Vehicle pile-around evaluation method, device and equipment and computer readable storage medium

Abstract

The embodiment of the invention provides a vehicle pile-around evaluation method, device and equipment and a computer readable storage medium. The method comprises the following steps: acquiring a plurality of vehicle pile-surrounding tracks of a test vehicle; screening out an effective vehicle pile winding track from the plurality of vehicle pile winding tracks; lateral acceleration data corresponding to the effective vehicle pile winding track are obtained; and according to the corresponding lateral acceleration data, evaluating the pile winding performance index of the test vehicle. In this way, the vehicle pile winding performance can be automatically and accurately evaluated only according to the lateral acceleration data corresponding to the effective vehicle pile winding track, and the judgment accuracy of the vehicle pile winding performance is improved.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicles, and in particular to the technical field of vehicle slalom evaluation. Background Art

[0002] Vehicle handling stability is a key aspect of vehicle performance. Numerous tests are currently used to measure vehicle handling stability, including the fixed-circle constant-speed test, the center-zone steering test, and the double-lane obstacle avoidance test. The slalom test is also one of these tests. There are currently two data processing methods for slalom tests: one calculates the time from the start to the end of the slalom; a shorter time indicates better slalom performance; the other calculates the average steering wheel angle and average yaw rate during the slalom; smaller average steering wheel angles and average yaw rates indicate better slalom performance.

[0003] When these two methods are used as the criteria for judging the performance of slalom driving, it is often difficult to distinguish the validity of the data due to differences in driver skills, and it is difficult to determine whether the difference in data results is caused by uncertainty in the data or differences in the performance of the vehicle itself.

[0004] Therefore, how to accurately evaluate the vehicle's performance around the slalom becomes an urgent problem to be solved. Summary of the Invention

[0005] The present disclosure provides a vehicle slalom evaluation method, device, equipment and storage medium.

[0006] According to a first aspect of the present disclosure, a vehicle slalom evaluation method is provided. The method comprises:

[0007] Obtain multiple vehicle slalom trajectories of the test vehicle;

[0008] Selecting a valid vehicle slalom trajectory from the plurality of vehicle slalom trajectories;

[0009] Obtaining lateral acceleration data corresponding to the effective vehicle trajectory around the pole;

[0010] The slalom performance index of the test vehicle is evaluated according to the corresponding lateral acceleration data.

[0011] According to the above aspects and any possible implementation, there is further provided an implementation, wherein a plurality of pile buckets are arranged on the slalom field for the vehicle, the plurality of pile buckets having two entrance pile buckets and two exit pile buckets, the two entrance pile buckets being spaced apart by a first preset distance in the longitudinal direction, and the two exit pile buckets being spaced apart by the first preset distance in the longitudinal direction, the remaining pile buckets of the plurality of pile buckets being arranged on a pile bucket central axis formed by a center point of the entrance pile bucket and a center point of the exit pile bucket, and adjacent pile buckets of the pile buckets arranged on the pile bucket central axis being spaced apart by a second preset distance in the transverse direction;

[0012] A track sensor is installed on the central axis of the test vehicle;

[0013] The multiple vehicle trajectories around the pile barrels are vehicle driving trajectories collected by the trajectory sensor each time the test vehicle drives around the multiple pile barrels.

[0014] According to the above aspect and any possible implementation, there is further provided an implementation, wherein the step of selecting a valid vehicle slalom trajectory from the plurality of vehicle slalom trajectories includes:

[0015] Calculating a vertical offset distance between each peak point in each vehicle trajectories around the pile and the central axis of the pile barrel;

[0016] Obtaining the body width of the test vehicle;

[0017] Compare the vertical offset distance between each peak point in the slalom trajectory of each vehicle and the central axis of the pile bucket with half the width of the vehicle body; the central axis of the pile bucket is the central axis formed by the center point of the entrance pile bucket and the center point of the exit pile bucket among the multiple pile buckets arranged on the slalom field for the vehicle;

[0018] If a vertical offset distance between a peak point and the central axis of the pile barrel is greater than or equal to half the vehicle body width in any of the multiple vehicle slalom trajectories, then the vehicle slalom trajectory is removed from the multiple vehicle slalom trajectories to obtain a candidate vehicle slalom trajectory;

[0019] The valid vehicle slalom trajectory is selected from the candidate vehicle slalom trajectories.

[0020] According to the above aspects and any possible implementation, there is further provided an implementation, wherein the step of selecting the valid vehicle slalom trajectory from the candidate vehicle slalom trajectories includes:

[0021] Eliminating the entry peak point and exit peak point of each vehicle slalom trajectory in the candidate vehicle slalom trajectory to obtain all remaining peak points in each vehicle slalom trajectory in the candidate vehicle slalom trajectory; wherein the entry peak point is the peak point of each vehicle slalom trajectory closest to the entrance barrel of the slalom field, and the exit peak point is the peak point of each vehicle slalom trajectory closest to the exit barrel of the slalom field;

[0022] Measuring the vertical offset distances between all remaining peak points in each vehicle slalom trajectory in the candidate vehicle slalom trajectory and the central axis of the slalom bucket;

[0023] Calculating the sum of the vertical offset distances between all remaining peak points in the trajectory of each vehicle around the pile and the central axis of the pile barrel;

[0024] Calculating an average peak value of the sum of the vertical offset distances of the slalom trajectories of the vehicles;

[0025] Get the preset peak threshold;

[0026] Comparing the average peak value of each vehicle's trajectory around the pole with the preset peak threshold;

[0027] The vehicle slalom trajectories whose average peak values ​​are greater than the preset peak value threshold are eliminated from the candidate vehicle slalom trajectories, and the vehicle slalom trajectories that are not eliminated from the candidate vehicle slalom trajectories are determined as the valid vehicle slalom trajectories.

[0028] According to the above aspects and any possible implementation, there is further provided an implementation, wherein the test vehicle is equipped with a track sensor and a lateral acceleration; the track sensor is used to collect the vehicle trajectory of the test vehicle when it is circling the slalom, and the lateral acceleration is used to collect the lateral acceleration of the test vehicle when it is circling the slalom, and each vehicle trajectory around the slalom corresponds to lateral acceleration data;

[0029] The effective vehicle slalom trajectory includes multiple;

[0030] The evaluating the slalom performance index of the vehicle according to the corresponding lateral acceleration data includes:

[0031] Calculating the rate at which the lateral acceleration data corresponding to each valid vehicle slalom trajectory in the plurality of valid vehicle slalom trajectories passes through zero each time;

[0032] Averaging the rates of the lateral acceleration data corresponding to each valid vehicle trajectories around the pole at each zero crossing to obtain a mean value of the rates at zero crossings corresponding to the plurality of valid vehicle trajectories around the pole;

[0033] The slalom performance index of the vehicle is evaluated according to the mean value of the speed at the zero-crossing time.

[0034] According to the above aspects and any possible implementation, there is further provided an implementation, wherein the test vehicle is installed with different types of tires each time it goes around the slalom, and in the same slalom process, different wheels of the test vehicle are installed with the same type of tires;

[0035] The slalom performance index of the test vehicle corresponds to the tire type;

[0036] After obtaining the slalom performance indicators corresponding to the various types of tires of the test vehicle, comparing the slalom performance indicators corresponding to the various types of tires;

[0037] The tire type of the test vehicle with the largest slalom performance index is determined as the target tire type.

[0038] According to the above aspects and any possible implementation, there is further provided an implementation, wherein the test vehicles include different types of test vehicles;

[0039] The slalom performance index of the test vehicle includes slalom performance indexes of different types of test vehicles;

[0040] After obtaining the slalom performance indices of the different types of test vehicles, comparing the slalom performance indices of the different types of test vehicles;

[0041] The test vehicle with the highest slalom performance index is determined as the target vehicle.

[0042] According to a second aspect of the present disclosure, a vehicle slalom evaluation device is provided. The device comprises:

[0043] A first acquisition module is used to acquire multiple vehicle slalom trajectories of the test vehicle;

[0044] a screening module, configured to screen out a valid vehicle slalom trajectory from the plurality of vehicle slalom trajectories;

[0045] A second acquisition module is used to obtain lateral acceleration data corresponding to the effective vehicle slalom trajectory;

[0046] An evaluation module is used to evaluate the slalom performance index of the test vehicle according to the corresponding lateral acceleration data.

[0047] According to a third aspect of the present disclosure, an electronic device is provided, comprising: a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the above method when executing the program.

[0048] According to a fourth aspect of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored. When the program is executed by a processor, the method according to the first aspect of the present disclosure is implemented.

[0049] In the present disclosure, after obtaining multiple vehicle slalom trajectories of a test vehicle, valid vehicle slalom trajectories can be automatically screened out from the multiple vehicle slalom trajectories to eliminate invalid slalom trajectories caused by poor driver skills, etc., and then lateral acceleration data corresponding to the valid vehicle slalom trajectories are obtained. Then, based on the corresponding lateral acceleration data, the slalom performance index of the test vehicle is evaluated. In this way, the vehicle slalom performance can be automatically and accurately evaluated based solely on the lateral acceleration data corresponding to the valid vehicle slalom trajectories, thereby improving the accuracy of the judgment of the vehicle slalom performance.

[0050] It should be understood that the contents described in the Summary of the Invention section are not intended to limit the key or important features of the embodiments of the present disclosure, nor are they intended to limit the scope of the present disclosure. Other features of the present disclosure will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] The above and other features, advantages and aspects of the embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. The accompanying drawings are provided for a better understanding of the present disclosure and do not constitute a limitation of the present disclosure. In the accompanying drawings, the same or similar reference numerals represent the same or similar elements, among which:

[0052] Figure 1 A flow chart of a vehicle slalom evaluation method according to an embodiment of the present disclosure is shown;

[0053] Figure 2 A schematic diagram showing a trajectory of a vehicle circling a pole according to an embodiment of the present disclosure is shown;

[0054] Figure 3 A flowchart of another vehicle slalom evaluation method according to an embodiment of the present disclosure is shown;

[0055] Figure 4 A block diagram of a vehicle slalom evaluation device according to an embodiment of the present disclosure is shown;

[0056] Figure 5 A block diagram of an exemplary electronic device capable of implementing embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0057] To make the purpose, technical solutions, and advantages of the embodiments of the present disclosure more clear, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present disclosure.

[0058] In this document, the term "and / or" simply describes a relationship between related objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, or B exists alone. Furthermore, the character " / " in this document generally indicates that the related objects are in an "or" relationship.

[0059] Figure 1 A flow chart of a vehicle slalom evaluation method 100 according to an embodiment of the present disclosure is shown. The method 100 may include:

[0060] Step 110, obtaining multiple vehicle slalom trajectories of the test vehicle;

[0061] The multiple vehicle slalom trajectories may be trajectories obtained by different drivers each time they drive their vehicles around the slalom.

[0062] Step 120, selecting a valid vehicle slalom trajectory from the plurality of vehicle slalom trajectories;

[0063] Step 130, obtaining lateral acceleration data corresponding to the effective vehicle trajectory around the pole;

[0064] Step 140: Evaluate the slalom performance index of the test vehicle based on the corresponding lateral acceleration data.

[0065] After obtaining multiple vehicle slalom trajectories of the test vehicle, valid vehicle slalom trajectories can be automatically screened out from the multiple vehicle slalom trajectories to eliminate invalid slalom trajectories caused by poor driver skills, etc., and then lateral acceleration data corresponding to the valid vehicle slalom trajectories are obtained. Then, based on the corresponding lateral acceleration data, the slalom performance index of the test vehicle is evaluated. In this way, the vehicle slalom performance can be automatically and accurately evaluated based solely on the lateral acceleration data corresponding to the valid vehicle slalom trajectories, thereby improving the accuracy of the judgment of the vehicle slalom performance.

[0066] like Figure 2 As shown, in some embodiments, a plurality of pile buckets are arranged on the slalom field for the vehicle, the plurality of pile buckets including two inlet pile buckets and two outlet pile buckets, the two inlet pile buckets are spaced apart by a first preset distance in the longitudinal direction, the two outlet pile buckets are also spaced apart by the first preset distance in the longitudinal direction, the remaining pile buckets of the plurality of pile buckets are arranged on a pile bucket central axis formed by a center point of the inlet pile bucket and a center point of the outlet pile bucket, and adjacent pile buckets of the pile buckets arranged on the pile bucket central axis are spaced apart by a second preset distance in the transverse direction;

[0067] A track sensor is installed on the central axis of the test vehicle;

[0068] The multiple vehicle trajectories around the pile barrels are vehicle driving trajectories collected by the trajectory sensor each time the test vehicle drives around the multiple pile barrels.

[0069] like Figure 2 As shown, the multiple pile buckets include two inlet pile buckets and two outlet pile buckets, the two inlet pile buckets are spaced apart by a first preset distance in the longitudinal direction, and the two outlet pile buckets are also spaced apart by the first preset distance in the longitudinal direction. The remaining pile buckets in the multiple pile buckets except the two inlet pile buckets and the two outlet pile buckets are equally spaced on the pile bucket center axis.

[0070] In some embodiments, selecting a valid vehicle slalom trajectory from the plurality of vehicle slalom trajectories includes:

[0071] Calculate the vertical offset distance between each peak point in each vehicle slalom trajectory in the plurality of vehicle slalom trajectories and the central axis of the pile barrel ( Figure 2 The vertical offset distance between the peak point D and the pile bucket centerline and the vertical offset distance between the peak point E and the pile bucket centerline are shown);

[0072] Obtaining the body width of the test vehicle;

[0073] Compare the vertical offset distance between each peak point in the trajectory of each vehicle around the pile and the central axis of the pile bucket with half the width of the vehicle body; the central axis of the pile bucket (such as Figure 2 ) is a central axis formed by the center point of the entrance pile bucket and the center point of the exit pile bucket among the multiple pile buckets arranged on the slalom field of the vehicle;

[0074] If a vertical offset distance between a peak point and the central axis of the pile barrel is greater than or equal to half the vehicle body width in any of the multiple vehicle slalom trajectories, then the vehicle slalom trajectory is removed from the multiple vehicle slalom trajectories to obtain a candidate vehicle slalom trajectory;

[0075] The valid vehicle slalom trajectory is selected from the candidate vehicle slalom trajectories.

[0076] Since a trajectory sensor is installed on the central axis of the bottom of the test vehicle, after calculating the vertical offset distance between each peak point in each vehicle's slalom trajectory and the central axis of the pile barrel, the vertical offset distance between each peak point in each vehicle's slalom trajectory and the central axis of the pile barrel can be compared with half the width of the vehicle body. If, in any of the multiple vehicle slalom trajectories, there are several peak points in the slalom trajectory with vertical offset distances between the slalom and the central axis of the pile barrel that are greater than or equal to half the width of the vehicle body, it means that the slalom distance is too wide, and the vehicle will hit the pile during driving. This slalom is invalid and failed. Therefore, any vehicle slalom trajectory is an invalid vehicle slalom trajectory and can be eliminated from the multiple vehicle slalom trajectories to obtain a candidate vehicle slalom trajectory.

[0077] In some embodiments, the filtering out the valid vehicle slalom trajectory from the candidate vehicle slalom trajectories includes:

[0078] Eliminate the entry peak point and exit peak point of each vehicle slalom trajectory in the candidate vehicle slalom trajectory to obtain all remaining peak points in each vehicle slalom trajectory in the candidate vehicle slalom trajectory; wherein, the entry peak point is the peak point of each vehicle slalom trajectory closest to the entrance barrel of the slalom field, and the exit peak point is the peak point of each vehicle slalom trajectory closest to the exit barrel of the slalom field; Figure 2 In the vehicle trajectory (i.e., the vehicle driving trajectory) shown, the entry peak point is peak point A, and the exit peak point is peak point F. Figure 2 All remaining peak points in the vehicle's trajectory around the pole are peak point B, peak point C, peak point D, and peak point E.

[0079] Measuring the vertical offset distances between all remaining peak points in each vehicle slalom trajectory in the candidate vehicle slalom trajectory and the central axis of the slalom bucket;

[0080] Calculating the sum of the vertical offset distances between all remaining peak points in the trajectory of each vehicle around the pile and the central axis of the pile barrel;

[0081] Calculating an average peak value of the sum of the vertical offset distances of the slalom trajectories of the vehicles;

[0082] Get the preset peak threshold;

[0083] Comparing the average peak value of each vehicle's trajectory around the pole with the preset peak threshold;

[0084] The vehicle slalom trajectories whose average peak values ​​are greater than the preset peak value threshold are eliminated from the candidate vehicle slalom trajectories, and the vehicle slalom trajectories that are not eliminated from the candidate vehicle slalom trajectories are determined as the valid vehicle slalom trajectories.

[0085] Since the entrance peak point and exit peak point are close to the entrance and exit respectively when the test vehicle is circling the slalom, the test vehicle may not be in the slalom state when passing the entrance and exit. Therefore, the entrance peak point and exit peak point of each vehicle slalom trajectory in the candidate vehicle slalom trajectory can be eliminated, thereby obtaining all the remaining peak points of each vehicle slalom trajectory in the candidate vehicle slalom trajectory, and then measuring the vertical offset distances between all the remaining peak points in each vehicle slalom trajectory and the central axis of the slalom barrel, and calculating the sum of the vertical offset distances and the average peak value of the sum of the vertical offset distances of each vehicle slalom trajectory, and then calculating the average peak value of the sum of the vertical offset distances of each vehicle slalom trajectory. The average peak value of the vehicle's slalom trajectory is compared with the preset peak threshold. If the average peak value is greater than the preset peak threshold, it means that the slalom has exceeded the performance limit of the test vehicle and the slalom is invalid. Therefore, the vehicle slalom trajectories with an average peak value greater than the preset peak threshold can be eliminated from the candidate vehicle slalom trajectories, and only valid tests, that is, valid vehicle slalom trajectories, are retained. In this way, the evaluation of slalom performance can be avoided from being affected by interference factors such as poor driver skills and poor driver slalom status. Compared with the existing technology, this method can obviously ensure the validity of the data and improve the accuracy of the vehicle slalom performance evaluation.

[0086] In some embodiments, the test vehicle is equipped with a track sensor and a lateral acceleration; the track sensor is used to collect the vehicle trajectory of the test vehicle when it is circling the slalom, and the lateral acceleration is used to collect the lateral acceleration of the test vehicle when it is circling the slalom, and each vehicle trajectory around the slalom corresponds to lateral acceleration data;

[0087] The lateral acceleration is synchronized with the vehicle's trajectory around the pole. When the vehicle collects lateral acceleration, it will also collect lateral acceleration data.

[0088] The effective vehicle slalom trajectory includes multiple;

[0089] The evaluating the slalom performance index of the vehicle according to the corresponding lateral acceleration data includes:

[0090] Calculating the rate at which the lateral acceleration data corresponding to each valid vehicle slalom trajectory in the plurality of valid vehicle slalom trajectories passes through zero each time;

[0091] The trajectory of the vehicle around the slalom corresponds to time and position, and the test acceleration also corresponds to time and position. Therefore, the lateral acceleration data corresponding to each valid vehicle trajectory around the slalom can also be a lateral acceleration curve.

[0092] The rate at which the lateral acceleration data crosses zero each time refers to the slope of the lateral acceleration at each point on the lateral acceleration curve when the lateral acceleration is zero, that is, the first-order inverse of the point where the lateral acceleration is zero.

[0093] Averaging the rates of the lateral acceleration data corresponding to each valid vehicle trajectories around the pole at each zero crossing to obtain a mean value of the rates at zero crossings corresponding to the plurality of valid vehicle trajectories around the pole;

[0094] The slalom performance index of the vehicle is evaluated according to the mean speed value at the zero-crossing time.

[0095] By calculating the rate of each zero-crossing of the lateral acceleration data corresponding to each valid vehicle trajectory around the pile, the average rate of zero-crossing corresponding to multiple valid vehicle trajectories around the pile can be obtained. Then, based on the average rate at zero-crossing, the slalom performance index of the vehicle can be accurately evaluated. Specifically, the larger the average rate at zero-crossing, the better the angle of the vehicle when it passes through the pile bucket on the center axis of the pile bucket, that is, the higher the slalom level.

[0096] In some embodiments, the test vehicle is equipped with different types of tires each time it goes around the slalom, and during the same slalom process, different wheels of the test vehicle are equipped with the same type of tires;

[0097] The slalom performance index of the test vehicle corresponds to the tire type;

[0098] After obtaining the slalom performance indicators corresponding to the various types of tires of the test vehicle, comparing the slalom performance indicators corresponding to the various types of tires;

[0099] The tire type of the test vehicle with the largest slalom performance index is determined as the target tire type.

[0100] During the same slalom run, all wheels of the test vehicle are equipped with the same type of tires, while different slalom runs have different types of tires installed. For example, if the tire types include type A and type B, all four wheels in one slalom run are equipped with type A tires, while all four wheels in another slalom run are equipped with type B tires.

[0101] After obtaining the slalom performance indicators corresponding to each type of tire of the test vehicle, the slalom performance indicators corresponding to the various types of tires can be compared. Tires with large slalom performance indicators are high-quality tires. Therefore, the tire type of the test vehicle with the largest slalom performance indicator can be used as the target tire type.

[0102] In some embodiments, the test vehicles include different types of test vehicles;

[0103] The slalom performance index of the test vehicle includes slalom performance indexes of different types of test vehicles;

[0104] After obtaining the slalom performance indices of the different types of test vehicles, comparing the slalom performance indices of the different types of test vehicles;

[0105] The test vehicle with the highest slalom performance index is determined as the target vehicle.

[0106] After obtaining the slalom performance indices of the different types of test vehicles, the slalom performance indices of the different types of test vehicles are compared. The test vehicle with the larger slalom performance index is the vehicle with better performance. Therefore, the test vehicle with the largest slalom performance index can be used as the target vehicle.

[0107] The following will be combined Figure 2 and Figure 3 The vehicle slalom performance evaluation method of the present invention is described as follows:

[0108] like Figure 2 and Figure 3 As shown, a pile bucket is arranged every 18 meters (the second preset distance) in an open field, and a total of 6 pile buckets are arranged ( Figure 2 The small and medium circles are pile buckets. Two pile buckets are used at the entrance and exit, with doors 3 meters wide (the first preset distance). A total of 10 pile buckets are used. An inertial navigation system (RT3000) is installed and powered on on the test vehicle. Testers use extreme maneuvers to drive the vehicle around the piles. Any test that does not hit a pile bucket during the path is considered a candidate valid test.

[0109] The vehicle's slalom trajectory and lateral acceleration data, measured by the inertial navigation system (RT3000), were processed. The average lateral trajectory peak values ​​for eight tests were calculated (excluding entry peak point A and exit peak point F) using points B, C, D, and E. The average lateral trajectory peak threshold (preset peak threshold) was set to 1.4 m. Test data exceeding 1.4 m were discarded, and the remaining data was considered valid (excluding Group 7 in Table 1). Four groups of valid test data were obtained for tire A and three for tire B. Table 1 shows the eight slalom data for a certain vehicle model and two tire brands. The bolded data corresponding to Group 7 in Table 1 refers to the data obtained when the vehicle was equipped with tire B during the slalom.

[0110] Table 1

[0111]

[0112] The rate at which the lateral acceleration passes through zero in each set of valid test data was calculated. The mean rate at which the lateral acceleration passes through zero was then calculated for the four sets of valid test data for tire A and the three sets of valid test data for tire B. A greater mean rate at which the lateral acceleration passes through zero indicates better slalom capability. As shown in Table 1, the mean rate at which the lateral acceleration passes through zero in the three valid tests for tire B is greater than the mean rate at which the lateral acceleration passes through zero in the four valid tests for tire A, indicating that the test vehicle has better slalom performance when using tire B.

[0113] It should be noted that for the aforementioned method embodiments, for simplicity of description, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present disclosure is not limited by the order of the actions described, because according to the present disclosure, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by the present disclosure.

[0114] The above is an introduction to the method embodiment. The following is a further explanation of the solution disclosed in the present disclosure through an apparatus embodiment.

[0115] Figure 4 FIG. 4 shows a block diagram of a vehicle slalom evaluation device 400 according to an embodiment of the present disclosure. Figure 4 As shown, the apparatus 400 includes:

[0116] A first acquisition module 410 is configured to acquire a plurality of vehicle slalom trajectories of a test vehicle;

[0117] A screening module 420 is configured to screen out valid vehicle slalom trajectories from the plurality of vehicle slalom trajectories;

[0118] The second acquisition module 430 is used to obtain lateral acceleration data corresponding to the effective vehicle trajectory around the pole;

[0119] The evaluation module 440 is configured to evaluate the slalom performance index of the test vehicle according to the corresponding lateral acceleration data.

[0120] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the described module can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0121] According to an embodiment of the present disclosure, the present disclosure also provides an electronic device and a non-transitory computer-readable storage medium storing computer instructions.

[0122] Figure 5 A schematic block diagram of an electronic device 800 that can be used to implement an embodiment of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0123] The device 800 includes a computing unit 801 that can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 802 or a computer program loaded from a storage unit 808 into a random access memory (RAM) 803. Various programs and data required for the operation of the device 800 can also be stored in the RAM 803. The computing unit 801, the ROM 802, and the RAM 803 are connected to each other via a bus 804. An input / output (I / O) interface 805 is also connected to the bus 804.

[0124] Various components in device 800 are connected to I / O interface 805, including an input unit 806, such as a keyboard, mouse, etc.; an output unit 807, such as various types of displays, speakers, etc.; a storage unit 808, such as a magnetic disk, optical disk, etc.; and a communication unit 809, such as a network card, modem, wireless communication transceiver, etc. The communication unit 809 allows device 800 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0125] The computing unit 801 can be a variety of general-purpose and / or specialized processing components with processing and computing capabilities. Some examples of the computing unit 801 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units that run machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The computing unit 801 performs the various methods and processes described above, such as method 100. For example, in some embodiments, method 100 can be implemented as a computer software program that is tangibly contained in a machine-readable medium, such as a storage unit 808. In some embodiments, part or all of the computer program can be loaded and / or installed on the device 800 via ROM 802 and / or communication unit 809. When the computer program is loaded into RAM 803 and executed by the computing unit 801, one or more steps of the method 100 described above can be performed. Alternatively, in other embodiments, the computing unit 801 can be configured to perform method 100 in any other appropriate manner (e.g., by means of firmware).

[0126] Various embodiments of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chip systems (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0127] The program code for implementing the method of the present disclosure can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device so that when the program code is executed by the processor or controller, the functions / operations specified in the flow chart and / or block diagram are implemented. The program code can be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0128] In the context of the present disclosure, a machine-readable medium can be a tangible medium that can contain or store a program for use by or in conjunction with an instruction execution system, device or equipment. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium can include an electrical connection based on one or more lines, 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), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0129] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0130] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), and the Internet.

[0131] A computing system may include clients and servers. The client and server are generally remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers and forming a client-server relationship with each other. The server may be a cloud server, a server in a distributed system, or a server integrated with a blockchain.

[0132] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in this disclosure can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved. This is not a limitation herein.

[0133] The above specific embodiments do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure shall be included within the scope of protection of this disclosure.

Claims

1. A vehicle slalom evaluation method, characterized in that: include: Obtain multiple vehicle slalom trajectories of the test vehicle; Selecting a valid vehicle slalom trajectory from the plurality of vehicle slalom trajectories; Obtaining lateral acceleration data corresponding to the effective vehicle trajectory around the pole; The slalom performance index of the test vehicle is evaluated according to the corresponding lateral acceleration data.

2. The method according to claim 1, wherein A plurality of pile buckets are arranged on the slalom field for the vehicle, the plurality of pile buckets including two entrance pile buckets and two exit pile buckets, the two entrance pile buckets are spaced apart by a first preset distance in the longitudinal direction, the two exit pile buckets are also spaced apart by the first preset distance in the longitudinal direction, the remaining pile buckets of the plurality of pile buckets are arranged on a pile bucket central axis formed by a center point of the entrance pile bucket and a center point of the exit pile bucket, and adjacent pile buckets of the pile buckets arranged on the pile bucket central axis are spaced apart by a second preset distance in the transverse direction; A track sensor is installed on the central axis of the test vehicle; The multiple vehicle trajectories around the pile barrels are vehicle driving trajectories collected by the trajectory sensor each time the test vehicle drives around the multiple pile barrels.

3. The method according to claim 1, wherein The step of selecting a valid vehicle slalom trajectory from the plurality of vehicle slalom trajectories comprises: Calculating a vertical offset distance between each peak point in each vehicle trajectories around the pile and the central axis of the pile barrel; Obtaining the body width of the test vehicle; Compare the vertical offset distance between each peak point in the slalom trajectory of each vehicle and the central axis of the pile bucket with half the width of the vehicle body; the central axis of the pile bucket is the central axis formed by the center point of the entrance pile bucket and the center point of the exit pile bucket among the multiple pile buckets arranged on the slalom field for the vehicle; If a vertical offset distance between a peak point and the central axis of the pile barrel is greater than or equal to half the vehicle body width in any of the multiple vehicle slalom trajectories, then the vehicle slalom trajectory is removed from the multiple vehicle slalom trajectories to obtain a candidate vehicle slalom trajectory; The valid vehicle slalom trajectory is selected from the candidate vehicle slalom trajectories.

4. The method according to claim 3, characterized in that The step of selecting the valid vehicle slalom trajectory from the candidate vehicle slalom trajectories includes: Eliminating the entry peak point and exit peak point of each vehicle slalom trajectory in the candidate vehicle slalom trajectory to obtain all remaining peak points in each vehicle slalom trajectory in the candidate vehicle slalom trajectory; wherein the entry peak point is the peak point of each vehicle slalom trajectory closest to the entrance barrel of the slalom field, and the exit peak point is the peak point of each vehicle slalom trajectory closest to the exit barrel of the slalom field; Measuring the vertical offset distances between all remaining peak points in each vehicle slalom trajectory in the candidate vehicle slalom trajectory and the central axis of the slalom bucket; Calculating the sum of the vertical offset distances between all remaining peak points in the trajectory of each vehicle around the pile and the central axis of the pile bucket; Calculating an average peak value of the sum of the vertical offset distances of the slalom trajectories of the vehicles; Get the preset peak threshold; Comparing the average peak value of each vehicle's trajectory around the pole with the preset peak threshold; The vehicle slalom trajectories whose average peak values ​​are greater than the preset peak value threshold are eliminated from the candidate vehicle slalom trajectories, and the vehicle slalom trajectories that are not eliminated from the candidate vehicle slalom trajectories are determined as the valid vehicle slalom trajectories.

5. The method according to claim 1, wherein The test vehicle is equipped with a track sensor and a lateral acceleration; the track sensor is used to collect the vehicle trajectory of the test vehicle when it is circling the slalom, and the lateral acceleration is used to collect the lateral acceleration of the test vehicle when it is circling the slalom, and each vehicle trajectory around the slalom corresponds to lateral acceleration data; The effective vehicle slalom trajectory includes multiple; The evaluating the slalom performance index of the vehicle according to the corresponding lateral acceleration data includes: Calculating the rate at which the lateral acceleration data corresponding to each valid vehicle slalom trajectory in the plurality of valid vehicle slalom trajectories passes through zero each time; Averaging the rates of the lateral acceleration data corresponding to each valid vehicle trajectories around the pole at each zero crossing to obtain a mean value of the rates at zero crossings corresponding to the plurality of valid vehicle trajectories around the pole; The slalom performance index of the vehicle is evaluated according to the mean value of the speed at the zero-crossing time.

6. The method according to claim 1, wherein The test vehicle is equipped with different tire types each time it goes around the slalom, and during the same slalom process, different wheels of the test vehicle are equipped with the same type of tires; The slalom performance index of the test vehicle corresponds to the tire type; After obtaining the slalom performance indicators corresponding to the various types of tires of the test vehicle, comparing the slalom performance indicators corresponding to the various types of tires; The tire type of the test vehicle with the largest slalom performance index is determined as the target tire type.

7. The method according to any one of claims 1 to 6, characterized in that The test vehicles include different types of test vehicles; The slalom performance index of the test vehicle includes slalom performance indexes of different types of test vehicles; After obtaining the slalom performance indices of the different types of test vehicles, comparing the slalom performance indices of the different types of test vehicles; The test vehicle with the highest slalom performance index is determined as the target vehicle.

8. A vehicle slalom evaluation device, characterized in that: include: A first acquisition module is used to acquire multiple vehicle slalom trajectories of the test vehicle; a screening module, configured to screen out a valid vehicle slalom trajectory from the plurality of vehicle slalom trajectories; A second acquisition module is used to obtain lateral acceleration data corresponding to the effective vehicle slalom trajectory; An evaluation module is used to evaluate the slalom performance index of the test vehicle according to the corresponding lateral acceleration data.

9. An electronic device, characterized in that: include: memory and processor, The memory stores a computer program, and when the processor executes the program, the method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that When the instructions in the storage medium are executed by a processor corresponding to the electronic device, the electronic device is enabled to implement the vehicle slalom evaluation method according to any one of claims 1 to 7.

Images