Monitoring method and equipment for active safety test of intelligent driving and storage medium

Abstract

The invention relates to a monitoring method and device for an active safety test of intelligent driving and a storage medium, and the method comprises the steps: obtaining setting information for carrying out the active safety test on a test vehicle, and the setting information comprises an intervention threshold value for carrying out anti-collision intervention based on a set collision risk assessment parameter; determining a monitoring value of a collision risk assessment parameter for a test combination of the test vehicle and the target object in the test scene in response to a starting instruction for monitoring the active safety test by using the setting information; and under the condition that the monitoring value of the collision risk assessment parameter reaches the intervention threshold value, but the intelligent driving controller does not trigger the set anti-collision signals based on the active safety algorithm, a first anti-collision signal in the set anti-collision signals is sent to the first electronic control unit instead of the intelligent driving controller.

Description

Technical Field

[0001] The present disclosure relates to the field of intelligent driving technology, and more particularly, to a monitoring method, a monitoring device, and a computer-readable storage medium for active safety testing of intelligent driving. Background Art

[0002] In order to ensure the active safety of an intelligent driving system during application, a large number of active safety tests need to be carried out through a Vehicle Under Test (VUT) during the development of an active safety algorithm. Herein, the VUT is a vehicle equipped with the intelligent driving system to be tested and evaluated according to a specific test procedure.

[0003] During the active safety test, if the active safety algorithm is not yet mature, the VUT will be extremely likely to collide with the target object in the test scenario. After each collision between the VUT and the target object, it takes at least dozens of minutes for the staff to restore the test scenario; if the VUT collides severely with the target object, it may also cause damage to parts of test equipment such as the VUT and the target object, communication interruption, etc., which will require a large amount of time for problem troubleshooting, equipment restoration, or equipment replacement, seriously affecting the test efficiency. Moreover, it will also result in high cost expenditures due to equipment repair, replacement, and extension of the test cycle, increasing the test cost. Summary of the Invention

[0004] In view of this, an embodiment of the present disclosure proposes a new technical solution for active safety testing.

[0005] According to a first aspect of the present disclosure, there is provided a monitoring method for active safety testing of intelligent driving, the method including:

[0006] Obtaining setting information for performing an active safety test on a test vehicle; wherein, the test vehicle is configured with an intelligent driving controller that runs an active safety algorithm, and the setting information includes an intervention threshold for anti-collision intervention based on set collision risk assessment parameters;

[0007] In response to a start instruction for monitoring the active safety test with the setting information, determining a monitored value of the collision risk assessment parameter for a test combination of the test vehicle and a target object in the test scenario;

[0008] When the monitored value of the collision risk assessment parameter reaches the intervention threshold, but the intelligent driving controller has not yet triggered a set anti-collision signal based on the active safety algorithm, sending a first anti-collision signal to a first electronic control unit on behalf of the intelligent driving controller; wherein, the set anti-collision signal includes the first anti-collision signal, and the first electronic control unit is an electronic control unit for executing the first anti-collision signal.

[0009] Optionally, the collision risk assessment parameter includes a collision time interval; determining the monitored value of the collision risk assessment parameter includes:

[0010] Based on the first position information and the first speed information of the test vehicle at the sampling time, and the second position information and the second speed information of the target object at the sampling time, determining the monitored value of the collision combination at the sampling time with respect to the collision time interval.

[0011] Optionally, among the first position information and the first speed information, at least the first position information is collected by a dedicated sensor installed on the test vehicle for implementing the monitoring method.

[0012] Optionally, the setting information further includes scene information indicating a test scenario, and the first anti-collision signal is an anti-collision signal corresponding to the active safety function to be tested in the test scenario; after receiving the setting information for performing an active safety test on the test vehicle, the method further includes:

[0013] Determining the active safety function to be tested in the test scenario according to the scene information;

[0014] Determining the corresponding anti-collision signal as the first anti-collision signal according to the active safety function to be tested in the test scenario.

[0015] Optionally, the first anti-collision signal is an automatic emergency braking signal.

[0016] Optionally, the intelligent driving controller controls the first electronic control unit to act through a first message, and the method further includes: receiving the first message sent by the intelligent driving controller;

[0017] Determining whether the intelligent driving controller triggers the first anti-collision signal according to the data content of the first message;

[0018] Replacing the intelligent driving controller to send a first anti-collision signal to the first electronic control unit includes:

[0019] Modifying the first message that does not trigger the first anti-collision signal into a second message that triggers the first anti-collision signal;

[0020] Sending the second message to the first electronic control unit so that the first electronic control unit executes the action indicated by the second message.

[0021] Optionally, obtaining the setting information for performing an active safety test on the test vehicle includes:

[0022] Display a monitoring interface for active safety testing; wherein, the monitoring interface includes at least one setting item;

[0023] Obtain the setting information input by the user through the at least one setting item.

[0024] Optionally, the setting information further includes scenario information indicating a test scenario. After receiving the setting information for performing active safety testing on a test vehicle, the method further includes:

[0025] In response to the start instruction, determine the motion conditions of the test vehicle set by the test scenario according to the scenario information;

[0026] In a case where the intelligent driving controller does not trigger the set anti-collision response and the monitored value of the collision risk assessment parameter does not reach the intervention threshold, modify the data content of the third message sent by the intelligent driving controller according to the motion conditions to obtain a fourth message for replacing the third message; wherein, the third message is a message related to implementing the motion conditions;

[0027] Send the fourth message to a second electronic control unit, so that the second electronic control unit executes the action indicated by the fourth message; wherein, the second electronic control unit is an electronic control unit for executing the third message.

[0028] According to a second aspect of the present disclosure, there is provided a monitoring device according to some embodiments, the monitoring device includes:

[0029] A processor;

[0030] A memory for storing instructions executable by the processor;

[0031] Wherein, the processor is configured to implement the method according to the first aspect of the present disclosure when executing the instructions stored in the memory.

[0032] According to a fifth aspect of the present disclosure, there is also provided a non-volatile computer-readable storage medium, on which computer program instructions are stored, and when the computer program instructions are executed by a processor, the method according to the first aspect of the present disclosure is implemented.

[0033] According to an embodiment of the present disclosure, it realizes collision prevention intervention in active safety testing by monitoring the numerical changes of collision risk assessment parameters and the signals sent by the intelligent driving controller. Through the method of the embodiment of the present disclosure, the collision risk caused by the failure of the active safety algorithm or the delay in target recognition can be significantly reduced, and the number of collisions between the test vehicle and the target object during the test can be greatly reduced. Therefore, the embodiment of the present disclosure can not only save a large amount of testing and debugging time, but also greatly reduce the expenses in aspects such as equipment maintenance, replacement, and site occupancy, thereby effectively improving the testing efficiency and reducing the testing cost.

[0034] Other features and advantages of the present disclosure will become clear through the following detailed description of exemplary embodiments of the present invention with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the present invention and, together with the description, serve to explain the principles of the present invention.

[0036] Figure 1 is a schematic diagram of an active safety testing system to which the method provided by the embodiment of the present disclosure can be applied;

[0037] Figure 2 is a flowchart of a monitoring method for intelligent driving active safety testing according to some embodiments;

[0038] Figure 3 is a flowchart of a monitoring method for intelligent driving active safety testing according to other embodiments;

[0039] Figure 4 is a schematic diagram of the hardware structure of a monitoring device according to some embodiments. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0040] Now, various exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. It should be noted that: unless otherwise specifically stated, the relative arrangements of components and steps, numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present invention.

[0041] The following description of at least one exemplary embodiment is merely illustrative in nature and in no way serves as a limitation to the present invention or its application or use.

[0042] Technologies, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and devices should be regarded as a part of the specification.

[0043] In all the examples shown and discussed here, any specific values should be construed as merely exemplary and not as a limitation. Thus, other examples of the exemplary embodiments may have different values.

[0044] It should be noted that like reference numerals and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

[0045] It should be noted that all actions related to the collection, storage, use, processing, transmission, provision, disclosure, deletion, etc. of data in this disclosure are carried out on the premise of complying with the relevant data protection regulations and policies of the country or region where it is located and with the full authorization of the corresponding data owners.

[0046] This disclosure relates to a technical solution for active safety testing of an intelligent driving system. The intelligent driving controller, as the core hardware platform of the intelligent driving system, is used to run the software of the intelligent driving system to perform environmental perception based on sensor data and perform path planning and decision control based on the environmental perception results, etc., which includes performing a collision avoidance response conforming to the traffic scenario based on an active safety algorithm when a collision risk is perceived to avoid collisions between the vehicle and traffic elements such as pedestrians and other vehicles in the traffic scenario, thereby ensuring driving safety. The intelligent driving system referred to in this disclosure may be an Advanced Driver Assistance Systems (ADAS) or an Autonomous Driving System (ADS).

[0047] For an intelligent driving system, the active safety algorithm is the basic guarantee for driving safety. Therefore, the reliability of the active safety algorithm is crucial. To ensure the reliability of the active safety algorithm, a large number of active safety tests need to be carried out during the development stage of the active safety algorithm. Among them, the active safety tests related to collision avoidance include Autonomous Emergency Braking (AEB) tests, Blind Spot Detection (BSD) tests, Autonomous Emergency Steering (AES) tests, Forward Collision Warning (FCW) tests, etc. For some test items, such as autonomous emergency braking tests and autonomous emergency steering, if the intelligent driving controller fails to activate the collision avoidance response in time during the test, it will directly cause the test vehicle under test (VUT) to collide with the target object in the test scenario, thereby seriously affecting the test efficiency and increasing the test cost.

[0048] Regarding the problem of frequent collisions in testing, currently, it mainly relies on the following vehicle driver to actively intervene to solve the problem. That is, in the case where a collision is about to occur but the intelligent driving controller has not yet activated the collision avoidance response, the following vehicle driver actively intervenes to minimize the collision damage value. However, this places extremely high requirements on the driver's reaction ability, and the driver cannot guarantee that they can intervene in a timely manner every time in the event of the failure of the intelligent driving system to avoid collisions.

[0049] For this reason, the embodiments of the present disclosure propose an active safety testing method for intelligent driving. This method can automatically intervene in collision avoidance when the intelligent driving controller fails to activate the collision avoidance response in the active safety test, thereby avoiding collisions or reducing the collision intensity according to the test requirements, improving the test efficiency and reducing the test cost.

[0050] The active safety testing method of the embodiments of the present disclosure can be applied to a test system for conducting active safety tests on an intelligent driving system. Figure 1 Schematically, a test system 100 to which the method provided by the embodiments of the present disclosure can be applied is given. As Figure 1 shown, the test system 100 includes a test vehicle 101 and a monitoring device 102. The test system 100 further includes a target object set according to the test scenario, and the target object can be a prosthesis simulating a pedestrian, a test two-wheeler, or a test vehicle, etc.

[0051] The test vehicle 101 is equipped with the intelligent driving system to be tested. For example, it is equipped with the ADAS to be tested, and the intelligent driving system equipped includes Figure 1 the intelligent driving controller 1011 therein. The test vehicle 101 can perform driving tasks such as environment perception, decision-making and planning, and control decisions based on the equipped intelligent driving system. The level of intelligent driving can refer to the automotive intelligent grading standard formulated by the Society of Automotive Engineers (SAE). For example, L1 is assisted driving, L2 is partial autonomous driving, L3 is conditional autonomous driving, L4 is highly autonomous driving, and L5 is fully autonomous driving. The above classification method for the intelligent driving level is only for example, and the embodiments of the present disclosure do not limit the classification criteria and levels of intelligent driving.

[0052] As Figure 1 shown, the test vehicle 101 further includes a sensing component 1014, a communication bus 1012, an electronic control unit (ECU) 1013, and an execution component 1015. The communication bus 1012 can be a CAN bus. The intelligent driving controller 1011 of the test vehicle 101 and each ECU of the entire vehicle are connected to the communication bus 1012 as bus nodes, enabling each bus node to transmit data through the communication bus 1012.

[0053] In some examples, the sensing component 1014 can be used to collect information about the movable device itself or the outside. The sensing component 1011 can include a vision sensing unit and a motion sensing unit. The vision sensing unit can include one or more cameras. The motion sensing unit can include a wheel speed meter and / or an Inertial Measurement Unit (IMU). In other examples, the sensing component 1011 can also include a radar, a positioning and navigation unit, etc., which are not limited herein. The radar can include at least one of a lidar, a millimeter wave radar, an ultrasonic radar, or other radars. The wheel speed meter can be of any type, such as a magnetoelectric wheel speed meter, an optoelectronic wheel speed meter, a mechanical wheel speed meter, a Hall effect wheel speed meter, or a vision wheel speed meter. The positioning and navigation unit can include at least one of a GPS system, a Beidou system, or other global positioning systems.

[0054] In some examples, the control decision of the intelligent driving controller 1011 can be sent to the vehicle ECU through a message, and the ECU sends a control instruction to the corresponding execution component 1015 to enable the execution component 1015 to perform corresponding actions, so as to realize the control of the test vehicle 101. Both the intelligent driving controller 1011 and the ECU can include at least one processor and at least one memory. Each processor can execute the instructions stored in the memory alone or jointly to realize the set functions. The processor in the embodiments of the present disclosure can include at least one of a Central Processing Unit (CPU), a Graphic Process Unit (GPU), a Field Programmable Gate Array (FPGA), a System on Chip (SOC), an Application Specific Integrated Circuit (ASIC), a Micro Controller Unit (MCU), or other processors. The memory can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as a Static Random Access Memory (SRAM), an Electrically Erasable Programmable Read Only Memory (EEPROM), an Erasable Programmable Read Only Memory (EPROM), a Programmable Read Only Memory (PROM), a Read Only Memory (ROM), a magnetic memory, a flash memory, a magnetic disk, or an optical disk.

[0055] In some examples, the execution component 1015 is used to perform corresponding actions based on the control of the ECU, so that the test vehicle 101 completes the motion task. The execution component 1015 can include, for example, a power component, a braking component, a transmission component, a steering component, etc.

[0056] In the embodiments of the present disclosure, the intelligent driving controller 1011 is not directly connected to the communication bus 1012, but is connected to the communication bus 1012 through the monitoring device 102. Among them, the intelligent driving controller 1011 is connected to the channel C1 of the monitoring device 102, and the monitoring device 102 is connected to the communication bus 1012 through the channel C2, so that the monitoring device 102 can monitor the messages sent by the intelligent driving controller 1011 and modify or transparently transmit the messages as needed, thereby implementing the monitoring method according to the embodiments of the present disclosure.

[0057] In the test, the monitoring device 102 can be set outside the test vehicle 101 and connected to the test vehicle 101 through a connecting wire, as long as the length of the connecting wire does not affect the test vehicle 101 from completing the test items. In addition, the monitoring device 102 can also be placed inside the test vehicle 101 to complete the test, which is not limited here.

[0058] In some examples, the communication bus 1012 is a CAN bus, and the monitoring device 102 can be implemented by running a script written for the method of the embodiments of the present disclosure on a CAN bus analyzer. Here, since the CAN bus analyzer has the ability to monitor the communication data on the CAN bus network, developing the monitoring device 102 based on the CAN bus analyzer is beneficial to reducing the development cost.

[0059] It should be noted that Figure 1 the structure of the test vehicle 101 shown in is only schematic. The test vehicle 101 in the embodiments of the present disclosure is not limited to the above structure, and may include more or fewer components as needed, or the devices may be combined or split, which is not limited here.

[0060] Next, in combination with Figure 1 the following describes each embodiment of the present disclosure.

[0061] <First Embodiment>

[0062] Figure 2 The flowchart of the monitoring method for intelligent driving active safety testing according to some embodiments is shown. This method can be implemented by Figure 1 the monitoring device 102 in. As Figure 2 shown, the monitoring method of this embodiment may include the following steps S210 to step S230.

[0063] Step S210, obtaining the setting information for the active safety test of the test vehicle.

[0064] The test vehicle VUT is configured with an intelligent driving controller, and the intelligent driving controller is also referred to as an intelligent driving domain controller.

[0065] The setting information includes an intervention threshold for anti-collision intervention based on set collision risk assessment parameters. The anti-collision in this embodiment can be to prevent a collision from occurring, or to prevent a severe collision from occurring, that is, at least mitigate the collision. Here, a severe collision refers to a collision that will cause device damage to any one of the test combinations.

[0066] For example, the collision risk assessment parameter is the Time to Collision (TTC). The Time to Collision TTC represents the time required for the test vehicle and the target object to collide in the test scenario. The smaller the Time to Collision TTC, the higher the risk degree of collision between the test vehicle and the target object.

[0067] Another example is that the collision risk assessment parameter is the collision distance. The collision distance represents the remaining distance for the test vehicle and the target object to collide in the test scenario. When the relative speed is constant, the smaller the collision distance, the higher the risk degree of collision between the test vehicle and the target object.

[0068] Yet another example is that the collision risk assessment parameter is the contact signal value. The contact signal value indicates whether the test vehicle and the target object are in contact. When in contact, the contact signal value is a first numerical value, and when not in contact, the contact signal value is a second numerical value. In this example, a contact sensor can be installed on at least one of the test vehicle and the target object to detect the contact signal through the contact sensor, so that the monitoring device 102 can determine the contact signal value according to the level of the contact signal. In this example, a bracket for installing the contact sensor can be set on the test vehicle or the target object, so that the main bodies of the test vehicle and the target object do not actually come into contact when the contact sensor is triggered.

[0069] In the case of allowing a minor collision to conduct in-depth analysis of the active safety algorithm, the collision risk assessment parameter can also be the collision pressure indicating the degree of collision between the test vehicle and the target object, etc., which is not limited here.

[0070] Those skilled in the art should understand that in this embodiment, the anti-collision intervention of the monitoring device is a remedial measure when the intelligent driving system fails to activate the active safety function normally as designed, rather than an early intervention for activating the functions of the intelligent driving system. The tester can set the intervention threshold according to the timing of the intelligent driving system's normal activation of the active safety function and the action time required for anti-collision intervention, so as to ensure that the anti-collision intervention of the monitoring device neither affects the normal activation of the active safety function involved in the test scenario by the intelligent driving system nor can effectively prevent or mitigate collisions when the active safety function of the intelligent driving system fails, achieving the purpose of protecting the test equipment from damage. Here, the action time required for anti-collision intervention is also referred to as the response time required for anti-collision intervention, and this action time refers to the time from when the sensor collects and calculates the data required for the monitoring value to when the test vehicle makes an anti-collision response based on the anti-collision signal sent by the monitoring device.

[0071] Taking the collision risk assessment parameter as the time to collision (TTC) as an example, the intervention threshold represents the intervention timing limit regarding the time to collision. The tester can set the intervention threshold regarding the time to collision within the time range greater than the above-mentioned action time and less than or equal to the active safety function trigger time regarding the time to collision determined based on the active safety algorithm. When the active safety algorithm also triggers the active safety function based on the time to collision, the trigger threshold set by the active safety algorithm regarding the time to collision can be used as the above-mentioned active safety function trigger time. When the active safety algorithm triggers the active safety function based on other parameters, the active safety function trigger time can be determined based on the mapping relationship between other parameters and the time to collision.

[0072] Based on the hardware configuration and data transmission method, the action time is usually between 0.7 - 1.2 s, while the active safety function trigger time is usually between 1.5 - 3 s. The intervention threshold can be set within the range of 1 - 2 s according to the test scenario and the situation of the intelligent driving system. When setting the intervention threshold, the specific value can also be selected with reference to the test speed of the test vehicle within the effective range. Among them, if the test speed is relatively high, a relatively large value can be selected. For example, the intervention threshold is set to 1.6 s, which means that when the time to collision decreases to 1.6 s, if the intelligent driving controller has not triggered an anti-collision response, the monitoring device 102 will perform active intervention for anti-collision.

[0073] Taking the collision risk assessment parameter as the collision distance as an example, the intervention threshold represents the intervention timing limit for the collision distance. The tester can set the corresponding intervention threshold according to the test speed of at least one of the test vehicle and the target object in the test scenario, and the intervention threshold can increase as the test speed increases. For example, the intervention threshold is 2m, which means that when the collision distance is reduced to 2m, if the intelligent driving controller has not triggered the anti-collision response, the monitoring device 102 performs active intervention for anti-collision.

[0074] Taking the collision risk assessment parameter as the contact signal value as an example, the intervention threshold represents the intervention timing limit for the contact signal value. The intervention threshold can be a first value, which means that when the contact signal value is the first value, if the intelligent driving controller has not triggered the anti-collision response, active intervention is performed through the monitoring device 102.

[0075] In some examples, the monitoring device can support setting the intervention threshold based on multiple collision risk assessment parameters, and the tester can select the required collision risk assessment parameter according to the test scenario to set the corresponding intervention threshold.

[0076] In some examples, the setting information can further include scenario information indicating the test scenario, so that the monitoring device 102 can perform more flexible monitoring of the active safety test according to the scenario information to perform active intervention for anti-collision in the active safety test. The scenario information can include scenario identifiers such as scenario numbers, and the scenario identifier is mapped to the scenario setting information of the identified test scenario. The monitoring device 102 can resolve and / or retrieve the scenario setting information of the corresponding test scenario based on the scenario identifier. In this way, the tester only needs to input a simple scenario identifier to the monitoring device 102, reducing the setting burden on the tester. Of course, those skilled in the art can understand that the scenario information can also directly include at least part of the scenario setting information, which is not limited here.

[0077] The scenario setting information includes, for example, test items, motion conditions of the test vehicle, motion conditions of the target object, etc. The test items are used to describe the test content, which includes the active safety functions to be tested, the type of the target object, etc. The active safety function is, for example, automatic emergency braking (AEB), and the type of the target object is, for example, a pedestrian (dummy), a two-wheeler, or a vehicle, etc. The motion conditions of the test vehicle include conditions regarding the motion speed and motion direction. The motion direction of the test vehicle in the test scenario includes going straight, turning left, or turning right, etc., and the turning angle, etc. can be further refined. The motion conditions of the target object also include conditions regarding the motion speed and motion direction. The motion direction of the target object in the test scenario includes moving longitudinally forward, moving towards the oncoming direction in the front, crossing in the front, etc. The motion speed of the target object is greater than or equal to 0. For the test scenario where the target object is stationary, it is required that the motion speed of the target object is 0. Additionally, for the test scenario where the target object is stationary, the scenario setting information can also include the position information of the target object, etc., which is not limited herein.

[0078] Taking the test scenario identified by the scenario identifier CPLA - 20kph as an example, this test scenario is a test scenario where the test vehicle goes straight and a pedestrian walks longitudinally in the front. The test function is the automatic emergency braking function, and the target object is a pedestrian (dummy). The test vehicle is required to go straight at a motion speed of 20 km / h, and the target object is required to move at a motion speed of 5 km / h in the same direction as the vehicle's traveling direction.

[0079] Taking the test scenario identified by CBLA - 40kph as another example, this test scenario is a test scenario where the test vehicle goes straight and an electric bicycle travels longitudinally in the front. The test function is the automatic emergency braking function, and the target object is a test electric bicycle. In the test, a dummy simulating the motion of the electric bicycle can be used. The test vehicle is required to go straight at a motion speed of 40 km / h, and the target object is required to move at a motion speed of 15 km / h in the same direction as the vehicle's traveling direction.

[0080] In some examples, the monitoring device 102 can provide a monitoring interface for active safety testing and provide at least one setting item on the monitoring interface. For example, it provides an intervention threshold setting item and a scenario setting item, enabling the tester to input setting information through the monitoring interface, thus simplifying the operation. In this example, obtaining the setting information for the active safety testing of the test vehicle in step S210 can include the following steps: displaying the monitoring interface for active safety testing, which includes at least one setting item; and obtaining the setting information input by the user through the at least one setting item.

[0081] In this example, the setting items of the monitoring interface can include input boxes in any form.

[0082] In another example, the tester can also input the setting information through a user terminal such as a mobile phone communicatively connected to the monitoring device 102, which is not limited herein.

[0083] In some other examples, the monitoring device 102 can also calculate the accuracy of the sensors for monitoring values, the set action time, and the set active safety function trigger time according to the test speed of the test vehicle in the scenario setting information, and set the intervention threshold without the tester manually inputting.

[0084] Step S220, in response to the start instruction for monitoring the active safety test with the setting information, determine the monitoring value of the collision risk assessment parameter for the test combination of the test vehicle and the target object in the test scenario.

[0085] After the input of the setting information is completed, the tester can send a start instruction to the monitoring device 102. According to the start instruction, the monitoring device 102 starts to monitor the active safety test. The monitoring items include calculating the monitoring value of the collision risk assessment parameter in real time at the set sampling frequency for the test combination of the test vehicle and the target object in the test scenario.

[0086] The monitoring device 102 can start calculating the monitoring value of the collision risk assessment parameter for the test combination in the test scenario immediately after receiving the start instruction. The monitoring device 102 can also start calculating the monitoring value of the collision risk assessment parameter for the test combination in real time after receiving the start instruction when the moving speed of the test vehicle meets the test speed requirement of the test vehicle in the test scenario, which is not limited herein.

[0087] The tester can trigger the start instruction through the control on the monitoring interface displayed by the monitoring device 102, or can also send the start instruction through a user terminal such as a mobile phone communicatively connected to the monitoring device 102, which is not limited herein.

[0088] In some examples, the monitoring device 102 can display the monitoring value of the collision risk assessment parameter calculated in real time on the monitoring interface, enabling the tester to intuitively observe the numerical change of the collision risk assessment parameter, and enabling the tester to establish a mapping between the change of the monitoring value, the anti-collision signal triggered by the intelligent driving controller 101, and the anti-collision intervention situation of the monitoring device 102.

[0089] In the example where the collision risk assessment parameter is the collision time interval, the monitoring device 102 can determine the monitoring value of the test combination for the collision risk assessment parameter at the sampling time according to the first position information and the first speed information of the test vehicle at the sampling time, and the second position information and the second speed information of the target object at the sampling time.

[0090] In this example, the speed information includes the movement rate and the movement direction. The monitoring device can determine the relative distance between the test vehicle and the target object based on the first position information and the second position information, and determine the relative speed between the test vehicle and the target object based on the first speed information and the second speed information, and then determine the monitoring value of the collision time interval based on the relative distance and relative speed between the two.

[0091] The second speed information of the target object can be collected by a sensor configured for the target object, or can be determined according to the scene setting information of the test scene. When the test scene sets the target object as a stationary object, the second speed information of the target object corresponds to a movement rate of 0 for the target object.

[0092] The second position information of the target object can be collected by a sensor configured for the target object. When the target object is set as a stationary object in the test scene, the second position information of the target object can also be determined according to the scene setting information of the test scene.

[0093] Among the first position information and the first speed information of the test vehicle, at least the first position information is collected by a sensor configured for the test vehicle, such as a GPS navigation module, which can provide the monitoring device 102 with the vehicle's position information and speed information.

[0094] In some examples, the sensor may be a dedicated sensor installed on the test vehicle for accurate test monitoring, rather than a sensor that comes with the test vehicle. The dedicated sensor is, for example, a GPS navigation module with a differential function, the positioning accuracy of which can reach sub-meter level (within 1 meter), and the positioning accuracy of the GPS navigation module using carrier phase differential technology can even reach centimeter level. Here, the use of a dedicated sensor with higher accuracy is conducive to improving the calculation accuracy of the monitoring value of the collision risk assessment parameter, and thus can set a suitable intervention threshold within the range of ensuring the effectiveness of the anti-collision intervention without affecting the normal activation of the active safety function of the intelligent driving system.

[0095] In another example, if the sensors provided by the test vehicle, such as a built-in GPS navigation module, can meet the monitoring needs, the sensors provided by the test vehicle may also be directly used, without limitation herein.

[0096] In addition, the first speed information of the test vehicle may also be determined according to the scene setting information, that is, the first speed information is determined according to the motion condition of the test vehicle in the scene setting information, which is not limited here.

[0097] In some examples, the monitoring device 102 may display the received first position information of the test vehicle and the like on the monitoring interface, so that the tester can determine whether the sensor can work properly according to the change of the received data as the test vehicle moves.

[0098] In an example where the collision risk assessment parameter is the collision distance, the monitoring value of the collision combination with respect to the collision distance can be determined according to the first position information of the test vehicle at the sampling time and the second position information of the target object at the sampling time, which will not be elaborated here.

[0099] Step S230, when the monitoring value of the collision risk assessment parameter reaches the intervention threshold, but the intelligent driving controller has not triggered the set anti-collision signal based on the active safety algorithm, instead of the intelligent driving controller, send the first anti-collision signal in the set anti-collision signal to the first electronic control unit.

[0100] In this embodiment, the first electronic control unit is the electronic control unit for executing the first anti-collision signal. The first electronic control unit may be an electronic control unit or may include multiple electronic control units, which is not limited here. For example, the first anti-collision signal is an automatic emergency braking signal, and the first electronic control unit is the electronic control unit related to the braking system.

[0101] In some examples, the set anti-collision signal is the first anti-collision signal, and the set collision signal and the first anti-collision signal are anti-collision signals corresponding to the active safety function to be tested in the test scenario. In this example, the tester can also set the set anti-collision signal to be monitored through the monitoring interface. In this regard, the setting information may further include the anti-collision signal to be monitored as the set anti-collision signal. In this example, the setting information further includes the scenario information indicating the test scenario. The monitoring device 102 can determine the active safety function to be tested in the indicated test scenario according to the scenario information, and determine the first anti-collision signal according to the active safety function to be tested in the test scenario. For example, the active safety function to be tested in the test scenario is the automatic emergency braking function, and the first anti-collision signal is the automatic emergency braking signal. Another example is that the active safety function to be tested in the test scenario is the automatic emergency steering function, and the first anti-collision signal is the automatic emergency steering signal.

[0102] In this example, since the test scenario is specifically set for the active safety function to be tested, therefore, for preventing or reducing the collision between the test vehicle and the target object in the test scenario, the anti-collision signal corresponding to the active safety function to be tested in the test scenario is usually more effective. Using this anti-collision signal as the first anti-collision signal is beneficial to ensuring the test safety.

[0103] In some other examples, setting the anti-collision signal may also include multiple anti-collision signals. The multiple anti-collision signals cover the anti-collision signals corresponding to the active safety functions to be tested in the test scenario, and different anti-collision signals correspond to different active safety functions. The multiple anti-collision signals can be preset in the script, or can be set by the tester through the monitoring interface, or can also be multiple anti-collision signals bound to the test scenario determined based on the set scenario information, which is not limited here. In the example, the first anti-collision signal can be the anti-collision signal corresponding to the active safety function to be tested in the test scenario, or can be other anti-collision signals, which is not limited here.

[0104] In still some other examples, setting the anti-collision signal includes multiple anti-collision signals. The first anti-collision signal can be a fixed signal regardless of the test scenario, for example, fixed as the automatic emergency braking signal. Here, since automatic emergency braking can effectively avoid or reduce collisions in most test scenarios, the first anti-collision signal can be fixedly set as the automatic emergency braking signal to reduce the difficulty of script design.

[0105] In this embodiment, the intelligent driving controller and each ECU can transmit data through messages. Here, since messages can transmit a large amount of data according to the protocol regulations, transmitting data through messages can improve the data transmission efficiency.

[0106] In some examples, the intelligent driving controller 101 controls the first electronic control unit to act through the first message. The monitoring device 102 can determine whether the intelligent driving controller 101 triggers the first anti-collision signal according to the data content of the first message. The monitoring device 102 can replace the intelligent driving controller 101 to send the anti-collision signal to the first electronic control unit by modifying the first message that does not trigger the set anti-collision signal into the second message that triggers the anti-collision signal.

[0107] See Figure 1 , in this embodiment, since the intelligent driving controller 101 is connected to the communication bus through the monitoring device 102, therefore, whether it is the message sent by the intelligent driving controller 101 to the communication bus or the message sent by the electronic control unit of the test vehicle to the intelligent driving controller 101 through the communication bus, it will pass through the monitoring device 102 for transfer. Therefore, the monitoring device 102 can perform pass-through or modification of the message to be transferred according to the setting.

[0108] After the monitoring device 102 is turned on, the monitoring device 102 starts to perform pass-through of the message to be transferred. The tester can view whether the monitoring device 102 can normally perform message pass-through through the interface of the monitoring device 102.

[0109] Under normal circumstances, the monitoring device 102 performs transparent transmission of the message to be relayed. However, when the monitoring device 102 needs to perform anti-collision intervention, it can modify the first message sent by the intelligent driving controller 101 and send the modified first message, that is, the second message obtained by modifying the first message, to the first electronic control unit. Refer to Figure 1 , the monitoring device 102 can send the second message used to replace the first message to the communication bus 102, so that the first electronic control unit can receive the second message through the communication bus 102. In this regard, the first message carries the identifier of the electronic control unit that needs to process the message. When the second message is obtained by modifying the first message, this identifier will be retained. In this way, as long as the monitoring device 102 sends the second message to the communication bus 102, the first electronic control unit can parse and process the second message according to the identifier carried by the second message, and then realize sending the second message to the first electronic control unit.

[0110] In this embodiment, when the monitored value of the collision risk assessment parameter of the monitoring device 102 does not reach the intervention threshold, the monitoring device 102 can directly perform transparent transmission of the first message, that is, transmit the first message sent by the intelligent driving controller 101 transparently to the communication bus and then transfer it to the first electronic control unit through the communication bus, so that the first electronic control unit can execute the action indicated by the first message.

[0111] In this embodiment, when the intelligent driving controller 101 does not trigger the set anti-collision response but the monitored value of the collision risk assessment parameter has reached the intervention threshold, this indicates that the intelligent driving system cannot normally execute the active safety function due to reasons such as the failure of the active safety algorithm or target recognition delay. At this time, to avoid or mitigate the collision, the monitoring device 102 modifies the first message that does not trigger the first anti-collision signal into a second message that triggers the first anti-collision signal and sends the second message to the communication bus. That is, the monitoring device 102 discards the original first message and replaces the first message with the second message, and sends the second message to the first electronic control unit, so that the first electronic control unit can execute the action indicated by the second message. Among them, the action indicated by the second message includes performing an anti-collision response according to the first anti-collision signal.

[0112] In some examples, modifying the first message that does not trigger the anti-collision signal into a second message that triggers the anti-collision signal may include: modifying the first signal value indicating non-triggering of the anti-collision signal in the first message into a second signal value indicating triggering of the anti-collision signal to obtain the second message.

[0113] The message includes a message header and a data body. The data body can include multiple fields, and different fields correspond to different control contents. The electronic control unit ECU of the vehicle can execute actions by parsing the message sent by the intelligent driving controller, thereby realizing the control content of the intelligent driving controller.

[0114] In this example, the monitoring device 102 determines the first target field corresponding to the first anti-collision signal by parsing the first message, and determines whether the intelligent driving controller has triggered the first anti-collision signal according to the value of the first target field. For example, the first anti-collision signal is an automatic emergency braking signal, and the first target field is the field corresponding to the automatic emergency braking function. When the value of the first target field is the first signal value false, it means that the intelligent driving controller has not triggered the automatic emergency braking signal, or in other words, the automatic emergency braking function has not been activated. When the value of the first target field is the second signal value true, it means that the intelligent driving controller has triggered the automatic emergency braking, or in other words, the automatic emergency braking function has been activated.

[0115] In this example, when the monitoring device 102 needs to activate the anti-collision response through active intervention, the first signal value of the first target field in the first message can be modified to the second signal value, thereby obtaining the second message.

[0116] In some other examples, the first message includes a first check value for verifying the integrity of the message. The first check value is located in the message header, for example. The first check value is calculated according to the data content of the first message. After receiving the first message, the first electronic control unit calculates the check value according to the received data content. When the calculated check value is the same as the first check value in the first message, it means that the data content of the first message has been completely received and the first message can be processed normally. In this example, in addition to modifying the first signal value in the first message to the second signal value, it is also necessary to recalculate a new check value as the second check value according to the modified data content, and modify the original first check value in the first message to the second check value, so that the second check value matches the modified second signal value to ensure that the first electronic control unit can process the second message normally.

[0117] In this embodiment, when the monitored value of the collision risk assessment parameter does not reach the intervention threshold, the monitoring device 102 will continue to monitor the numerical change of the collision risk assessment parameter, so as to perform anti-collision intervention based on step S330 when the anti-collision intervention condition of step S330 is met.

[0118] According to steps S210 to S230, the monitoring method of this embodiment, based on the start instruction, on the one hand monitors the numerical change of the set collision risk assessment parameter for the test combination of the test vehicle and the target object, and on the other hand monitors whether the intelligent driving controller triggers the set anti-collision signal by reading the signal sent by the intelligent driving controller of the test vehicle. Once the monitored value reaches the set intervention threshold and the intelligent driving controller has not triggered the set anti-collision signal, it will send the first anti-collision signal therein to the first electronic control unit on behalf of the intelligent driving controller, so that the first electronic control unit performs anti-collision response according to the received first anti-collision signal, thereby significantly reducing the collision risk caused by the failure of the active safety algorithm or the delay of target recognition, and greatly reducing the number of collisions between the test vehicle and the target object during the test.

[0119] <Second Embodiment>

[0120] Compared with the first embodiment, this embodiment also controls the test vehicle to meet the motion conditions set in the test scenario through the monitoring device 102 to ensure the accuracy of the test. As Figure 3 shown, the monitoring method of this embodiment may include the following steps S310 to S340:

[0121] Step S310, receive the setting information for the active safety test of the test vehicle, and then execute step S320.

[0122] In this embodiment, the test vehicle is configured with an intelligent driving controller that runs an active safety algorithm. The setting information includes the intervention threshold for anti-collision intervention based on the set collision risk assessment parameter, and also includes the scenario information indicating the test scenario.

[0123] Step S320, in response to the start instruction for monitoring the active safety test with the setting information, determine the monitored value of the collision risk assessment parameter for the test combination of the test vehicle and the target object in the test scenario, and determine the motion conditions of the test vehicle set in the test scenario according to the scenario information; in the case where the intelligent driving controller does not trigger the set anti-collision signal based on the active safety algorithm but the monitored value of the collision risk assessment parameter has reached the intervention threshold, execute step S330; and in the case where the intelligent driving controller does not trigger the set anti-collision response and the monitored value of the collision risk assessment parameter has not reached the intervention threshold, execute step S340.

[0124] In some examples, the motion conditions that need to be determined according to the monitoring method of this embodiment may include conditions regarding the motion speed.

[0125] In other examples, the motion conditions that need to be determined according to the monitoring method of this embodiment may also include conditions regarding the motion speed and conditions regarding the motion direction.

[0126] In this embodiment, when the monitored value of the collision risk assessment parameter does not reach the intervention threshold, but the intelligent driving controller has triggered a set anti-collision signal based on the active safety algorithm, the monitoring method of this embodiment can be ended.

[0127] In this embodiment, when the monitored value of the collision risk assessment parameter has reached the intervention threshold and the intelligent driving controller has also triggered a set anti-collision signal based on the active safety algorithm, the anti-collision signal triggered by the intelligent driving controller is directly forwarded to the corresponding electronic control unit.

[0128] Step S330: When the intelligent driving controller does not trigger a set anti-collision signal based on the active safety algorithm, but the monitored value of the collision risk assessment parameter has reached the intervention threshold, instead of the intelligent driving controller, a first anti-collision signal is sent to the first electronic control unit.

[0129] Step S340: When the intelligent driving controller does not trigger a set anti-collision response and the monitored value of the collision risk assessment parameter does not reach the intervention threshold, the data content of the third message sent by the intelligent driving controller is modified according to the motion condition to obtain a fourth message for replacing the third message, and the fourth message is sent to the second electronic control unit, so that the second electronic control unit executes the action indicated by the fourth message.

[0130] In this embodiment, the third message is a message related to realizing this motion condition. For example, the third message is a message related to speed control. The second electronic control unit is the electronic control unit for executing the third message.

[0131] For example, the monitoring device can determine the acceleration value according to the condition regarding the motion speed, and modify the original acceleration value in the third message to the determined acceleration value, and then modify the third message to the fourth message.

[0132] When the monitoring device 102 only performs speed intervention, the tester can hold the steering wheel to achieve the required motion direction, such as going straight.

[0133] The monitoring device can, for example, determine the acceleration value required to achieve the set motion speed based on control algorithms such as PID, which is not limited here.

[0134] In this embodiment, when the monitoring device 102 performs anti-collision intervention based on step S330, or when the intelligent driving controller 101 triggers an anti-collision signal based on the active safety algorithm, the monitoring device 102 exits the intervention for realizing the motion condition, that is, it no longer executes step S350, and directly transparently transmits the third message to the second electronic control unit.

[0135] According to the monitoring method of this embodiment, a monitoring device can intervene in the test vehicle to meet the motion conditions required by the test scenario, so that the test vehicle can travel towards the target object in the test scenario under the motion conditions required by the test scenario, such as the motion speed, and then complete the active safety function test of the test scenario.

[0136] <Third Embodiment>

[0137] This embodiment provides a monitoring device, such as Figure 4 As shown, the monitoring device 400 includes a memory 402 and a processor 401. The memory 402 is used to store the computer program run by the processor 401. The processor 401 is configured to implement the monitoring method according to any embodiment of the present disclosure when executing the computer program stored in the memory 402.

[0138] The computer program can be a program written in a scripting language.

[0139] The monitoring device 400 may further include a display device, an input device, etc. The display device is used to display the monitoring interface. The input device is for the user to perform human-computer interaction with the monitoring device 400. The input device includes, for example, a touch screen, physical buttons, etc.

[0140] In addition, an embodiment of the present disclosure also provides a computer-readable storage medium, in which a computer program is stored. The computer program is loaded and executed by a processor to implement the monitoring method according to any embodiment of the present disclosure.

[0141] The present invention may be a system, a method, and / or a computer program product. The computer program product may include a computer-readable storage medium having thereon computer-readable program instructions for causing a processor to implement various aspects of the present invention.

[0142] A computer-readable storage medium can be a tangible device that can retain and store instructions for use by an instruction execution device. A computer-readable storage medium can be, for example, but is not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), a static random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), a digital versatile disc (DVD), a memory stick, a floppy disk, a mechanically encoded device such as a punched card or raised structures in grooves having instructions stored thereon, and any suitable combination of the foregoing. The computer-readable storage medium as used herein is not construed to be a transient signal per se, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., an optical pulse through an optical fiber cable), or an electrical signal transmitted through a wire.

[0143] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to respective computing / processing devices, or downloaded to an external computer or external storage device through a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include a copper transmission cable, an optical fiber transmission, a wireless transmission, a router, a firewall, a switch, a gateway computer, and / or an edge server. A network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in each computing / processing device.

[0144] The computer program instructions for carrying out the operations of the present invention may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state-setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages such as Smalltalk, C++, etc., and conventional procedural programming languages such as the "C" language or similar programming languages. The computer-readable program instructions may be executed entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer, or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider). In some embodiments, by using the state information of the computer-readable program instructions to customize an electronic circuit, such as a programmable logic circuit, a field-programmable gate array (FPGA), or a programmable logic array (PLA), the electronic circuit can execute the computer-readable program instructions to implement various aspects of the present invention.

[0145] Aspects of the present invention are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer-readable program instructions.

[0146] These computer-readable program instructions may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, when executed by the processor of the computer or other programmable data processing apparatus, create a means for implementing the functions / acts specified in one or more blocks of the flowchart illustrations and / or block diagrams. These computer-readable program instructions may also be stored in a computer-readable storage medium that causes a computer, a programmable data processing apparatus, and / or other devices to function in a particular manner, such that the computer-readable medium storing the instructions comprises a manufacture that includes instructions for implementing various aspects of the functions / acts specified in one or more blocks of the flowchart illustrations and / or block diagrams.

[0147] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device, causing a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process such that the instructions executed on the computer, other programmable data processing apparatus, or other device implement the functions / acts specified in one or more boxes of the flowchart and / or block diagram.

[0148] The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagram may represent a module, a segment of code, or a portion of an instruction, which contains one or more executable instructions for implementing the specified logical function. In some alternative implementations, the functions noted in the blocks may occur out of the order noted in the figures. For example, two consecutive blocks may in fact be executed substantially in parallel, or they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block of the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented by a dedicated hardware-based system that performs the specified functions or acts, or by a combination of dedicated hardware and computer instructions. As is well known to those of ordinary skill in the art, implementations through hardware, through software, and through a combination of software and hardware are equivalent.

[0149] The embodiments of the present invention have been described above. The above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art in the technical field without departing from the scope and spirit of the described embodiments. The selection of the terms used herein is intended to best explain the principles of the embodiments, the practical application, or the improvement of technologies in the market, or to enable other ordinary skill in the art in the technical field to understand the embodiments disclosed herein. The scope of the present invention is defined by the appended claims.

Claims

1. A monitoring method for active safety testing of intelligent driving, characterized in that Including: Obtaining setting information for active safety testing of a test vehicle; wherein, the test vehicle is configured with an intelligent driving controller that runs an active safety algorithm, and the setting information includes an intervention threshold for collision prevention intervention based on set collision risk assessment parameters; In response to a start instruction for monitoring the active safety test with the setting information, determining a monitored value of the collision risk assessment parameter for a test combination of the test vehicle and a target object in a test scenario; In the case where the monitored value of the collision risk assessment parameter reaches the intervention threshold, but the intelligent driving controller has not triggered a set collision prevention signal based on the active safety algorithm, sending a first collision prevention signal to a first electronic control unit on behalf of the intelligent driving controller; wherein, the set collision prevention signal includes the first collision prevention signal, and the first electronic control unit is an electronic control unit for executing the first collision prevention signal.

2. The method according to claim 1, characterized in that, The collision risk assessment parameter includes a collision time interval; determining the monitored value of the collision risk assessment parameter includes: Based on the first position information and first speed information of the test vehicle at a sampling time, and the second position information and second speed information of the target object at the sampling time, determining the monitored value of the collision combination at the sampling time with respect to the collision time interval.

3. The method according to claim 2, wherein Among the first position information and the first speed information, at least the first position information is collected by a dedicated sensor installed on the test vehicle for implementing the monitoring method.

4. The method according to any one of claims 1 to 3, characterized in that The setting information further includes scenario information indicating the test scenario, and the first collision prevention signal is a collision prevention signal corresponding to the active safety function to be tested in the test scenario; After receiving the setting information for active safety testing of the test vehicle, the method further includes: Determining the active safety function to be tested in the test scenario according to the scenario information; Determining a corresponding collision prevention signal as the first collision prevention signal according to the active safety function to be tested in the test scenario.

5. The method according to any one of claims 1 to 3, characterized in that, The first collision prevention signal is an automatic emergency braking signal.

6. The method according to any one of claims 1 to 3, characterized in that, The intelligent driving controller controls the operation of the first electronic control unit through a first message, and the method further includes: receiving the first message sent by the intelligent driving controller; Determining whether the intelligent driving controller triggers the first collision prevention signal according to the data content of the first message; The sending the first collision prevention signal to the first electronic control unit on behalf of the intelligent driving controller includes: Modifying the first message that has not triggered the first collision prevention signal into a second message that triggers the first collision prevention signal; Sending the second message to the first electronic control unit, so that the first electronic control unit executes the action indicated by the second message.

7. The method according to any one of claims 1 to 3, characterized in that, The obtaining the setting information for active safety testing of the test vehicle includes: Displaying a monitoring interface for active safety testing; wherein, the monitoring interface includes at least one setting item; Obtaining the setting information input by the user through the at least one setting item.

8. The method according to any one of claims 1 to 3, characterized in that, The setting information further includes scenario information indicating a test scenario. After receiving the setting information for performing an active safety test on a test vehicle, the method further includes: In response to the start instruction, determining the movement conditions of the test vehicle set by the test scenario according to the scenario information; When the intelligent driving controller does not trigger the set anti-collision response and the monitored value of the collision risk assessment parameter does not reach the intervention threshold, modifying the data content of a third message sent by the intelligent driving controller according to the movement conditions to obtain a fourth message for replacing the third message; wherein the third message is a message related to realizing the movement conditions; Sending the fourth message to a second electronic control unit, so that the second electronic control unit executes the actions indicated by the fourth message; wherein the second electronic control unit is an electronic control unit for executing the third message.

9. A monitoring device for intelligent driving active safety testing, characterized in that, including: a processor; a memory for storing instructions executable by the processor; Wherein, the processor is configured to implement the method according to any one of claims 1 to 8 when executing the instructions stored in the memory.

10. A non-volatile computer-readable storage medium having computer program instructions stored thereon, characterized in that, The computer program instructions, when executed by the processor, implement the method according to any one of claims 1 to 8.

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