Proactive safety indoor test method, device, equipment, system, storage medium and computer program product

Abstract

The application discloses an active safety indoor test method, device, equipment, system, storage medium and computer program product, belongs to the active safety test technical field of vehicles, and comprises the following steps: receiving a test type and test parameters, respectively planning expected running data of a target object and a tested vehicle, and sending the expected running data of the tested vehicle to a driving execution device; according to the expected running data of the target object and the tested vehicle, converting the expected running data of the target object into expected running data of the target object with the tested vehicle as a reference system and sending the expected running data to a target object motion platform; receiving environment simulation parameter data and sending the environment simulation parameter data to an environment simulation unit; receiving actual running data of the tested vehicle from a data acquisition unit in real time; and according to the actual running data of the tested vehicle, obtaining a body swing angle in real time, calculating the curvature of a lane line with the tested vehicle as a reference system in real time according to the body swing angle, and sending the curvature to a lane line electronic display device in real time. The application is helpful to improve test efficiency.

Description

TECHNICAL FIELD

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

[0002] In the testing of vehicle active safety systems, such as the testing of automatic emergency braking function, the testing of lane keeping assistance function, and the testing of intelligent speed limiting function, a test scene containing environmental factors such as light needs to be constructed. The process of building such a scene consumes a large amount of human and time resources, and becomes the main bottleneck of testing efficiency.

[0003] Current industry standards, such as the active safety test scenes defined by C-NCAP and CIASI, are continuously expanding with the upgrading of algorithms, and new requirements include complex environment simulation such as rain, fog, and backlight. In the traditional field test method, a large test field is needed to construct physical collision targets and lane lines, and the simulation of rain, fog, and other environments is subject to natural conditions and is uncontrollable. It is difficult to efficiently realize the rapid switching and environment reproduction of multiple scenes, resulting in prolonged test period and rising cost. SUMMARY

[0004] To solve at least one of the above problems, the present application provides an active safety indoor testing method, device, equipment, system, storage medium and computer program product.

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

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

[0007] Preferably, the target object track fitting algorithm is: obtaining the corresponding target object motion vector and the tested vehicle motion vector at each time according to the expected running data of the target object and the expected running data or the actual running data of the tested vehicle, the motion vector including the running speed and the running direction; synthesizing the motion vector opposite to the direction of the tested vehicle motion vector at each time with the corresponding target object motion vector to obtain the target object motion vector with the tested vehicle as the reference system at each time; and obtaining the expected running data of the target object with the tested vehicle as the reference system according to the target object motion vector with the tested vehicle as the reference system at several times.

[0008] Preferably, the environment simulation parameter data includes light parameter, precipitation parameter and fog concentration parameter.

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

[0010] In a third aspect, the application provides an active safety indoor testing device, which comprises a memory and a processor, and the memory stores a computer program, and the computer program is executed by the processor to implement the active safety indoor testing method in any one of the above aspects.

[0011] In a fourth aspect, the present application provides an active safety indoor test system, comprising the active safety indoor test device, an input device, a driving execution device, a target object movement platform, a hub device, an environment simulation unit, a data acquisition unit, and a lane line electronic display device.

[0012] Preferably, the environment simulation unit is installed directly above the hub device, and comprises a lighting device, a rain spraying device, a fog generating device, and a control device, which are all in communication connection with the active safety indoor test device.

[0013] In a fifth aspect, the present application provides a storage medium storing computer readable instructions, which, when executed by a processor, perform the method according to any one of the above aspects.

[0014] In a sixth aspect, the present application provides a computer program product comprising a computer program, which, when executed by a processor, performs the steps of the method according to any one of the above aspects.

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

[0016] (1) By installing the tested vehicle on the hub device, the driving execution device drives the tested vehicle according to the expected operation data of the tested vehicle, the target object motion platform drives the target object to move according to the expected operation data of the target object with the tested vehicle as the reference system, the real-time collection of the operation data of the tested vehicle enables the lane line electronic display device to update and display in real time according to the steering wheel angle of the tested vehicle, dynamically presents the spatial relationship between the current position of the tested vehicle and the lane line, the environment simulation unit simulates various environmental conditions, and the test scene on the real road is simulated with high simulation degree, which significantly simplifies the test preparation process, saves the complex real scene construction and restoration time, helps to significantly improve the test efficiency of the active safety test, effectively avoids the interference and limitation of uncontrollable environmental factors such as real test site and weather on the active safety test, and ensures the stable progress of the test plan.

[0017] (2) By real-time acquisition of the actual operation data of the tested vehicle, the operation of the target object motion platform is adjusted in real time to prevent the driving execution device from controlling the tested vehicle to have errors, so that the target object and the tested vehicle cannot collide at the expected collision point, the test failure occurs, the effectiveness of the test result is ensured, and the accuracy of the active safety test result is improved. BRIEF DESCRIPTION OF DRAWINGS

[0018] For better understanding of the above and other objects, features, advantages and functions of the present application, reference can be made to the embodiments shown in the drawings. The same reference signs in the drawings refer to the same parts. Those skilled in the art should understand that the drawings are intended to illustrate the preferred embodiments of the present application, and have no limiting effect on the scope of the present application, and the various parts in the drawings are not drawn to scale.

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

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

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

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

[0023] Explanation of reference signs:

[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 movement platform; 25, hub device; 26, environment simulation unit; 27, data acquisition unit; 28, lane line electronic display device. DETAILED DESCRIPTION

[0025] Exemplary embodiments of the present disclosure are described herein with reference to the accompanying drawings, which are included to provide a thorough understanding of embodiments of the present disclosure by a person of ordinary skill in the art, and should not be construed as a literal limitation to the present disclosure. It will be understood by those of ordinary skill in the art that various changes in form and details can be made therein without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

[0026] The term "comprising" and variations thereof as used herein are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements is not necessarily limited to those elements, but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. Unless otherwise defined, the term "or" as used herein is intended to mean "and / or", i.e., to include any and all combinations of one or more of the associated listed items. The term "based on" means "based, at least in part, on". The terms "one example embodiment" and "an example embodiment" mean "at least one example embodiment". The term "another embodiment" means "at least one additional embodiment". The terms "a first", "a second", etc. do not require a strict ordering, but rather indicate different classes of objects. Other explicit or implicit definitions can also be included below.

[0027] To at least partially address the above-mentioned problems and one or more of the other potential problems, embodiments of the present disclosure propose an active safety indoor test method, as shown in Figure 1 comprising the following steps:

[0028] Receiving the test type and test parameters from the input device, planning the expected operation data of the target object and the expected operation data of the vehicle to be tested according to the requirements of the current regulation test scene, and sending the expected operation data of the vehicle to be tested 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 time; Specifically, the staff will input the test type and test parameters through the input device, such as keyboard, touch screen, button, and the active safety indoor test equipment running according to the method will plan the expected operation data of the target object and the expected operation data of the vehicle to be tested according to the requirements of the current regulation test scene, the test type and the test parameters.

[0029] According to the expected running data of the target object and the expected running data of the tested vehicle, the expected running data of the target object is converted into the expected running data of the target object with the tested vehicle as the reference system based on a target object trajectory fitting algorithm, and the expected running data of the target object with the tested vehicle as the reference system is sent to the target object motion platform. Specifically, the target object trajectory fitting algorithm is as follows: according to the expected running data of the target object and the expected running data of the tested vehicle, the corresponding target object motion vector and the tested vehicle motion vector at each time are obtained, and the motion vector includes the running speed and the running direction; the motion vector opposite to the motion vector direction of the tested vehicle at each time is synthesized with the corresponding target object motion vector to obtain the target object motion vector with the tested vehicle as the reference system at each time; and the expected running data of the target object with the tested vehicle as the reference system is obtained according to the target object motion vector with the tested vehicle as the reference system at several times. Figure 2 Fig. (A) is a schematic diagram of a test scene on a real road, with the ground as the reference system, the target object runs horizontally, and the tested vehicle runs longitudinally, Figure 2 Fig. (B) is a simulation of the present application Figure 2 Fig. (A) is a schematic diagram of a test scene on a real road, and the tested vehicle runs on a hub device, which is equivalent to standing still, so that the target object obtains a motion vector opposite to the motion vector of the tested vehicle with the tested vehicle as the reference system. The motion vector opposite to the motion vector of the tested vehicle obtained by the target object is synthesized with its own motion vector to obtain the motion vector of the target object with the tested vehicle as the reference system, so that Figure 2 The relative motion of the target object and the tested vehicle in Fig. (A) is the same as Figure 2 The relative motion of the target object and the tested vehicle in Fig. (B) is the same as

[0030] The environmental simulation parameter data is received from the input device, and the environmental simulation parameter data is sent to the environmental simulation unit, wherein the environmental simulation parameter data includes illumination parameters, precipitation parameters and fog concentration parameters; specifically, the staff will input the environmental simulation parameter data through the input device according to the existing regulation test scene requirements, test type and test plan, so that the environmental simulation unit runs according to the environmental simulation parameter data to construct the environmental conditions required by the test scene.

[0031] The actual running data of the tested vehicle is received and stored in real time from the data acquisition unit, wherein the actual running data of the tested vehicle includes the speed, steering wheel angle and steering, and body posture data of the tested vehicle at each moment, and the data acquisition unit collects data in real time from the beginning to the end of the test, wherein the running data obtained by the data acquisition unit can be the running data measured by various sensors of the tested vehicle itself, or the running data measured by installing various types of sensors on the tested vehicle and the hub device; according to the real-time steering wheel angle of the tested vehicle, the body swing angle is obtained in real time based on the preset steering wheel angle and body swing angle curve, and the curvature and bending direction of the lane line with the tested vehicle as the reference system are calculated in real time according to the body swing angle and the steering of the steering wheel, and the curvature and bending direction of the lane line with the tested vehicle as the reference system are sent 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, and dynamically presents the spatial relationship between the current position of the tested vehicle and the lane line. The preset steering wheel angle and body swing angle curve is determined according to the calibration test of the tested vehicle in advance or directly obtained from the manufacturer. The principle of calculating the curvature of the lane line with the tested vehicle as the reference system according to the body swing angle is that in the test scene on the real road, taking the ground as the reference system, the position of the lane line is unchanged, the steering wheel angle of the vehicle changes to drive the body to swing a certain angle, then the body of the tested vehicle will form an angle with the lane line, and in the method of the application, the tested vehicle runs on the hub device, which is equivalent to not moving in place, so in the reference system of the tested vehicle, when the steering wheel angle of the vehicle changes, the lane line will move towards the vehicle at an angle equal to the size of the body swing angle and opposite to the steering direction, so that the relative motion of the tested vehicle and the lane line in the test scene on the real road is the same as the relative motion of the tested vehicle and the lane line in the test scene of the application, therefore the curvature of the lane line with the tested vehicle as the reference system is determined according to the size of the body swing angle, and the bending direction of the lane line is opposite to the steering direction.

[0032] In a preferred embodiment, the method of this application further includes the following steps: calculating the actual running trajectory of the test vehicle based on the actual running data of the test vehicle, and determining whether the test vehicle will reach the expected collision point with the test vehicle as the reference frame based on the actual running trajectory of the test vehicle; when the test vehicle will not reach the expected collision point with the test vehicle as the reference frame, based on the expected running data of the target object and the actual running data of the test vehicle, and based on the target object trajectory fitting algorithm, reconstructing the expected running data of the target object into the expected running data of the target object with the test vehicle as the reference frame, and resending the expected running data of the target object with the test vehicle as the reference frame to the target object motion platform. Specifically, the target trajectory fitting algorithm is as follows: Based on the expected operating data of the target and the actual operating data of the test vehicle, obtain the corresponding target motion vector and test vehicle motion vector at each moment. The motion vector includes the operating speed and the operating direction. Combine the motion vector at each moment that is opposite in direction to the test vehicle motion vector with the corresponding target motion vector to obtain the target motion vector at each moment with the test vehicle as the reference frame. Based on the target motion vectors at several moments with the test vehicle as the reference frame, obtain the expected operating data of the target with the test vehicle as the reference frame.

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

[0034] The application also provides an active safety indoor test device, which comprises a memory and a processor, and the memory stores a computer program which, when executed by the processor, implements the active safety indoor test method of any one of the above.

[0035] The application also provides an active safety indoor test system, as shown in the accompanying drawings, which comprises the active safety indoor test device 21, an input device 22, a driving execution device 23, a target object motion platform 24, a hub device 25, an environment simulation unit 26, a data acquisition unit 27, and a lane line electronic display device 28. Figure 4 The input device 22 is used to input test type, test parameters, and environment simulation parameter data into the active safety indoor test device 21, and the input device 22 can be a keyboard, a touch screen, or a button, and the input device 22 is in communication connection with the active safety indoor test device 21. The driving execution device 23 is used to receive expected operation data of the test vehicle from the active safety indoor test device 21, and control the test vehicle to operate according to the expected operation data of the test vehicle, and the driving execution device 23 is a driving robot, and the driving execution device 23 is in communication connection with the active safety indoor test device 21. The target object motion platform 24 is used to receive expected operation data of a target object with the test vehicle as a reference system from the active safety indoor test device 21, and control the target object to operate according to the expected operation data of the target object with the test vehicle as a reference system, and preferably, the target object motion platform 24 is a six-degree-of-freedom motion platform, and the test target object such as a pedestrian or a vehicle model is loaded on the six-degree-of-freedom motion platform, and the target object motion platform 24 is in communication connection with the active safety indoor test device 21. The hub device 25 is used to carry the test vehicle. The environment simulation unit 26 is used to receive environment simulation parameter data from the active safety indoor test device 21, and operate according to the environment simulation parameter data, and specifically, the environment simulation unit 26 is installed directly above the hub device 25, and comprises a lighting device, a rain spraying device, a fog generating device, and a control device, and the control device is in communication connection with the lighting device, the rain spraying device, the fog generating device, and the active safety indoor test device 21. The data acquisition unit 27 is used to acquire actual operation data of the test vehicle, and send the actual operation data of the test vehicle to the active safety indoor test device 21, and the data acquisition unit can be various sensors of the test vehicle itself, or various types of sensors installed on the test vehicle and the hub device, and the data acquisition unit 27 is in communication connection with the active safety indoor test device 21. The lane line electronic display device 28 is used to receive curvature of a lane line with the test vehicle as a reference system from the active safety indoor test device 21, and display the lane line according to the curvature of the lane line with the test vehicle as a reference system, and the lane line electronic display device 28 is a display screen which can play a lane line change image.

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

[0037] This application also provides a storage medium storing computer-readable instructions that, when executed by a processor, perform the method according to any one of the preceding descriptions.

[0038] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of any of the methods described above.

[0039] The various embodiments of this disclosure have been described above. These descriptions are exemplary and not exhaustive, nor are they 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 chosen to best explain the principles, practical application, or technical improvements to the embodiments in the market, or to enable others skilled in the art to understand this document.

Claims

1. An active safety indoor testing method, characterized in that: Includes the following steps: The system receives the test type and test parameters, and plans the expected operating data of the target object and the test vehicle according to the requirements of current regulations and test scenarios. It then sends the expected operating data of the test vehicle to the driving actuator, which includes the expected operating trajectory, expected operating speed at each moment, and operating direction. Based on the expected operating data of the target object and the test vehicle, and using a target object trajectory fitting algorithm, it transforms the expected operating data of the target object into expected operating data of the target object with the test vehicle as the reference frame, and sends this expected operating data of the target object with the test vehicle as the reference frame to the target object motion platform. It also receives environmental simulations. The system collects and sends environmental simulation parameter data to the environmental simulation unit; it receives and stores the actual operating data of the test vehicle in real time from the data acquisition unit, including the test vehicle's speed, steering wheel angle and steering, and vehicle posture data at each moment; based on the real-time steering wheel angle of the test vehicle and a preset steering wheel angle and vehicle body sway angle curve, it obtains the vehicle body sway angle in real time, and calculates the curvature and bending direction of the lane line with the test vehicle as the reference frame in real time based on the vehicle body sway angle and steering wheel steering, and sends the curvature and bending direction of the lane line with the test vehicle as the reference frame to the lane line electronic display device in real time.

2. The active safety indoor testing method according to claim 1, characterized in that: It also includes the following steps: Based on the actual operating data of the test vehicle, the actual operating trajectory of the test vehicle is calculated, and it is determined whether the test vehicle will reach the expected collision point with the test vehicle as the reference frame 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 frame, based on the expected operating data of the target object and the actual operating data of the test vehicle, the expected operating data of the target object is reconstructed into expected operating data of the target object with the test vehicle as the reference frame based on the target object trajectory fitting algorithm, and the expected operating data of the target object with the test vehicle as the reference frame is resent to the target object motion platform.

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

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

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

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

7. An active safety indoor testing system, characterized in that: The device includes, as described in claim 6, an active safety indoor testing equipment, an input device, a driving execution device, a target motion platform, a rotating 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 testing equipment; the driving execution device is used to receive expected operating data of the test vehicle from the active safety indoor testing equipment and control the operation of the test vehicle according to the expected operating data of the test vehicle; the target motion platform is used to receive expected operating data of a target object with the test vehicle as a reference frame from the active safety indoor testing equipment. The system generates data and controls the target's operation based on the expected operating data of the target object with the vehicle under test as the reference frame; the hub device carries the vehicle under test; the environmental simulation unit receives environmental simulation parameter data from the active safety indoor testing equipment and operates according to the environmental simulation parameter data; the data acquisition unit collects the actual operating data of the vehicle under test and sends the actual operating data of the vehicle under test to the active safety indoor testing equipment; the lane line electronic display device receives the curvature of the lane line with the vehicle under test as the reference frame from the active safety indoor testing equipment and displays the lane line according to the curvature of the lane line with the vehicle under test as the reference frame.

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

9. A storage medium, characterized in that: It stores computer-readable instructions that, when executed by a processor, perform the method according to any one of claims 1 to 4.

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

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