Parking auxiliary system performance test device and method thereof

Abstract

The invention relates to a performance test device and method for a parking auxiliary system, and the device comprises a kerb simulation assembly, an adjustment assembly, a control assembly, and a data collection assembly, and the adjustment assembly is connected with the kerb simulation assembly. The control assembly is connected with the adjusting assembly and is used for controlling the adjusting assembly to adjust the kerb simulation assembly to a target adjustment type; and the data acquisition assembly is connected with the control assembly and is used for acquiring and sending position relation data between the wheels and the curb simulation assembly after the test vehicle is parked. According to the invention, by arranging the kerb simulation assembly and the adjustment assembly, one type can be selected from multiple kerb types as the target adjustment type, and the kerb simulation assembly is controlled to be adjusted to the target adjustment type, so that when the kerb type is adjusted, a scene does not need to be rebuilt, and multiple types of tests can be conveniently carried out.

Description

Technical Field

[0001] The present application relates to the field of vehicle tests, and particularly to a performance test device and method for a parking assistance system. Background Art

[0002] There are many types of curbstones, including H, T, TF, TP, P, F, etc. There are different sub-items under each type of curbstones, which determine different sizes and heights. Moreover, there is no mandatory standard requirement for the ground clearance of curbstones. Only recommended values are given in the "23MR404 Urban Road - Curbstone Atlas". In the performance test of the parking assistance system, curbstones are needed. However, due to the large number of curbstones and high requirements for the site, etc., it is extremely difficult to build all kinds of curbstones in reality. The achievable scenarios are limited, and it is almost impossible to achieve scenarios with heights other than the established curbstones, which is a major drawback for the performance development test of the parking assistance system. Summary of the Invention

[0003] The present application provides a performance test device and method for a parking assistance system, which can solve the problems in the prior art that it is difficult to build all kinds of curbstones and the achievable development test scenarios are limited.

[0004] In a first aspect, an embodiment of the present application provides a performance test device for a parking assistance system, which includes: a curbstone simulation component, an adjustment component, a control component, and a data acquisition component. The adjustment component is connected to the curbstone simulation component; the control component is connected to the adjustment component and is used to control the adjustment component to adjust the curbstone simulation component to a target adjustment type; the data acquisition component is connected to the control component and is used to collect and send the position relationship data between the wheels and the curbstone simulation component after the test vehicle parks.

[0005] In combination with the first aspect, in an implementation manner, the curbstone simulation component includes: a skin, an air column, and a limiting member. The skin encloses to form a sealed space; the air column is arranged in the sealed space; a regulating space is formed in the middle of the limiting member, the skin is arranged in the regulating space, and the length and width of the regulating space are adjustable. The limiting member includes: a first bracket, a first electric telescopic rod, a second bracket, and a second electric telescopic rod. The first bracket is arranged on both sides of the skin along the width direction; the first electric telescopic rod is arranged on both sides of the first bracket; the second bracket is arranged on both sides of the skin along the length direction; the second electric telescopic rod is arranged on both sides of the second bracket, and the telescopic end of the second electric telescopic rod is connected to the adjacent first electric telescopic rod.

[0006] In combination with the first aspect, in one embodiment, the adjustment assembly includes: an air pump and a gas flow sensor. The air pump is connected to the air column through an air pipe, and the air pump is connected to the control assembly; the gas flow sensor is disposed on the air pipe, and the gas flow sensor is connected to the control assembly.

[0007] In combination with the first aspect, in one embodiment, the data acquisition assembly includes: a guide rail bracket, a camera, and a scale mark. The guide rail bracket includes a guide rail and a slider, and the slider is slidably connected to the guide rail; the camera is disposed on the slider, the camera is connected to the control assembly, and is configured to collect and transmit the position relationship data between the wheels and the curbstone simulation assembly when the test vehicle parks; the scale mark is disposed on the lens surface of the camera.

[0008] In a second aspect, an embodiment of the present application provides a method for testing the performance of a parking assistance system. The method for testing the performance of the parking assistance system includes:

[0009] Providing the parking assistance system performance test device as described above;

[0010] Selecting one type from multiple types of curbstones as the target adjustment type, and controlling the curbstone simulation assembly to be adjusted to the target adjustment type;

[0011] After the test vehicle parks, collecting the position relationship data between the wheels and the curbstone simulation assembly;

[0012] Based on the position relationship data between the wheels and the curbstone simulation assembly, determining whether the performance of the parking assistance system meets the requirements.

[0013] In combination with the second aspect, in one embodiment, after selecting one type from multiple types of curbstones as the target adjustment type and controlling the curbstone simulation assembly to be adjusted to the target adjustment type, and before collecting the position relationship data between the wheels and the curbstone simulation assembly after the test vehicle parks, the method further includes:

[0014] Judging whether the parameters of the adjusted curbstone simulation assembly meet the parameter requirements corresponding to the target adjustment type;

[0015] If it is satisfied, performing the parking operation of the test vehicle;

[0016] Otherwise, repairing the parking assistance system performance test device.

[0017] In combination with the second aspect, in one embodiment, repairing the parking assistance system performance test device specifically includes:

[0018] Judging whether to start repairing the parking assistance system performance test device within a set time;

[0019] If so, repair the curbstone simulation component, adjustment component, control component and data acquisition component, and confirm and repair the abnormal components;

[0020] Otherwise, control the parking assistance system performance test device to stop working.

[0021] Combined with the second aspect, in an implementation, when confirming and repairing the abnormal components, the method further includes:

[0022] Periodically collect the repair situation. If it is determined that the repair is completed, control the curbstone simulation component to be adjusted to the target adjustment type again.

[0023] Combined with the second aspect, in an implementation, the data acquisition component includes:

[0024] Guide rail bracket;

[0025] A camera, which is arranged on the guide rail bracket, is connected to the control component, and is used for collecting and sending the position relationship data between the wheels and the curbstone simulation component when the test vehicle parks;

[0026] Scale marks, which are arranged on the lens surface of the camera;

[0027] Before collecting the position relationship data between the wheels and the curbstone simulation component, the method further includes the step of determining the conversion ratio between the data collected by the camera and the actual data:

[0028] Use a length ruler to collect the length of the target object;

[0029] Confirm the length of the target object in the captured image by the camera;

[0030] Based on the ratio of the length of the target object collected by the length ruler to the length of the target object in the captured image, obtain the conversion ratio.

[0031] Combined with the second aspect, in an implementation, collecting the position relationship data between the wheels and the curbstone simulation component specifically includes:

[0032] Based on the conversion ratio and the minimum distance from the ground contact point of the outer edge of the front wheel of the test vehicle to the edge of the curbstone simulation component in the captured image, obtain the minimum distance from the ground contact point of the outer edge of the actual test vehicle's front wheel to the edge of the curbstone simulation component;

[0033] Based on the conversion ratio and the minimum distance from the ground contact point of the outer edge of the rear wheel of the test vehicle to the edge of the curbstone simulation component in the captured image, obtain the minimum distance from the ground contact point of the outer edge of the actual test vehicle's rear wheel to the edge of the curbstone simulation component;

[0034] Based on the position relationship data between the wheel and the curbstone simulation component, determine whether the performance of the parking assistance system meets the requirements, specifically including:

[0035] Based on the minimum distance from the grounding point of the outer edge of the front wheel of the actual test vehicle to the edge of the curbstone simulation component and the minimum distance from the grounding point of the outer edge of the rear wheel of the actual test vehicle to the edge of the curbstone simulation component, obtain the included angle between the line connecting the grounding points of the outer edges of the front and rear wheels of the test vehicle and the edge of the curbstone simulation component;

[0036] Determine whether the minimum distance from the grounding point of the outer edge of the front wheel of the actual test vehicle to the edge of the curbstone simulation component, the minimum distance from the grounding point of the outer edge of the rear wheel of the actual test vehicle to the edge of the curbstone simulation component, and the included angle between the line connecting the grounding points of the outer edges of the front and rear wheels of the test vehicle and the edge of the curbstone simulation component meet the requirements;

[0037] If all meet the requirements, the performance of the parking assistance system meets the requirements;

[0038] Otherwise, the performance of the parking assistance system does not meet the requirements.

[0039] The beneficial effects brought by the technical solution provided in the embodiments of the present application include:

[0040] The embodiments of the present application provide a parking assistance system performance test device and method. By setting a curbstone simulation component and an adjustment component, one type can be selected from multiple curbstone types as the target adjustment type, and the curbstone simulation component can be controlled to be adjusted to the target adjustment type. When adjusting the curbstone type, there is no need to rebuild the scene, which is convenient for carrying out various types of tests. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 Schematic diagram of the end position of the second type of IPAS parallel parking space with a curbstone;

[0042] Figure 2 Schematic diagram of the data acquisition component in the present application;

[0043] Figure 3 Schematic diagram of the curbstone simulation component in the present application;

[0044] Figure 4 Schematic diagram of the guide rail and camera in the present application;

[0045] Figure 5 Schematic diagram of the overall structure in the present application;

[0046] Figure 6 Schematic diagram of the flowchart of the parking assistance system performance test method in the present application.

[0047] In the figure: 1, guide rail; 2, camera; 3, air column; 4, skin; 5, first bracket; 6, first electric telescopic rod; 7, second bracket; 8, second electric telescopic rod; 9, connecting block; 10, slider; 11, data acquisition component; 12, control component; 13, curbstone simulation component; 14, adjustment component; 140, air pump; 141, gas flow sensor. Specific implementation mode

[0048] In order to enable those skilled in the art of this technology to better understand the solution of this application, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of this application.

[0049] See Figures 1 to 6 , this application provides a performance test device and method for a parking assistance system, which can solve the problems in the prior art that it is difficult to build all kinds of curbstones, and the development test scenarios that can be realized are limited.

[0050] In a first aspect, an embodiment of this application provides a performance test device for a parking assistance system, which includes: a curbstone simulation component 13, an adjustment component 14, a control component 12, and a data acquisition component 11. The adjustment component 14 is connected to the curbstone simulation component 13; the control component 12 is connected to the adjustment component 14 and is used to control the adjustment component 14 to adjust the curbstone simulation component 13 to a target adjustment type; the data acquisition component 11 is connected to the control component 12 and is used to collect and send the position relationship data between the wheels and the curbstone simulation component 13 after the test vehicle parks.

[0051] In this application, by setting the curbstone simulation component 13 and the adjustment component 14, one type can be selected from multiple types of curbstones as the target adjustment type, and the curbstone simulation component 13 can be controlled to be adjusted to the target adjustment type. When adjusting the curbstone type, there is no need to rebuild the scene, which is convenient for carrying out various types of tests.

[0052] Among them, the control component 12 includes a host computer. Before the test starts, confirm the test scenario for this time. After confirming the adjustment type of the curbstone simulation component 13 for the scenario (including the type, height, width, etc. of the curbstone simulation component 13) by referring to the standard drawing "23MR404 Urban Road Curbstone", set this in the host computer, and control the adjustment component 14 to adjust the curbstone simulation component 13 to the target adjustment type; it should be noted that there are preset group parameters of common types of curbstone simulation components 13 in the host computer, which can be directly called when conducting some routine tests.

[0053] Furthermore, the curbstone simulation component 13 includes: a skin 4, an air column 3, and a limiting member. The skin 4 encloses to form a sealed space; the air column 3 is arranged in the sealed space; a regulating space is formed in the middle of the limiting member, the skin 4 is arranged in the regulating space, and the length and width of the regulating space are adjustable. In this embodiment, after the host computer gives the parameters of the specific width, height, and type in the target adjustment type, the limiting member will automatically open to the precise width and length positions to physically limit the skin 4 and the air column 3 to prevent over-inflation and deformation. Among them, multiple air columns 3 are arranged in one skin 4.

[0054] Specifically, the limiting member includes: a first bracket 5, a first electric telescopic rod 6, a second bracket 7, and a second electric telescopic rod 8. The first bracket 5 is arranged on both sides of the skin 4 along the width direction; the first electric telescopic rod 6 is arranged on both sides of the first bracket 5; the second bracket 7 is arranged on both sides of the skin 4 along the length direction; the second electric telescopic rod 8 is arranged on both sides of the second bracket 7, and the telescopic end of the second electric telescopic rod 8 is connected to the telescopic end of the adjacent first electric telescopic rod 6.

[0055] That is to say, first brackets 5 are arranged on both sides of the skin 4 along the width direction, first electric telescopic rods 6 are arranged on both sides of the first brackets 5, and multiple first electric telescopic rods 6 can be arranged on each side; second brackets 7 are arranged on both sides of the skin 4 along the length direction, second electric telescopic rods 8 are arranged on both sides of the second brackets 7, and multiple second electric telescopic rods 8 can be arranged on each side; among them, rollers are arranged at the bottom ends of the first bracket 5 and the second bracket 7, and the telescopic end of the second electric telescopic rod 8 is connected to the telescopic end of the adjacent first electric telescopic rod 6 through a connecting block 9 to form a frame structure. Therefore, when the curbstone simulation component 13 is adjusted to the target adjustment type, the first electric telescopic rod 6 and the second electric telescopic rod 8 work, extend or shorten according to the set length, and the rollers at the bottom ends of the first bracket 5 and the second bracket 7 can drive the first bracket 5 and the second bracket 7 to move to ensure that the limiting member will automatically open to the precise width and length positions.

[0056] Next, the adjustment component 14 is used to inflate the air column 3. The air column 3 inflates and expands until the skin 4 contacts the limiting member. Since the limiting member physically restricts the skin 4 and the air column 3, when the adjustment component 14 continues to inflate the air column 3, the height of the air column 3 increases. After adjusting to the target height, the host computer controls the adjustment component 14 to stop working.

[0057] In this embodiment, the adjustment component 14 includes an air pump 140 and a gas flow sensor 141. The air pump 140 is connected to the air column 3 through an air delivery pipe, and the air pump 140 is connected to the control component 12. The gas flow sensor 141 is disposed on the air delivery pipe, and the gas flow sensor 141 is connected to the control component 12.

[0058] Among them, the host computer automatically determines the volume and air pressure required to inflate each air column 3 in the skin 4 of the curbstone simulation component 13 according to the set height in the target adjustment type of the curbstone simulation component 13. After confirming the inflation volume of each air column 3, the host computer will issue an instruction to start the air pump 140. For various considerations, in this device, there is only one main air pump 140. An air delivery pipe connecting each air column 3 is externally connected to the branch of the main air pump 140, and a gas flow sensor 141 is installed on the air delivery pipe, which can control the volume of gas entering each branch; during the inflation process, if the volume of gas passing through a certain branch has not reached the upper limit given by the host computer, the control valve on the branch will remain open, and the gas can continue to be inflated into the air column 3; when the volume of gas passing through a certain branch has reached the upper limit, the gas flow sensor 141 will immediately send a signal to the host computer and control the branch valve to close, so as to inflate the air column 3 to the set height; at the same time, the host computer will actively control the pumping speed of the air pump 140 according to the number of air columns 3 that are still being inflated. When the gas flow sensors 141 of all branches feedback full signals, the host computer will control the air pump 140 to close, and the entire curbstone simulation component 13 is inflated.

[0059] When the air column 3 leaks, the gas flow sensor 141 on the air delivery pipe connected to the air column 3 will detect the change in pressure. The valve on the air delivery pipe will open again, and because there is a branch that has not feedback a full signal, the air pump 140 will start again to supplement the leaking air column 3.

[0060] Because the ground parking space line is fixed, if the curbstone simulation component 13 in the scenario simulates being close to the sidewalk, then there is a maximum limit on the protruding width of the curbstone simulation component 13, which can ensure that the width of the entire parking space meets the standard requirements. When the setting of the curbstone type exceeds this requirement, the system will not be able to directly proceed and additional supplementation is required. If it is not necessary to simulate being only close to the sidewalk, then the curbstone simulation component 13 can be moved outward to achieve the scenario.

[0061] Based on the above embodiments, in this embodiment, the data acquisition component 11 includes: a guide rail bracket, a camera 2, and a scale mark. The guide rail bracket includes a guide rail 1, a slider 10, and a bracket. The guide rail 1 is disposed on the bracket, the slider 10 is slidably connected to the guide rail 1, and the camera 2 is disposed on the slider 10; the camera 2 is connected to the control component 12 and is used to collect and send the position relationship data between the wheels and the curbstone simulation component 13 when the test vehicle parks; the scale mark is disposed on the lens surface of the camera 2.

[0062] After the curbstone simulation component 13 is built, due to the presence of the limiting member, the outer side surface of the curbstone simulation component 13 will be preferably controlled to be a vertical plane perpendicular to the ground. Based on the standards mentioned above, the parameters required in the parking assistance system performance test include the distances from the front and rear wheels of the test vehicle to the curbstone simulation component 13 and the angle between the vehicle body and the curbstone simulation component 13. We can expand this to include the distances from the front and rear of the test vehicle to the inner side of the parking space boundary.

[0063] Therefore, in this embodiment, five cameras 2 are provided, see Figure 2 the cameras A, B, C, D, and E shown; and two guide rails 1 are provided, and one camera 2 is provided on both sides of the two guide rails 1. In this embodiment, four cameras 2 are disposed on the guide rail 1, and the four cameras 2 are located above the curbstone simulation component 13. The functions of the four cameras 2 are respectively: photographing the position relationship of the front of the vehicle, the position relationship of the rear of the vehicle, the position relationship between the front side wheels and the curbstone simulation component 13, and the position relationship between the rear side wheels and the curbstone simulation component 13; one camera 2 is disposed on one side of the curbstone simulation component 13, and this camera 2 cooperates with the other four cameras 2 to confirm whether the curbstone simulation component 13 is adjusted in place when adjusting the curbstone simulation component 13..

[0064] Among them, the purpose of setting the guide rail 1 and the slider 10 is to enable the camera 2 to be fixed at any position on its respective guide rail 1, so as to achieve a vertical top view of the curbstone simulation component 13 and the test vehicle. At the same time, the height of the guide rail bracket is set to be adjustable. At the start of each test, this guide rail bracket can be arranged at a suitable position according to the position of the curbstone simulation component 13, and the camera 2 can be adjusted to directly above the parking space boundary line, and finally the bracket in the guide rail bracket is raised to a suitable height.

[0065] In a second aspect, an embodiment of the present application provides a method for testing the performance of a parking assistance system. The method for testing the performance of the parking assistance system includes:

[0066] 101: Provide the parking assistance system performance test device as described above;

[0067] 102: Select one type from multiple types of curbstones as the target adjustment type, and control the curbstones simulation component 13 to adjust to the target adjustment type;

[0068] 103: After the test vehicle parks, collect the position relationship data between the wheels and the curbstones simulation component 13;

[0069] 104: Based on the position relationship data between the wheels and the curbstones simulation component 13, determine whether the performance of the parking assistance system meets the requirements.

[0070] Among them, the function implementation of each module in the above parking assistance system performance test method device corresponds to each step in the above parking assistance system performance test method embodiment, and its function and implementation process will not be elaborated here one by one.

[0071] Before the test starts, it is necessary to select one type from multiple types of curbstones as the target adjustment type, and control the adjustment component 14 through the control component 12 to adjust the curbstones simulation component 13 to the target adjustment type.

[0072] On the basis of the above embodiment, in this embodiment, after selecting one type from multiple types of curbstones as the target adjustment type and controlling the curbstones simulation component 13 to adjust to the target adjustment type, and before the test vehicle parks and collects the position relationship data between the wheels and the curbstones simulation component 13, the method further includes:

[0073] Judge whether the parameters of the adjusted curbstones simulation component 13 meet the parameter requirements corresponding to the target adjustment type;

[0074] If it meets the requirements, perform the parking operation of the test vehicle;

[0075] Otherwise, repair the parking assistance system performance test device.

[0076] In this embodiment, the data acquisition component 11 is used to judge whether the parameters of the adjusted curbstones simulation component 13 meet the parameter requirements corresponding to the target adjustment type.

[0077] Specifically, before the camera 2 works, it is also necessary to determine the conversion ratio between the data collected by the camera 2 and the actual data. That is to say, before collecting the position relationship data between the wheels and the curbstones simulation component 13, it is also necessary to determine the conversion ratio between the data collected by the camera 2 and the actual data. Since the same set of data acquisition components 11 is used, therefore, in this embodiment, only one step of determining the conversion ratio between the data collected by the camera 2 and the actual data needs to be performed, and this step is completed before judging whether the parameters of the adjusted curbstones simulation component 13 meet the parameter requirements corresponding to the target adjustment type.

[0078] Before collecting the positional relationship data between the wheel and the curbstone simulation component 13, the method further includes the step of determining the conversion ratio between the data collected by the camera 2 and the actual data:

[0079] Use a length ruler to collect the length of the target object;

[0080] Confirm the length of the target object in the captured image by the camera 2;

[0081] Based on the ratio of the length of the target object collected by the length ruler to the length of the target object in the captured image, obtain the conversion ratio.

[0082] In this embodiment, the target object can be placed on the ground. First, use a calibrated standard length ruler to determine the true length of the target object on the ground, denoted as D1. Then, use the camera 2 to vertically capture this target object, and observe the length value obtained through the camera 2 on the upper computer. The length of the target object in the captured image can be read through the scale marks set on the lens of the camera 2, denoted as D2. Then, a conversion ratio can be obtained

[0083] In this embodiment, in order to ensure the accuracy of the conversion ratio, different target objects are used for multiple measurements. This process is cycled 10 times, and 10 different K i values can be obtained. Calculate the average value and standard deviation of these values, and compare the standard deviation with the set threshold interval. When the standard deviation is within the set threshold interval, it means these values are valid, and then select the average value K avg as the conversion ratio and input it into the control component 12; if the standard deviation is not within the set threshold interval, readjust the camera 2 and then take pictures until the standard deviation is within the set threshold interval.

[0084] After the curbstone simulation component 13 is adjusted, confirm whether the height and contour of the captured curbstone simulation component 13 meet the requirements through the camera 2 located on one side of the curbstone simulation component 13, and confirm whether the length, width, and contour of the captured curbstone simulation component 13 meet the requirements through the camera 2 located above the curbstone simulation component 13. When the original data distance value captured by the camera 2 is D raw , the actual data given to the tester by the computer will be output as D ture = K avg * D rawCompare the actual data with the parameter requirements corresponding to the target adjustment type, that is, compare the length, width, and height of the curbstone simulation component 13 in the actual data with the length requirement, width requirement, and height requirement corresponding to the target adjustment type respectively. If all the actual data meet the requirements, perform the parking operation of the test vehicle. If there is one piece of actual data that does not meet the requirements, repair the performance test device of the parking assistance system.

[0085] Based on the above embodiments, in this embodiment, the performance test device for repairing the parking assistance system specifically includes:

[0086] Judge whether to start repairing the performance test device of the parking assistance system within the set time;

[0087] If so, repair the curbstone simulation component 13, adjustment component 14, control component 12, and data acquisition component 11, and confirm and repair the abnormal components;

[0088] Otherwise, control the performance test device of the parking assistance system to stop working.

[0089] Specifically, if there is one piece of actual data that does not meet the requirements, it means the device is abnormal, and the upper computer issues an alarm to display the abnormal situation. Then determine whether the staff presses the manual inspection button within one minute to start repairing the performance test device of the parking assistance system. If the manual inspection button is not pressed within one minute, the entire performance test device of the parking assistance system is closed; if the manual inspection button is pressed within one minute, repair the curbstone simulation component 13, adjustment component 14, control component 12, and data acquisition component 11, and confirm and repair the abnormal components.

[0090] Further, when confirming and repairing the abnormal components, the method further includes: periodically collecting the repair situation. If it is judged that the repair is completed, control the curbstone simulation component 13 to be adjusted to the target adjustment type again. Specifically, check whether the manual reset button is pressed every five minutes. If the staff does not press the manual reset button, the device continues to maintain the repair state, and the curbstone simulation component 13, adjustment component 14, control component 12, and data acquisition component 11 do not work. When the manual reset button is pressed, it means the device can continue to work, and then the test vehicle parks.

[0091] Before starting the test, calibrate the camera 2 with the curbstone simulation component 13. During the test process, the camera 2 will collect the position relationship between the vehicle and the curbstone simulation component 13 in real time and give a reference value.

[0092] Based on the above embodiments, in this embodiment, collecting the position relationship data between the wheel and the curbstone simulation component 13 specifically includes:

[0093] Based on the conversion ratio and the minimum distance from the grounding point of the outer edge of the front wheel of the test vehicle in the captured image to the edge of the curbstone simulation component 13, obtain the minimum distance from the grounding point of the outer edge of the front wheel of the actual test vehicle to the edge of the curbstone simulation component 13;

[0094] Based on the conversion ratio and the minimum distance from the grounding point of the outer edge of the rear wheel of the test vehicle in the captured image to the edge of the curbstone simulation component 13, obtain the minimum distance from the grounding point of the outer edge of the rear wheel of the actual test vehicle to the edge of the curbstone simulation component 13.

[0095] Specifically, in this embodiment, after the test starts, the test vehicle parks in the parking space according to its own function. After the test vehicle completes the parking operation, wait for 3 s, and then the camera 2 starts to work. When the camera 2 works, it is necessary to align the acquisition point of the camera 2 with the curbstone simulation component 13. In the photographing session after parking is completed, the host computer can calculate the actual distance through operation to obtain the measured value. The four relative position relationships of the front and rear wheels of the test vehicle in the front, rear, and side directions can be obtained. Then, according to the distances of the front and rear wheels from the curbstone, the inclination angle of the vehicle body at this time can also be obtained, completing the acquisition of all required data.

[0096] Among them, the minimum distance from the grounding point of the outer edge of the front wheel of the test vehicle to the edge of the curbstone simulation component 13 is collected by the camera 2, and the minimum distance from the grounding point of the outer edge of the front wheel of the test vehicle to the edge of the curbstone simulation component 13 multiplied by the conversion ratio can obtain the minimum distance from the grounding point of the outer edge of the front wheel of the actual test vehicle to the edge of the curbstone simulation component 13;

[0097] The minimum distance from the grounding point of the outer edge of the rear wheel of the test vehicle to the edge of the curbstone simulation component 13 is collected by the camera 2, and the minimum distance from the grounding point of the outer edge of the rear wheel of the test vehicle to the edge of the curbstone simulation component 13 multiplied by the conversion ratio can obtain the minimum distance from the grounding point of the outer edge of the rear wheel of the actual test vehicle to the edge of the curbstone simulation component 13.

[0098] Based on the above embodiments, in this embodiment, based on the position relationship data between the wheel and the curbstone simulation component 13, determine whether the performance of the parking assistance system meets the requirements, specifically including:

[0099] Based on the minimum distance from the grounding point of the outer edge of the front wheel of the actual test vehicle to the edge of the curbstone simulation component 13 and the minimum distance from the grounding point of the outer edge of the rear wheel of the actual test vehicle to the edge of the curbstone simulation component 13, obtain the included angle between the line connecting the grounding points of the outer edges of the front and rear wheels of the test vehicle and the edge of the curbstone simulation component 13;

[0100] Determine whether the minimum distance from the ground contact point of the outer edge of the front wheel of the actual test vehicle to the edge of the curb simulation component 13, the minimum distance from the ground contact point of the outer edge of the rear wheel of the actual test vehicle to the edge of the curb simulation component 13, and the included angle between the line connecting the ground contact points of the outer edges of the front and rear wheels of the test vehicle and the edge of the curb simulation component 13 meet the requirements;

[0101] If all meet the requirements, the performance of the parking assistance system meets the requirements;

[0102] Otherwise, the performance of the parking assistance system does not meet the requirements.

[0103] Specifically, in this embodiment, when calculating the roll angle of the test vehicle, trigonometric functions can be used. Assume the wheelbase of the vehicle is L tyre , and this value needs to be measured before the start of the test and is a known quantity. Refer to Figure 1 As shown, when the distances from the front and rear wheels to the curb simulation component 13 obtained in one test are d1 and d2 respectively, then the included angle between the line connecting the ground contact points of the outer edges of the front and rear wheels of the test vehicle and the edge of the curb simulation component 13 can be calculated as:

[0104]

[0105] Note that this value should be taken as a value between 0° and 90°, and this value can only reflect the magnitude of the angle and cannot determine the direction of the angle. The specific direction of the vehicle body should be determined according to the relative size relationship of the front and rear wheelbases. If d1 is smaller than d2, then the front of the vehicle is closer to the curb; otherwise, the rear of the vehicle is closer to the curb simulation component 13.

[0106] In addition, according to the Class II parking space standard, it is also necessary to collect the smaller value d3 of the shortest distances between the rearmost and foremost ends of the test vehicle body and the inner edge of the parking space boundary line.

[0107] The requirements in the Class II parking space standard are:

[0108] -3° < γ < 3°; d1 > 0m; d2 > 0m; d3 > 0m.

[0109] Therefore, compare and confirm the minimum distance d1 from the ground contact point of the outer edge of the front wheel of the actual test vehicle to the edge of the curb simulation component 13, the minimum distance d2 from the ground contact point of the outer edge of the rear wheel of the actual test vehicle to the edge of the curb simulation component 13, the included angle γ between the line connecting the ground contact points of the outer edges of the front and rear wheels of the test vehicle and the edge of the curb simulation component 13, and the smaller value d3 of the shortest distances between the rearmost and foremost ends of the test vehicle body and the inner edge of the parking space boundary line according to the requirements in this Class II parking space standard to confirm whether the performance of the parking assistance system meets the requirements. If all meet the requirements, the performance of the parking assistance system meets the requirements; if there is one data that does not meet the requirements, the performance of the parking assistance system does not meet the requirements.

[0110] In summary, in the present application, a test scenario is built, which can simulate scenarios of different curb stones within the same site, and at the same time, the protruding height of the curb stones can be controlled within a certain range. The entire test device can be disassembled and transferred, facilitating the conduct of various types of tests.

[0111] It should be noted that the serial numbers of the embodiments of the present application are only for description and do not represent the superiority or inferiority of the embodiments.

[0112] The terms "including" and "having" and any variations thereof in the specification, claims and drawings of the present application are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products or devices. The descriptions with terms such as "first", "second" and "third" are used to distinguish different objects, etc., and do not represent a sequence, nor do they limit that "first", "second" and "third" are different types.

[0113] In the description of the embodiments of the present application, terms such as "exemplary", "for example" or "for instance" are used to represent examples, illustrations or explanations. Any embodiment or design solution described as "exemplary", "for example" or "for instance" in the embodiments of the present application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Rather, the use of terms such as "exemplary", "for example" or "for instance" is intended to present relevant concepts in a specific manner.

[0114] In the description of the embodiments of the present application, unless otherwise specified, " / " means "or". For example, A / B can mean A or B; the "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of the present application, "a plurality of" means two or more than two.

[0115] In some processes described in the embodiments of the present application, a plurality of operations or steps appear in a specific order. However, it should be understood that these operations or steps may not be executed in the order in which they appear in the embodiments of the present application or may be executed in parallel. The serial numbers of the operations are only used to distinguish different operations, and the serial numbers themselves do not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed in sequence or in parallel, and these operations or steps may be combined.

[0116] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-described example methods can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art can be embodied in the form of a software product. This computer software product is stored in a storage medium as described above (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions for causing a terminal device to execute the methods described in various embodiments of the present application.

[0117] The above are only the preferred embodiments of the present application, and do not limit the patent scope of the present application accordingly. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present application, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present application.

Claims

1. A performance test device for a parking assistance system, characterized in that It includes: a curbstone simulation component (13); an adjustment component (14), the adjustment component (14) being connected to the curbstone simulation component (13); a control component (12), the control component (12) being connected to the adjustment component (14) and being used to control the adjustment component (14) to adjust the curbstone simulation component (13) to a target adjustment type; a data acquisition component (11), the data acquisition component (11) being connected to the control component (12) and being used to acquire and send the position relationship data between the wheels and the curbstone simulation component (13) after the test vehicle parks.

2. The parking assistance system performance test device according to claim 1, characterized in that The curbstone simulation component (13) includes: a skin (4), the skin (4) enclosing to form a sealed space; an air column (3), the air column (3) being arranged in the sealed space; a limiting member, an adjustment space being formed in the middle of the limiting member, the skin (4) being arranged in the adjustment space, and the length and width of the adjustment space being adjustable. The limiting member includes: a first bracket (5), a first electric telescopic rod (6), a second bracket (7), and a second electric telescopic rod (8). The first bracket (5) is arranged on both sides of the skin (4) in the width direction; the first electric telescopic rod (6) is arranged on both sides of the first bracket (5); the second bracket (7) is arranged on both sides of the skin (4) in the length direction; the second electric telescopic rod (8) is arranged on both sides of the second bracket (7), and the telescopic end of the second electric telescopic rod (8) is connected to the adjacent first electric telescopic rod (6).

3. The parking assistance system performance test device according to claim 1, characterized in that The adjustment component (14) includes: an air pump (140), the air pump (140) being connected to the air column (3) through an air pipe, and the air pump (140) being connected to the control component (12); a gas flow sensor (141), the gas flow sensor (141) being arranged on the air pipe, and the gas flow sensor (141) being connected to the control component (12).

4. The parking assistance system performance test device according to claim 1, wherein The data acquisition component (11) includes: a guide rail bracket, the guide rail bracket including a guide rail (1) and a slider (10), the slider (10) being slidably connected to the guide rail (1); a camera (2), the camera (2) being arranged on the slider (10), the camera (2) being connected to the control component (12) and being used to acquire and send the position relationship data between the wheels and the curbstone simulation component (13) when the test vehicle parks; a scale mark, the scale mark being arranged on the lens surface of the camera (2).

5. A method for testing the performance of a parking assistance system, characterized in that, The performance test method for the parking assistance system includes: providing a performance test device for the parking assistance system as described in any one of claims 1-4; selecting one type from multiple types of curbstones as the target adjustment type, and controlling the curbstone simulation component (13) to be adjusted to the target adjustment type; after the test vehicle parks, acquiring the position relationship data between the wheels and the curbstone simulation component (13); determining whether the performance of the parking assistance system meets the requirements based on the position relationship data between the wheels and the curbstone simulation component (13).

6. The method for testing the performance of the parking assistance system according to claim 5, characterized in that, Among various types of curbstones, select one type as the target adjustment type. After controlling the curbstone simulation component (13) to be adjusted to the target adjustment type, before collecting the position relationship data between the wheels and the curbstone simulation component (13) after the test vehicle parks, the method further includes: Judge whether the parameters of the adjusted curbstone simulation component (13) meet the parameter requirements corresponding to the target adjustment type; If it meets the requirements, perform the parking operation of the test vehicle; Otherwise, repair the performance test device of the parking assistance system.

7. The method for testing the performance of the parking assistance system according to claim 5, characterized in that: Repairing the performance test device of the parking assistance system specifically includes: Judge whether to start repairing the performance test device of the parking assistance system within the set time; If so, repair the curbstone simulation component (13), the adjustment component (14), the control component (12) and the data acquisition component (11), and confirm and repair the abnormal components; Otherwise, control the performance test device of the parking assistance system to stop working.

8. The method for testing the performance of a parking assistance system according to claim 7, characterized in that: When confirming and repairing the abnormal components, the method further includes: Periodically collect the repair situation. If it is judged that the repair is completed, control the curbstone simulation component (13) to be adjusted to the target adjustment type again.

9. The performance test method of the parking assistance system according to claim 5, characterized in that: The data acquisition component (11) includes: The guide rail bracket; A camera (2), the camera (2) is arranged on the guide rail bracket, the camera (2) is connected to the control component (12), and is used for collecting and sending the position relationship data between the wheels and the curbstone simulation component (13) when the test vehicle parks; Scale marks, the scale marks are arranged on the lens surface of the camera (2); Before collecting the position relationship data between the wheels and the curbstone simulation component (13), the method further includes the step of determining the conversion ratio between the data collected by the camera (2) and the actual data: Use a length ruler to collect the length of the target object; Confirm the length of the target object in the captured image by the camera (2); Based on the ratio of the length of the target object collected by the length ruler to the length of the target object in the captured image, obtain the conversion ratio.

10. The performance test method of the parking assistance system according to claim 9, characterized in that: Collecting the position relationship data between the wheels and the curbstone simulation component (13) specifically includes: Based on the conversion ratio and the minimum distance from the ground contact point of the outer edge of the front wheel of the test vehicle to the edge of the curbstone simulation component (13) in the captured image, obtain the minimum distance from the ground contact point of the outer edge of the front wheel of the actual test vehicle to the edge of the curbstone simulation component (13); Based on the conversion ratio and the minimum distance from the ground contact point of the outer edge of the rear wheel of the test vehicle to the edge of the curbstone simulation component (13) in the captured image, obtain the minimum distance from the ground contact point of the outer edge of the rear wheel of the actual test vehicle to the edge of the curbstone simulation component (13); Based on the position relationship data between the wheels and the curbstone simulation component (13), determine whether the performance of the parking assistance system meets the requirements, specifically including: Based on the minimum distance from the ground contact point of the outer edge of the front wheel of the actual test vehicle to the edge of the curbstone simulation component (13) and the minimum distance from the ground contact point of the outer edge of the rear wheel of the actual test vehicle to the edge of the curbstone simulation component (13), obtain the included angle between the line connecting the ground contact points of the outer edges of the front and rear wheels of the test vehicle and the edge of the curbstone simulation component (13); Determine whether the minimum distance from the ground contact point of the outer edge of the front wheel of the actual test vehicle to the edge of the curbstone simulation component (13), the minimum distance from the ground contact point of the outer edge of the rear wheel of the actual test vehicle to the edge of the curbstone simulation component (13), and the included angle between the line connecting the ground contact points of the outer edges of the front and rear wheels of the test vehicle and the edge of the curbstone simulation component (13) meet the requirements; If all meet the requirements, the performance of the parking assistance system meets the requirements; Otherwise, the performance of the parking assistance system does not meet the requirements.

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