identify that the sensor data does not meet the preset condition; The vehicle-mounted sensor is further used to stop transmitting the sensor data to the non-volatile data acquisition device based on the warning information, or the non-volatile data acquisition device is further used to stop storing the sensor data based on the warning information; The target controller is used to control the multi-degree-of-freedom adjustment mechanism to move according to the early warning information, so as to control the vehicle-mounted sensor to reach the target position again.

7. The test system according to claim 6, wherein the first slide mechanism, the second slide mechanism, the first rotation mechanism, the second rotation mechanism and the third rotation mechanism are respectively connected to the target controller by wire, or the first slide mechanism, the second slide mechanism, the first rotation mechanism, the second rotation mechanism and the third rotation mechanism are respectively connected to the target controller wirelessly through a wireless communication module; The vehicle-mounted sensor is connected to the non-volatile data acquisition device by wire, or the vehicle-mounted sensor is connected to the non-volatile data acquisition device by wireless communication module; The preset controller is connected to the vehicle-mounted sensor by wire, or the preset controller is connected to the vehicle-mounted sensor by wireless communication module; The preset controller is connected to the non-volatile data acquisition device by wire, or the preset controller is connected to the non-volatile data acquisition device by wireless communication module; If the preset controller is a controller other than the target controller, the preset controller is connected to the target controller by wire, or the preset controller is connected to the target controller wirelessly via a wireless communication module.

8. The test system according to any one of claims 1 to 7, wherein the vehicle-mounted sensor comprises: At least one of a radar sensor, an image sensor, and an inertial navigation sensor; The vehicle-mounted sensor calibration plate includes: at least one of a radar calibration plate and a visual calibration plate; The testing device comprises one or more multi-degree-of-freedom adjustment mechanisms, and each of the multi-degree-of-freedom adjustment mechanisms is connected to only one of the vehicle-mounted sensors or one of the vehicle-mounted sensor calibration plates.

9. A vehicle-mounted sensor testing method, the method comprising: Obtaining target position information of a vehicle-mounted sensor or a vehicle-mounted sensor calibration plate connected to a multi-degree-of-freedom adjustment mechanism included in a test device at a vehicle-mounted sensor test system; wherein the vehicle-mounted sensor test system is the vehicle-mounted sensor test system according to any one of claims 1 to 8; Generate a first control instruction for the multi-degree-of-freedom adjustment mechanism according to the target position information; the first control instruction is used to control the multi-degree-of-freedom adjustment mechanism to move, so as to control the vehicle-mounted sensor or the vehicle-mounted sensor calibration plate to reach the target position; The first control instruction is sent to the multi-degree-of-freedom adjustment mechanism.

10. The method according to claim 9, if the multi-degree-of-freedom adjustment mechanism is connected to the vehicle-mounted sensor, the vehicle-mounted sensor testing system further comprises: A preset controller equipped with at least one of an intelligent cockpit system, an intelligent driving system and a cockpit-driving fusion system; The method further comprises: Acquire warning information generated by the preset controller; the warning information is information generated by the preset controller after using at least one of the intelligent cockpit system, the intelligent driving system and the cockpit-driving fusion system to identify that the sensor data collected by the vehicle-mounted sensor does not meet the preset conditions; generating a second control instruction for the multi-degree-of-freedom adjustment mechanism; the second control instruction is used to control the multi-degree-of-freedom adjustment mechanism to move, so as to control the vehicle-mounted sensor to reach a preset initial position; sending the second control instruction to the multi-degree-of-freedom adjustment mechanism; generating a third control instruction for the multi-degree-of-freedom adjustment mechanism according to the target position information; the third control instruction is used to control the multi-degree-of-freedom adjustment mechanism to move, so as to control the vehicle-mounted sensor to reach the target position; The third control instruction is sent to the multi-degree-of-freedom adjustment mechanism.

11. The method according to claim 10, wherein the vehicle-mounted sensor testing system further comprises: A non-volatile data acquisition device capable of being communicatively connected with the vehicle-mounted sensor; After obtaining the warning information generated by the preset controller, the method further includes: Based on the warning information, generating a first instruction for prohibiting the vehicle-mounted sensor from sending the sensor data to the non-volatile data acquisition device; Sending the first instruction to the vehicle-mounted sensor; or, Based on the warning information, generating a second instruction for prohibiting the non-volatile data acquisition device from storing the sensor data; The second instruction is sent to the non-volatile data acquisition device.

12. The method according to claim 9, wherein the multi-degree-of-freedom adjustment mechanism comprises: a first rotating mechanism; a first slide mechanism connected to the first rotating mechanism, the first rotating mechanism being capable of driving the first slide mechanism to rotate around a rotating shaft of the first rotating mechanism; a first slider being provided on the first slide mechanism and being capable of sliding along an extension direction of the first slide mechanism; A second rotating mechanism connected to the first sliding block; A second slide mechanism, which is connected to the second rotating mechanism, and the second rotating mechanism can drive the second slide mechanism to rotate around the rotating axis of the second rotating mechanism; the second slide mechanism is provided with a second slider, which can slide along the extension direction of the second slide mechanism; A third rotating mechanism connected to the second slider; and the third rotating mechanism is also used to connect the vehicle-mounted sensor or the vehicle-mounted sensor calibration plate, and the third rotating mechanism can drive the vehicle-mounted sensor or the vehicle-mounted sensor calibration plate to rotate around the rotating shaft of the third rotating mechanism; The step of generating a first control instruction for the multi-degree-of-freedom adjustment mechanism according to the target position information includes: Determine, according to the preset coordinate data and preset orientation data of the vehicle-mounted sensor or the vehicle-mounted sensor calibration plate in a preset coordinate system contained in the target position information, a first moving distance of the first slider at the first slide mechanism, a second moving distance of the second slider at the second slide mechanism, a first rotation angle of the first rotating mechanism, a second rotation angle of the second rotating mechanism, and a third rotation angle of the third rotating mechanism; A first control instruction for the multi-degree-of-freedom adjustment mechanism is generated according to the first moving distance, the second moving distance, the first rotation angle, the second rotation angle, and the third rotation angle.

13. The method according to any one of claims 9 to 12, wherein the vehicle-mounted sensor comprises: At least one of a radar sensor, an image sensor, and an inertial navigation sensor; The vehicle-mounted sensor calibration plate includes: at least one of a radar calibration plate and a visual calibration plate; The testing device comprises one or more multi-degree-of-freedom adjustment mechanisms, and each of the multi-degree-of-freedom adjustment mechanisms is connected to only one of the vehicle-mounted sensors or one of the vehicle-mounted sensor calibration plates.

14. A storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the method according to any one of claims 9 to 13.

15. A target controller, comprising: A processor and a memory; wherein the memory stores computer-readable instructions, and the computer-readable instructions are suitable for being loaded by the processor and executing the steps of the method as claimed in any one of claims 9 to 13.

Images