Active security indoor test method, device, equipment, system, storage medium and computer program product

Abstract

The invention discloses an active safety indoor test method, device, equipment and system, a storage medium and a computer program product, and belongs to the technical field of active safety testing of vehicles, and the method comprises the following steps: receiving a test type and test parameters, respectively planning expected operation data of a target object and a tested vehicle, the expected operation data of the tested vehicle is sent to the driving execution device; according to the expected operation data of the target object and the tested vehicle, converting the expected operation data of the target object into expected operation data of the target object taking the tested vehicle as a reference system, and sending the expected operation data to a target object motion platform; receiving environment simulation parameter data and sending the environment simulation parameter data to the environment simulation unit; actual operation data of the tested vehicle are received from the data acquisition unit in real time; according to the actual operation data of the tested vehicle, the vehicle body swing angle is obtained in real time, and the curvature of the lane line with the tested vehicle as the reference system is calculated in real time according to the vehicle body swing angle and sent to the lane line electronic display device in real time. And the test efficiency can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of active safety testing of vehicles, and in particular to an active safety indoor testing method, device, equipment, system, storage medium and computer program product. Background Art

[0002] When testing active vehicle safety systems, such as automatic emergency braking, lane keeping assist, and intelligent speed limiters, it's necessary to build test scenarios that incorporate environmental factors like lighting. This scenario-building process consumes significant manpower and time, becoming a major bottleneck in testing efficiency.

[0003] Active safety test scenarios defined by current industry standards, such as C-NCAP and CIASI, are continuously expanding as algorithm upgrades continue. New requirements include simulating complex environments like rain, fog, and backlight. Traditional field testing methods require large proving grounds to construct physical collision targets and lane markings. Simulating rain and fog, however, is subject to natural conditions and is uncontrollable. This makes it difficult to efficiently switch between multiple scenarios and replicate environmental conditions, resulting in extended testing cycles and increased costs. Summary of the Invention

[0004] To address at least one aspect of the above-mentioned problems, the present invention provides an active safety indoor testing method, apparatus, device, system, storage medium, and computer program product.

[0005] In the first aspect, the present application provides an active safety indoor testing method, comprising the following steps: receiving the test type and test parameters, planning the expected operating data of the target object and the expected operating data of the vehicle under test according to the test scenario requirements of the current regulations, and sending the expected operating data of the vehicle under test to the driving execution device, wherein the expected operating data includes the expected operating trajectory, the expected operating speed and the operating direction at each moment; according to the expected operating data of the target object and the expected operating data of the vehicle under test, based on the target object trajectory fitting algorithm, converting the expected operating data of the target object with the vehicle under test as the reference system, and sending the expected operating data of the target object with the vehicle under test as the reference system to the driving execution device. to the target object motion platform; receive environmental simulation parameter data, and send the environmental simulation parameter data to the environmental simulation unit; receive and store the actual operation data of the test vehicle from the data acquisition unit in real time, wherein the actual operation data of the test vehicle includes the speed, steering wheel angle and direction of the test vehicle, and body posture data of the test vehicle at each moment; according to the real-time steering wheel angle of the test vehicle, based on a preset steering wheel angle and body swing angle curve, obtain the body swing angle in real time, and calculate the curvature and bending direction of the lane line with the test vehicle as the reference system in real time according to the body swing angle and steering wheel direction, and send the curvature and bending direction of the lane line with the test vehicle as the reference system to the lane line electronic display device in real time.

[0006] Preferably, the method further includes the following steps: calculating the actual operating trajectory of the vehicle under test based on the actual operating data of the vehicle under test, and judging whether the vehicle under test will reach the expected collision point with the vehicle under test as the reference system based on the actual operating trajectory of the vehicle under test; when the vehicle under test will not reach the expected collision point with the vehicle under test as the reference system, based on the target object trajectory fitting algorithm, converting the expected operating data of the target object into the expected operating data of the target object with the vehicle under test as the reference system according to the expected operating data of the target object and the actual operating data of the vehicle under test, and re-sending the expected operating data of the target object with the vehicle under test as the reference system to the target object motion platform.

[0007] Preferably, the target object trajectory fitting algorithm is as follows: based on the expected operation data of the target object and the expected operation data of the test vehicle or the actual operation data of the test vehicle, the corresponding target object motion vector and the test vehicle motion vector at each moment are obtained, and the motion vector includes the operation speed and operation direction; the motion vector opposite to the motion vector of the test vehicle at each moment is synthesized with the corresponding target object motion vector to obtain the motion vector of the target object with the test vehicle as the reference system at each moment; based on the motion vector of the target object with the test vehicle as the reference system at several moments, the expected operation data of the target object with the test vehicle as the reference system is obtained.

[0008] Preferably, the environmental simulation parameter data includes illumination parameters, precipitation parameters and fog concentration parameters.

[0009] In the second aspect, the present application provides an active safety indoor test device, which includes: a first processing module, configured to receive the test type and test parameters, and plan the expected operation data of the target object and the expected operation data of the tested vehicle according to the test scenario requirements of the current regulations, and send the expected operation data of the tested vehicle to the driving execution device, wherein the expected operation data includes the expected operation trajectory, the expected operation speed and the operation direction at each moment; a second processing module, configured to convert the expected operation data of the target object into the expected operation data of the target object with the tested vehicle as the reference system based on the target object trajectory fitting algorithm according to the expected operation data of the target object and the expected operation data of the tested vehicle, and send the expected operation data of the target object with the tested vehicle as the reference system to the target object operation execution device. dynamic platform; a third processing module, configured to receive environmental simulation parameter data and send the environmental simulation parameter data to the environmental simulation unit; a fourth processing module, configured to receive and store the actual operation data of the tested vehicle from the data acquisition unit in real time, wherein the actual operation data of the tested vehicle includes the speed, steering wheel angle and steering, and body posture data of the tested vehicle at each moment; a fifth processing module, configured to obtain the body swing angle in real time according to the real-time steering wheel angle of the tested vehicle and a preset steering wheel angle and body swing angle curve, and calculate the curvature and bending direction of the lane line with the tested vehicle as the reference system in real time according to the body swing angle and the steering wheel steering, and send the curvature and bending direction of the lane line with the tested vehicle as the reference system to the lane line electronic display device in real time.

[0010] In a third aspect, the present application provides an active safety indoor testing device, which includes a memory and a processor. The memory stores a computer program, and when the computer program is executed by the processor, an active safety indoor testing method described above is implemented.

[0011] In a fourth aspect, the present application provides an active safety indoor test system, comprising the above-mentioned active safety indoor test equipment, an input device, a driving execution device, a target object motion platform, a hub device, an environmental simulation unit, a data acquisition unit, and a lane line electronic display device; wherein the input device is used to input test type, test parameters, and environmental simulation parameter data into the active safety indoor test equipment; the driving execution device is used to receive the expected operation data of the test vehicle from the active safety indoor test equipment, and control the operation of the test vehicle according to the expected operation data of the test vehicle; the target object motion platform is used to receive the test data from the active safety indoor test equipment with the test vehicle as the The expected operating data of the target object with the test vehicle as the reference system is obtained, and the operation of the target object is controlled according to the expected operating data of the target object with the test vehicle as the reference system; the hub device is used to carry the test vehicle; the environmental simulation unit is used to receive environmental simulation parameter data from the active safety indoor test equipment, and operate according to the environmental simulation parameter data; the data acquisition unit is used to collect the actual operating data of the test vehicle, and send the actual operating data of the test vehicle to the active safety indoor test equipment; the lane line electronic display device is used to receive the curvature of the lane line with the test vehicle as the reference system from the active safety indoor test equipment, and display the lane line according to the curvature of the lane line with the test vehicle as the reference system.

[0012] Preferably, the environmental simulation unit is installed directly above the hub device, and includes a lighting device, a rain spray device, a fogging device and a control device, and the control device is communicatively connected to the lighting device, the rain spray device, the fogging device and the active safety indoor test equipment.

[0013] In a fifth aspect, the present application provides a storage medium storing computer-readable instructions, which, when executed by a processor, executes any one of the methods described above.

[0014] In a sixth aspect, the present application provides a computer program product, comprising a computer program, which implements the steps of any of the above methods when executed by a processor.

[0015] The active safety indoor testing method, device, equipment, system, storage medium, and computer program product of the present invention have the following beneficial effects:

[0016] (1) By installing the test vehicle on the hub device, the driving execution device drives the test vehicle according to the expected operating data of the test vehicle, and the target object is driven by the target object motion platform to move according to the expected operating data of the target object with the test vehicle as the reference system. By collecting the operating data of the test vehicle in real time, the lane line electronic display device updates the display in real time according to the steering wheel angle of the test vehicle, dynamically presenting the spatial relationship between the current position of the test vehicle and the lane line, simulating various environmental conditions through the environmental simulation unit, and simulating the test scene on the real road with high fidelity, which significantly simplifies the test preparation process and saves the time of complex real scene construction and restoration, which helps to significantly improve the test efficiency of active safety testing, and effectively avoids the interference and restriction of uncontrollable environmental factors such as real test sites and weather on active safety testing, ensuring the stable progress of the test plan.

[0017] (2) By acquiring the actual operating data of the vehicle under test in real time and adjusting the operation of the target object motion platform in real time, errors in the control of the vehicle under test by the driving execution device can be prevented, which would cause the target object and the vehicle under test to not collide at the expected collision point, resulting in test failure. This ensures the validity of the test results and helps improve the accuracy of the active safety test results. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] To better understand the above and other objects, features, advantages, and functions of the present invention, reference may be made to the embodiments shown in the accompanying drawings. Like reference numerals in the accompanying drawings refer to like components. Those skilled in the art should understand that the accompanying drawings are intended to schematically illustrate preferred embodiments of the present invention and have no limiting effect on the scope of the present invention. The components in the drawings are not drawn to scale.

[0019] Figure 1 A flow chart of an active safety indoor testing method according to an embodiment of the present invention is shown;

[0020] Figure 2 A schematic diagram of an active safety indoor testing method according to an embodiment of the present invention is shown, wherein (A) is a schematic diagram of a test scenario on a real road, and (B) is a schematic diagram of the present invention simulating the test scenario (A) on a real road;

[0021] Figure 3 A block diagram of an active safety indoor testing device according to an embodiment of the present invention is shown;

[0022] Figure 4 A block diagram of an active safety indoor testing system according to an embodiment of the present invention is shown.

[0023] Description of reference numerals:

[0024] 11. First processing module; 12. Second processing module; 13. Third processing module; 14. Fourth processing module; 15. Fifth processing module; 21. Active safety indoor test equipment; 22. Input device; 23. Driving execution device; 24. Target object motion platform; 25. Hub device; 26. Environmental simulation unit; 27. Data acquisition unit; 28. Lane line electronic display device. DETAILED DESCRIPTION

[0025] The following description of exemplary embodiments of the present disclosure is made in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding. These details should be considered as merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0026] As used herein, the term "including" and its variations represent open inclusion, i.e., "including but not limited to." Unless otherwise stated, the term "or" means "and / or." The term "based on" means "based at least in part on." The terms "an example embodiment" and "an embodiment" mean "at least one example embodiment." The term "another embodiment" means "at least one additional embodiment." The terms "first," "second," etc. may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0027] In order to at least partially solve one or more of the above problems and other potential problems, the embodiments of the present disclosure provide an active safety indoor testing method, such as Figure 1 As shown, the following steps are included:

[0028] Receive the test type and test parameters from the input device, plan the expected operating data of the target object and the expected operating data of the vehicle under test according to the current regulatory test scenario requirements, and send the expected operating data of the vehicle under test to the driving execution device, where the expected operating data includes the expected operating trajectory, the expected operating speed and operating direction at each moment; specifically, the staff will input the test type and test parameters through the input device, such as a keyboard, touch screen, or button, and the active safety indoor test equipment operated using the method of the present application will plan the expected operating data of the target object and the expected operating data of the vehicle under test according to the current regulatory test scenario requirements, test type, and test parameters.

[0029] According to the expected operation data of the target object and the expected operation data of the test vehicle, based on the target trajectory fitting algorithm, the expected operation data of the target object is converted into the expected operation data of the target object with the test vehicle as the reference system, and the expected operation data of the target object with the test vehicle as the reference system is sent to the target object motion platform. Specifically, the target trajectory fitting algorithm is: according to the expected operation data of the target object and the expected operation data of the test vehicle, the corresponding target object motion vector and test vehicle motion vector at each moment are obtained, and the motion vector includes the operation speed and operation direction; the motion vector opposite to the motion vector of the test vehicle at each moment is synthesized with the corresponding target object motion vector to obtain the motion vector of the target object with the test vehicle as the reference system at each moment; based on the motion vector of the target object with the test vehicle as the reference system at several moments, the expected operation data of the target object with the test vehicle as the reference system is obtained. Figure 2 (A) is a schematic diagram of a test scenario on a real road. With the ground as the reference system, the target object moves horizontally and the vehicle under test moves longitudinally. Figure 2 Middle (B) is the simulation of this application Figure 2 (A) is a schematic diagram of a test scenario on a real road. The vehicle under test is running on the rotating hub device, which is equivalent to being stationary. With the vehicle under test as the reference system, the target object will obtain a motion vector opposite to the motion vector of the vehicle under test. The motion vector of the target object obtained by combining this motion vector opposite to the motion vector of the vehicle under test with its own motion vector is obtained to obtain the motion vector of the target object with the vehicle under test as the reference system, so that Figure 2 The relative motion between the target object in (A) and the vehicle under test and Figure 2 The relative motion between the target object and the vehicle under test is the same in (B).

[0030] Environmental simulation parameter data is received from the input device and sent to the environmental simulation unit, where the environmental simulation parameter data includes lighting parameters, precipitation parameters and fog concentration parameters. Specifically, the staff will input the environmental simulation parameter data through the input device according to the current regulatory test scenario requirements, test type and test plan, so that the environmental simulation unit operates according to the environmental simulation parameter data and constructs the environmental conditions required for the test scenario.

[0031] The data acquisition unit receives and stores actual operating data of the test vehicle in real time, including the test vehicle's speed, steering wheel angle and direction, and body posture data at each moment. The data acquisition unit collects data in real time from the start to the end of the test. The operating data acquired by the data acquisition unit can be measured by various sensors on the test vehicle itself, or by various types of sensors installed on the test vehicle and the hub device. Based on the test vehicle's real-time steering wheel angle and a preset steering wheel angle and body roll angle curve, the body roll angle is obtained in real time. The curvature and curvature direction of the lane line with the test vehicle as the reference frame are calculated in real time based on the body roll angle and steering wheel direction. The curvature and curvature direction of the lane line with the test vehicle as the reference frame are transmitted to the lane line electronic display device in real time, so that the lane line electronic display device displays the lane line in real time, dynamically presenting the spatial relationship between the test vehicle's current position and the lane line. The preset steering wheel angle and body roll angle curve is determined based on a pre-calibrated test of the test vehicle or obtained directly from the manufacturer. The principle of calculating the curvature of the lane line with the test vehicle as the reference system based on the body swing angle is as follows: in the test scenario on the real road, with the ground as the reference system, the position of the lane line remains unchanged, and the change in the steering wheel angle of the vehicle causes the body to swing a certain angle, then the body of the test vehicle will form an angle with the lane line. In the method of the present application, the test vehicle runs on the hub device, which is equivalent to not moving. Then, in the reference system of the test vehicle, when the steering wheel angle of the vehicle changes, the lane line will approach the vehicle at an angle equal to the body swing angle and opposite to the steering wheel turning, so that the relative motion of the test vehicle and the lane line in the test scenario on the real road is the same as the relative motion of the test vehicle and the lane line in the test scenario of the present application. Therefore, the curvature of the lane line with the test vehicle as the reference system is determined according to the body swing angle, and the bending direction of the lane line is opposite to the steering direction of the steering wheel.

[0032] In a preferred embodiment, the method of the present application also includes the following steps: calculating the actual operating trajectory of the test vehicle based on the actual operating data of the test vehicle, and judging whether the test vehicle will reach the expected collision point with the test vehicle as the reference system based on the actual operating trajectory of the test vehicle; when the test vehicle will not reach the expected collision point with the test vehicle as the reference system, based on the target object trajectory fitting algorithm, the expected operating data of the target object is re-converted into the expected operating data of the target object with the test vehicle as the reference system according to the expected operating data of the target object and the actual operating data of the test vehicle, and the expected operating data of the target object with the test vehicle as the reference system is re-sent to the target object motion platform. Specifically, the target object trajectory fitting algorithm is as follows: based on the expected operation data of the target object and the actual operation data of the test vehicle, the corresponding target object motion vector and test vehicle motion vector at each moment are obtained, and the motion vector includes the operation speed and operation direction; the motion vector opposite to the motion vector of the test vehicle at each moment is synthesized with the corresponding target object motion vector to obtain the motion vector of the target object with the test vehicle as the reference system at each moment; based on the motion vector of the target object with the test vehicle as the reference system at several moments, the expected operation data of the target object with the test vehicle as the reference system is obtained.

[0033] This application also provides an active safety indoor test device, such as Figure 3 As shown, the device includes: a first processing module 11, configured to receive the test type and test parameters, plan the expected operation data of the target object and the expected operation data of the test vehicle according to the requirements of the current regulatory test scenario, and send the expected operation data of the test vehicle to the driving execution device, wherein the expected operation data includes the expected operation trajectory, the expected operation speed and the operation direction at each moment; a second processing module 12, configured to convert the expected operation data of the target object into the expected operation data of the target object with the test vehicle as the reference system based on the target trajectory fitting algorithm according to the expected operation data of the target object and the expected operation data of the test vehicle, and send the expected operation data of the target object with the test vehicle as the reference system to the target object motion platform; a third processing module 13 , configured to receive environmental simulation parameter data and send the environmental simulation parameter data to the environmental simulation unit; the fourth processing module 14 is configured to receive and store the actual operation data of the test vehicle from the data acquisition unit in real time, wherein the actual operation data of the test vehicle includes the speed, steering wheel angle and steering, and body posture data of the test vehicle at each moment; the fifth processing module 15 is configured to obtain the body swing angle in real time according to the real-time steering wheel angle of the test vehicle and based on a preset steering wheel angle and body swing angle curve, and calculate the curvature and bending direction of the lane line with the test vehicle as the reference system in real time according to the body swing angle and steering wheel steering, and send the curvature and bending direction of the lane line with the test vehicle as the reference system to the lane line electronic display device in real time.

[0034] The present application also provides an active safety indoor testing device, which includes a memory and a processor. The memory stores a computer program, and when the computer program is executed by the processor, any one of the active safety indoor testing methods described above is implemented.

[0035] This application also provides an active safety indoor test system, such as Figure 4 As shown, it includes the above-mentioned active safety indoor test equipment 21, input device 22, driving execution device 23, target object motion platform 24, hub device 25, environment simulation unit 26, data acquisition unit 27, lane line electronic display device 28; wherein, the input device 22 is used to input test type, test parameters, and environment simulation parameter data into the active safety indoor test equipment 21, and the input device 22 can be selected as a keyboard, a touch screen, or a button. The input device 22 is connected to the active safety indoor test equipment 21 for communication; the driving execution device 23 is used to receive the data from the active safety indoor test equipment 21 The target object motion platform 24 is used to receive the expected operation data of the target object with the test vehicle as the reference system from the active safety indoor test equipment 21, and control the operation of the target object according to the expected operation data of the target object with the test vehicle as the reference system. Preferably, the target object motion platform 24 is a six-degree-of-freedom motion platform, and the test target, such as pedestrians, vehicle models, etc., is loaded on the six-degree-of-freedom motion platform. The target object motion platform 24 is connected to the active safety indoor test equipment 21 in communication; the hub device 25 is used to carry the vehicle under test; the environment simulation unit 26 is used to receive the environment simulation parameter data from the active safety indoor test equipment 21 and operate according to the environment simulation parameter data. Specifically, the environment simulation unit 26 is installed just above the hub device 25, which includes a lighting device, a rain spray device, a fog device and a control device. The control device is connected to the lighting device, the rain spray device, the fog device and the active safety indoor test equipment 21 in communication; the data acquisition unit 27 is used to collect the actual operation of the vehicle under test. The data is collected and the actual operation data of the tested vehicle is sent to the active safety indoor test equipment 21. The data acquisition unit can be various sensors of the tested vehicle itself, or various types of sensors installed on the tested vehicle and the hub device. The data acquisition unit 27 is communicatively connected with the active safety indoor test equipment 21; the lane line electronic display device 28 is used to receive the curvature of the lane line with the tested vehicle as the reference system from the active safety indoor test equipment 21, and display the lane line according to the curvature of the lane line with the tested vehicle as the reference system. The lane line electronic display device 28 is a display screen that can play lane line change images.

[0036] In some embodiments, the system of the present application also includes a test cabin, in which active safety indoor test equipment 21, input device 22, driving execution device 23, target object motion platform 24, hub device 25, environmental simulation unit 26, data acquisition unit 27, and lane line electronic display device 28 are all installed.

[0037] The present application also provides a storage medium storing computer-readable instructions, which, when executed by a processor, executes any one of the methods described above.

[0038] The present application also provides a computer program product, comprising a computer program, which implements the steps of any of the above methods when executed by a processor.

[0039] While various embodiments of the present disclosure have been described above, the foregoing description is intended to be illustrative, non-exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is selected to best explain the principles of the embodiments, their practical applications, or technological improvements in the marketplace, or to enable others skilled in the art to understand this document.

Claims

1. An active safety indoor testing method, characterized by: The following steps are involved: Receive the test type and test parameters, plan the expected operation data of the target object and the expected operation data of the tested vehicle according to the requirements of the current regulatory test scenario, and send the expected operation data of the tested vehicle to the driving execution device, where the expected operation data includes the expected operation trajectory, the expected operation speed and the operation direction at each moment; based on the expected operation data of the target object and the expected operation data of the tested vehicle, based on the target trajectory fitting algorithm, convert the expected operation data of the target object with the tested vehicle as the reference system, and send the expected operation data of the target object with the tested vehicle as the reference system to the target object motion platform; receive the environmental simulation parameter data, and sends the environmental simulation parameter data to the environmental simulation unit; receive and store the actual operation data of the test vehicle from the data acquisition unit in real time, wherein the actual operation data of the test vehicle includes the speed, steering wheel angle and direction of the test vehicle, and body posture data of the test vehicle at each moment; according to the real-time steering wheel angle of the test vehicle, based on a preset steering wheel angle and body swing angle curve, obtain the body swing angle in real time, and calculate the curvature and bending direction of the lane line with the test vehicle as the reference system in real time according to the body swing angle and steering wheel direction, and send the curvature and bending direction of the lane line with the test vehicle as the reference system to the lane line electronic display device in real time.

2. The active safety indoor testing method according to claim 1, characterized in that: The following steps are also included: Based on the actual operating data of the test vehicle, the actual operating trajectory of the test vehicle is calculated, and based on the actual operating trajectory of the test vehicle, it is judged whether the test vehicle will reach the expected collision point with the test vehicle as the reference system; when the test vehicle will not reach the expected collision point with the test vehicle as the reference system, based on the target object trajectory fitting algorithm, the expected operating data of the target object and the actual operating data of the test vehicle are reconverted into the expected operating data of the target object with the test vehicle as the reference system, and the expected operating data of the target object with the test vehicle as the reference system are resent to the target object motion platform.

3. The active safety indoor testing method according to claim 2, characterized in that: The target object trajectory fitting algorithm is as follows: based on the expected operation data of the target object and the expected operation data of the test vehicle or the actual operation data of the test vehicle, the corresponding target object motion vector and the test vehicle motion vector at each moment are obtained, and the motion vector includes the operation speed and operation direction; the motion vector opposite to the motion vector of the test vehicle at each moment is synthesized with the corresponding target object motion vector to obtain the target object motion vector with the test vehicle as the reference system at each moment; based on the target object motion vector with the test vehicle as the reference system at several moments, the expected operation data of the target object with the test vehicle as the reference system are obtained.

4. The active safety indoor testing method according to claim 1, characterized in that: The environmental simulation parameter data includes illumination parameters, precipitation parameters and fog concentration parameters.

5. An active safety indoor test device, characterized by: The device includes: a first processing module, configured to receive the test type and test parameters, plan the expected operation data of the target object and the expected operation data of the tested vehicle according to the requirements of the current regulatory test scenario, and send the expected operation data of the tested vehicle to the driving execution device, wherein the expected operation data includes the expected operation trajectory, the expected operation speed and the operation direction at each moment; a second processing module, configured to convert the expected operation data of the target object into the expected operation data of the target object with the tested vehicle as the reference system based on the target object trajectory fitting algorithm according to the expected operation data of the target object and the expected operation data of the tested vehicle, and send the expected operation data of the target object with the tested vehicle as the reference system to the target object motion platform; a third processing module, configured to The device is configured to receive environmental simulation parameter data and send the environmental simulation parameter data to the environmental simulation unit; the fourth processing module is configured to receive and store the actual operation data of the tested vehicle from the data acquisition unit in real time, wherein the actual operation data of the tested vehicle includes the speed, steering wheel angle and steering, and body posture data of the tested vehicle at each moment; the fifth processing module is configured to obtain the body swing angle in real time according to the real-time steering wheel angle of the tested vehicle and based on a preset steering wheel angle and body swing angle curve, and calculate the curvature and bending direction of the lane line with the tested vehicle as the reference system in real time according to the body swing angle and steering wheel steering, and send the curvature and bending direction of the lane line with the tested vehicle as the reference system to the lane line electronic display device in real time.

6. An active safety indoor test equipment, characterized by: The device includes a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, an active safety indoor testing method according to any one of claims 1 to 4 is implemented.

7. An active safety indoor testing system, characterized by: The invention comprises an active safety indoor test equipment as described in claim 6, an input device, a driving execution device, a target object motion platform, a hub device, an environmental simulation unit, a data acquisition unit, and a lane line electronic display device; wherein the input device is used to input test type, test parameters, and environmental simulation parameter data into the active safety indoor test equipment; the driving execution device is used to receive expected operation data of the tested vehicle from the active safety indoor test equipment, and control the operation of the tested vehicle according to the expected operation data of the tested vehicle; the target object motion platform is used to receive expected operation data of the target object with the tested vehicle as the reference system from the active safety indoor test equipment The lane line electronic display device is used to receive the curvature of the lane line with the test vehicle as the reference system from the active safety indoor test equipment, and display the lane line according to the curvature of the lane line with the test vehicle as the reference system.

8. The active safety indoor testing system according to claim 7, characterized in that: The environmental simulation unit is installed directly above the hub device, and includes a lighting device, a rain spray device, a fogging device and a control device. The control device is communicatively connected with the lighting device, the rain spray device, the fogging device and the active safety indoor test equipment.

9. A storage medium, characterized in that: Computer-readable instructions are stored, and when the instructions are executed by a processor, the method according to any one of claims 1 to 4 is executed.

10. A computer program product comprising a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 4 are implemented.

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