A method, apparatus, medium and device for detecting a vehicle blind area monitoring signal

Abstract

This application provides a method, apparatus, medium, and equipment for detecting vehicle blind spot monitoring signals. It acquires test data of the vehicle under test, calculates the longitudinal test distance of the vehicle under test according to the test requirements, and controls the operation of the vehicle under test and an auxiliary vehicle based on the test start point and longitudinal test distance to achieve blind spot monitoring signal detection testing. During the test, it collects the operating data of the vehicle under test, the blind spot monitoring signal, and the operating data of the auxiliary vehicle. Based on the operating data of the vehicle under test and the auxiliary vehicle, it calculates the distance information between the vehicle under test and the auxiliary vehicle, and combines this with the blind spot monitoring signal of the vehicle under test to determine the detection result of the blind spot monitoring, thereby improving the detection accuracy and efficiency of vehicle blind spot monitoring signals.

Description

Technical Field

[0001] This application relates to the field of vehicle detection technology, specifically to a method, device, medium, and equipment for detecting vehicle blind spot monitoring signals. Background Technology

[0002] With the rapid development and widespread adoption of intelligent connected vehicle technology, blind spot detection (BSD) systems have become an important feature for enhancing driving safety, widely used in various passenger and commercial vehicles. This function aims to detect targets in the blind spots to the sides and rear of the vehicle using radar or visual sensors. When a vehicle enters the blind spot, it alerts the driver through visual warnings in the rearview mirror area (usually indicated by flashing indicator lights on the mirror or housing), assisting with maneuvers such as lane changes.

[0003] The vehicle blind spot monitoring system needs to record the entire process of the target vehicle entering its blind spot from the test vehicle's non-blind spot area and then leaving. During this process, the test system must be able to accurately capture and determine the initial trigger time, duration, and termination time of the test vehicle's blind spot monitoring signal, and ensure that the target vehicle remains within the test vehicle's blind spot range throughout the signal duration. The accurate quantification of this process is crucial for evaluating the reliability and accuracy of the system's functionality.

[0004] Currently, detection solutions for blind spot monitoring signals mainly rely on image recognition using cameras. The basic principle involves installing high-definition cameras inside the cockpit or outside the vehicle to continuously capture images of the rearview mirror alarm area of ​​the test vehicle. Machine vision or deep learning algorithms are then used to analyze the video stream frame by frame to identify the on / off state of the alarm signal, thereby calculating the critical moment and duration of the signal trigger. This vision-based detection solution suffers from poor environmental adaptability and low recognition accuracy. The accuracy of image recognition is highly susceptible to factors such as external lighting conditions, angle changes, and environmental obstructions. For example, in complex environments such as backlighting, direct sunlight, low light at night, or rain and snow, the image features of the alarm indicator lights may be weakened or distorted, making algorithm recognition difficult and resulting in high false positive and false negative rates.

[0005] Existing image recognition-based methods for detecting vehicle blind spot monitoring signals suffer from significant shortcomings in environmental robustness and test preparation efficiency, making it difficult to efficiently and accurately meet the functional verification requirements under current standards. Therefore, providing a technical solution that overcomes these deficiencies and achieves high-precision, high-efficiency detection of vehicle blind spot monitoring signals has become a pressing issue for those skilled in the art. Summary of the Invention

[0006] To address the aforementioned technical problems, this application is proposed. Embodiments of this application provide a method, apparatus, medium, and device for detecting vehicle blind spot monitoring signals.

[0007] According to one aspect of this application, a method for detecting a vehicle blind spot monitoring signal is provided, comprising: acquiring test data of a vehicle to be tested; wherein the test data includes required data of the vehicle to be tested in a blind spot monitoring signal detection test; calculating a longitudinal test distance of the vehicle to be tested based on the test data; controlling the operation of the vehicle to be tested and an auxiliary vehicle based on the test starting point and the longitudinal test distance; wherein the auxiliary vehicle is used to trigger the blind spot monitoring signal of the vehicle to be tested during the test; collecting operating data and the blind spot monitoring signal of the vehicle to be tested; collecting operating data of the auxiliary vehicle; calculating distance information between the vehicle to be tested and the auxiliary vehicle based on the operating data of the vehicle to be tested and the operating data of the auxiliary vehicle; and determining the detection result of the blind spot monitoring of the vehicle to be tested based on the distance information and the blind spot monitoring signal of the vehicle to be tested.

[0008] In one embodiment, the test data includes the vehicle speed, minimum offset speed, and maximum offset speed of the auxiliary vehicle; wherein, calculating the longitudinal test distance of the vehicle under test based on the test data includes: calculating the maximum and minimum longitudinal distances of the vehicle under test based on the vehicle speed, minimum offset speed, and maximum offset speed of the auxiliary vehicle; and determining the longitudinal test distance of the vehicle under test based on the maximum and minimum longitudinal distances of the vehicle under test.

[0009] In one embodiment, calculating the maximum and minimum longitudinal distances of the vehicle to be detected based on the speed, minimum offset speed, and maximum offset speed of the auxiliary vehicle includes: the formula for calculating the maximum longitudinal distance is: The formula for calculating the minimum longitudinal distance is: ;in, This represents the maximum vertical distance. The minimum vertical distance. The lateral distance for lane changes. To assist in determining vehicle speed, For the maximum offset speed, This is the minimum offset speed.

[0010] In one embodiment, determining the longitudinal test distance of the vehicle under test based on the maximum and minimum longitudinal distances of the vehicle under test includes: determining a value between the maximum and minimum longitudinal distances of the vehicle under test as the longitudinal test distance of the vehicle under test.

[0011] In one embodiment, calculating the distance information between the vehicle under test and the auxiliary vehicle based on the operating data of the vehicle under test and the operating data of the auxiliary vehicle includes: calculating the distance information between the vehicle under test and the auxiliary vehicle based on the position information of the vehicle under test and the position information of the auxiliary vehicle during operation, as well as error compensation.

[0012] In one embodiment, the blind spot monitoring signal includes the alarm time curve of the vehicle to be detected; determining the detection result of the blind spot monitoring of the vehicle to be detected based on the distance information and the blind spot monitoring signal of the vehicle to be detected includes: determining the relative positional relationship between the vehicle to be detected and the auxiliary vehicle based on the distance information; and determining the detection result of the blind spot monitoring of the vehicle to be detected based on the relative positional relationship and the alarm time curve of the vehicle to be detected.

[0013] In one embodiment, determining the detection result of blind spot monitoring of the vehicle under test based on the relative positional relationship and the alarm time curve of the vehicle under test includes: if the auxiliary vehicle is located in the blind spot of the vehicle under test at the start time of the alarm time curve, then the detection result of blind spot monitoring of the vehicle under test is determined based on the time difference between the start time of the alarm time curve and the time when the auxiliary vehicle enters the blind spot of the vehicle under test; if the auxiliary vehicle is not located in the blind spot of the vehicle under test at the start time of the alarm time curve, then the detection result of blind spot monitoring of the vehicle under test is determined based on the distance difference between the auxiliary vehicle and the blind spot of the vehicle under test at the end time of the alarm time curve.

[0014] According to another aspect of this application, a vehicle blind spot monitoring signal detection device is provided, comprising: a test data acquisition module for acquiring test data of a vehicle to be tested; wherein the test data includes required data of the vehicle to be tested in a blind spot monitoring signal detection test; a test distance calculation module for calculating a longitudinal test distance of the vehicle to be tested based on the test data; a vehicle operation control module for controlling the operation of the vehicle to be tested and an auxiliary vehicle based on a test starting point and the longitudinal test distance; wherein the auxiliary vehicle is used to trigger the blind spot monitoring signal of the vehicle to be tested during the test; a detection vehicle acquisition module for acquiring the operation data and blind spot monitoring signal of the vehicle to be tested; an auxiliary vehicle acquisition module for acquiring the operation data of the auxiliary vehicle; a distance information calculation module for calculating distance information between the vehicle to be tested and the auxiliary vehicle based on the operation data of the vehicle to be tested and the operation data of the auxiliary vehicle; and a detection result determination module for determining the detection result of the blind spot monitoring of the vehicle to be tested based on the distance information and the blind spot monitoring signal of the vehicle to be tested.

[0015] According to another aspect of this application, a computer-readable storage medium is provided, the storage medium storing a computer program for performing any of the methods described above.

[0016] According to another aspect of this application, an electronic device is provided, comprising: a processor; a memory for storing processor-executable instructions; the processor being configured to perform any of the methods described above.

[0017] This application provides a method, apparatus, medium, and equipment for detecting vehicle blind spot monitoring signals, which acquires test data of the vehicle under test; wherein the test data includes required data of the vehicle under test in the blind spot monitoring signal detection test; based on the test data, the longitudinal test distance of the vehicle under test is calculated; based on the test start point and the longitudinal test distance, the operation of the vehicle under test and an auxiliary vehicle is controlled; wherein the auxiliary vehicle is used to trigger the blind spot monitoring signal of the vehicle under test during the test; the operation data of the vehicle under test and the blind spot monitoring signal are collected; the operation data of the auxiliary vehicle are collected; based on the operation data of the vehicle under test and the operation data of the auxiliary vehicle, the distance information between the vehicle under test and the auxiliary vehicle is calculated; based on the distance information and the blind spot monitoring signal of the vehicle under test... The system measures the blind spot monitoring signal of the vehicle under test to determine the detection result. Based on the test requirements, it calculates the longitudinal test distance of the vehicle under test. Combining the test start point and longitudinal test distance, it controls the operation of the vehicle under test and the auxiliary vehicle to achieve the blind spot monitoring signal detection test. During the test, it collects the operating data of the vehicle under test, the blind spot monitoring signal, and the operating data of the auxiliary vehicle. Based on these data, it calculates the distance between the vehicle under test and the auxiliary vehicle, and combines this information with the blind spot monitoring signal of the vehicle under test to determine the detection result, thereby improving the detection accuracy and efficiency of the vehicle's blind spot monitoring signal. Attached Figure Description

[0018] The above and other objects, features, and advantages of this application will become more apparent from the more detailed description of the embodiments of this application in conjunction with the accompanying drawings. The drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the embodiments of this application to explain this application and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same components or steps.

[0019] Figure 1 This is a flowchart illustrating a method for detecting vehicle blind spot monitoring signals provided in an exemplary embodiment of this application.

[0020] Figure 2 This is a schematic diagram of the detection results of the vehicle blind spot monitoring signal in an overtaking scenario provided by an exemplary embodiment of this application.

[0021] Figure 3 This is a schematic diagram of the detection results of vehicle blind spot monitoring signals in a lane merging scenario provided by an exemplary embodiment of this application.

[0022] Figure 4 This is a schematic diagram of the structure of a vehicle blind spot monitoring signal detection device provided in an exemplary embodiment of this application.

[0023] Figure 5This is a structural diagram of an electronic device provided in an exemplary embodiment of this application. Detailed Implementation

[0024] Hereinafter, exemplary embodiments according to this application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this application, and not all embodiments of this application. It should be understood that this application is not limited to the exemplary embodiments described herein.

[0025] Figure 1 This is a schematic flowchart of a vehicle blind spot monitoring signal detection method provided in an exemplary embodiment of this application. Figure 1 As shown, the detection method for the vehicle's blind spot monitoring signal includes the following steps: Step 110: Obtain test data for the vehicle to be tested.

[0026] The test data includes the required data for the blind spot monitoring signal detection test of the vehicle under test. This application determines the corresponding test data based on the blind spot monitoring signal detection test requirements of the vehicle under test, in order to set the test scenario and corresponding test parameters.

[0027] Step 120: Calculate the longitudinal test distance of the vehicle to be tested based on the test data.

[0028] A straight road segment is established to control the vehicle under test to conduct the test on the straight road segment. The length of the straight road segment is determined by calculating the longitudinal test distance of the vehicle under test, thereby determining the start point and end point of the test. Specifically, the start point and target point are determined in the above-mentioned straight road segment using an inertial GPS navigation test device. The distance between the end point and the start point must be more than 100m to ensure that the start point and end point meet the requirements.

[0029] Step 130: Based on the test start point and longitudinal test distance, control the operation of the vehicle under test and the auxiliary vehicle.

[0030] The auxiliary vehicle is used to trigger the blind spot monitoring signal of the vehicle under test during the test. Specifically, this application controls the vehicle under test and the auxiliary vehicle to run on the aforementioned straight road section, and controls the auxiliary vehicle to perform lane changing and overtaking operations in the blind spot of the vehicle under test to trigger the blind spot monitoring signal of the vehicle under test. Specifically, this application integrates a steering wheel servo, electronic throttle controller, and electronic brake, and after receiving a preset trajectory command, controls the vehicle under test and the auxiliary vehicle to complete overtaking or lane changing scenarios according to relevant standards.

[0031] Step 140: Collect the operating data and blind spot monitoring signals of the vehicle to be tested.

[0032] This application utilizes the vehicle's built-in sensors to collect operational data in real time during operation, and installs signal acquisition devices at the blind spot alarm locations of the vehicle under test to collect blind spot monitoring signals in real time during testing. Specifically, photosensitive sensors are deployed on the surface of the alarm icons on the instrument panel and the alarm lights on the exterior rearview mirrors of the test vehicle to capture the analog signals generated by the sudden changes in light intensity when an alarm is triggered. For example, the light signal acquisition end of the photosensitive sensor is attached to the alarm area of ​​the vehicle under test using a black sleeve and a suction cup, and the other end is connected to the intelligent analysis and control unit. During debugging, only a simple calibration of the analog signal output by the intelligent analysis and control unit is required to obtain the blind spot monitoring signal (electrical signal) of the vehicle under test. Simultaneously, the positioning and speed of the vehicle under test and the auxiliary vehicle in the local coordinate system are obtained using an inertial GPS navigation test device and an IMU combined navigation system.

[0033] Step 150: Collect operational data from the auxiliary vehicle.

[0034] This application collects operational data from auxiliary vehicles. Specifically, it utilizes a GPS integrated testing system installed on the auxiliary vehicle and connects to a base station to calibrate vehicle speed, acceleration, and position accuracy.

[0035] Preferably, this application utilizes an automatic driving control system installed separately on the vehicle under test and the auxiliary vehicle to complete the control calibration of acceleration, braking, and steering for the vehicle under test and the auxiliary vehicle. Specifically, to meet testing requirements, the GPS combined testing system and the automatic driving control system installed separately on the vehicle under test and the auxiliary vehicle should be rationally arranged, without interference, and facilitate the installation and debugging of the signal monitoring module.

[0036] Step 160: Calculate the distance information between the vehicle under test and the auxiliary vehicle based on the operating data of the vehicle under test and the auxiliary vehicle.

[0037] By digitally analyzing the operating data of the vehicle under test and the auxiliary vehicle, the distance information between the vehicle under test and the auxiliary vehicle is calculated when the alarm of the vehicle under test is triggered, thereby determining the positional relationship between the vehicle under test and the auxiliary vehicle when the alarm of the vehicle under test is triggered.

[0038] Step 170: Based on distance information and the blind spot monitoring signal of the vehicle under test, determine the detection result of the blind spot monitoring of the vehicle under test.

[0039] After calculating the distance information between the vehicle to be tested and the auxiliary vehicle, the blind spot area of ​​the vehicle to be tested and the blind spot monitoring signal of the vehicle to be tested are combined to analyze whether the alarm logic meets the expected functional safety, thereby determining the detection result of the blind spot monitoring of the vehicle to be tested.

[0040] This application provides a method for detecting vehicle blind spot monitoring signals, which involves acquiring test data of the vehicle under test; wherein the test data includes required data of the vehicle under test in a blind spot monitoring signal detection test; calculating the longitudinal test distance of the vehicle under test based on the test data; controlling the operation of the vehicle under test and an auxiliary vehicle based on the test start point and the longitudinal test distance; wherein the auxiliary vehicle is used to trigger the blind spot monitoring signal of the vehicle under test during the test; collecting the operation data of the vehicle under test and the blind spot monitoring signal; collecting the operation data of the auxiliary vehicle; calculating the distance information between the vehicle under test and the auxiliary vehicle based on the operation data of the vehicle under test and the operation data of the auxiliary vehicle; and calculating the distance information between the vehicle under test and the auxiliary vehicle based on the distance information and the blind spot monitoring signal of the vehicle under test. The system uses blind spot monitoring signals to determine the detection results of blind spot monitoring for the vehicle under test. Based on the test requirements, it calculates the longitudinal test distance for the vehicle under test, and controls the operation of the vehicle under test and the auxiliary vehicle in conjunction with the test start point and longitudinal test distance to achieve blind spot monitoring signal detection testing. During the test, it collects the operating data of the vehicle under test, the blind spot monitoring signals, and the operating data of the auxiliary vehicle. Based on these data, it calculates the distance information between the vehicle under test and the auxiliary vehicle, and combines this information with the blind spot monitoring signals to determine the detection results, thereby improving the accuracy and efficiency of vehicle blind spot monitoring signal detection.

[0041] In one embodiment, the test data includes the speed of the auxiliary vehicle, the minimum offset speed, and the maximum offset speed; wherein, the specific implementation of the above step 120 may be: based on the speed of the auxiliary vehicle, the minimum offset speed, and the maximum offset speed, calculate the maximum and minimum longitudinal distances of the vehicle under test; based on the maximum and minimum longitudinal distances of the vehicle under test, determine the longitudinal test distance of the vehicle under test.

[0042] When testing the blind spot monitoring function of a vehicle under test in a lane-merging scenario, it is necessary to establish an automatic lane-changing path for the auxiliary vehicle (i.e., a lane-changing path located between the lanes occupied by the auxiliary vehicle and the vehicle under test). The lane-changing path consists of two parts: a lane-merging phase and a departure phase. The two phases are identical but opposite in direction, symmetrically distributed with the end of the lane-merging phase as the symmetrical point. Taking the lane-merging phase as an example, the specific operation is as follows: a straight line segment is established to maintain the vehicle speed (i.e., to accelerate the auxiliary vehicle to the set speed). At the end of the straight line segment, a lane-merging deviation trajectory is established. This trajectory can be a straight line or a curve. Based on the speed of the auxiliary vehicle and the minimum deviation speed required by the standard, the minimum longitudinal distance of the vehicle under test in the direction of travel is calculated. Then, based on the speed of the auxiliary vehicle and the minimum deviation speed required by the standard, the maximum longitudinal distance of the vehicle under test in the direction of travel is calculated. Finally, the longitudinal test distance of the vehicle under test is determined based on the minimum and maximum longitudinal distances.

[0043] In one embodiment, step 120 can be specifically implemented as follows: the formula for calculating the maximum longitudinal distance is: The formula for calculating the minimum longitudinal distance is: ;in, This represents the maximum vertical distance. The minimum vertical distance. The lateral distance for lane changes. To assist in determining vehicle speed, For the maximum offset speed, This is the minimum offset speed.

[0044] This application calculates the minimum and maximum longitudinal distances of the vehicle under test in the direction of travel on the lane merging path using the above formula, thereby determining the longitudinal test distance of the vehicle under test.

[0045] In one embodiment, step 120 can be implemented by determining a value between the maximum and minimum longitudinal distance of the vehicle to be tested as the longitudinal test distance of the vehicle to be tested.

[0046] After calculating the maximum and minimum longitudinal distances of the vehicle to be tested, this application determines a value between the maximum and minimum longitudinal distances as the longitudinal test distance of the vehicle to be tested, such as randomly selecting a value or taking the average of the maximum and minimum longitudinal distances.

[0047] In one embodiment, step 160 can be implemented by: calculating the distance between the vehicle to be detected and the auxiliary vehicle based on the position information of the vehicle to be detected during operation, the position information of the auxiliary vehicle during operation, and error compensation.

[0048] This application utilizes two sets of inertial GPS combined testing systems. After the vehicle under test and the auxiliary vehicle are connected and communicating, the vehicle under test transmits its local coordinate system to the auxiliary vehicle, ensuring that the two vehicles are in the same coordinate system. The lateral and longitudinal coordinates (X1, Y1) and (X2, Y2) of the front axle centers of the vehicle under test and the auxiliary vehicle are obtained in the local coordinate system. The relative longitudinal distance X is 0 when the front of the auxiliary vehicle contacts the rear of the vehicle under test, and the absolute value of the distance between the outer sides of the two vehicles is the relative lateral distance Y. The Y value is 0 when the outer sides of the two vehicles (excluding rearview mirrors) are in contact. Using the calculation module of the automatic driving control unit, the relative lateral and longitudinal distances (X, Y) between the vehicle under test and the auxiliary vehicle are calculated: X = |X1 - X2 + δX|; Y = |Y1 - Y2 + δY|. Here, δX and δY are error compensation values, which can be calculated from actual measurements or obtained from actual measurements at different vehicle speeds to obtain the error compensation corresponding to different vehicle speeds. These values ​​are determined by looking up a table based on the vehicle speed in each test.

[0049] In one embodiment, the blind spot monitoring signal includes the alarm time curve of the vehicle to be detected; the specific implementation of step 170 above may be: determining the relative positional relationship between the vehicle to be detected and the auxiliary vehicle based on distance information; and determining the detection result of the blind spot monitoring of the vehicle to be detected based on the relative positional relationship and the alarm time curve of the vehicle to be detected.

[0050] At the start of the test, drive the vehicle to be tested and the auxiliary vehicle to their starting positions to begin the test. Pay attention to driving safety during the test. After the autonomous driving control unit takes over driving the vehicle, closely monitor the vehicle status. If necessary, quickly disengage the autonomous driving control unit and take over the vehicle. After the test is completed, park the vehicle properly before checking the data.

[0051] In overtaking scenarios, the speeds of the vehicle under test and the auxiliary vehicle are collected. Once the path meets the standard requirements, the relative longitudinal distance is calculated along with the alarm information collected by the photosensitive sensor. For example... Figure 2As shown, the longitudinal distance curve represents the relationship between the relative longitudinal distance between the vehicle under test and the auxiliary vehicle and time, while the alarm time curve represents the relationship between the alarm signal and time. By unifying the coordinates of the two lines with time as the horizontal axis, the following important information can be obtained: the alarm start time is the node on the alarm time curve where the first jump occurs, i.e., the alarm initiation time; the alarm end time is the node on the alarm time curve where the first jump occurs after passing the alarm trigger point, i.e., the alarm termination time; the line segment between the alarm start time and the alarm termination time is a straight line parallel to the time axis, representing a continuous and stable alarm signal; the point on the longitudinal distance curve corresponding to the alarm start time has its corresponding ordinate value as the relative longitudinal distance between the two vehicles at the alarm start time; the point on the longitudinal distance curve corresponding to the alarm termination time has its corresponding ordinate value as the relative longitudinal distance between the two vehicles at the alarm termination time. Based on the vehicle blind spot range required by the standard, and combined with the above information, it can be determined whether the function of the blind spot detection system for the vehicle under test meets the standard requirements.

[0052] In lane-merging scenarios, check the speeds of the vehicle to be detected and the auxiliary vehicle, and retrieve the relative lateral distance and alarm information collected by the photosensitive sensor. For example... Figure 3 As shown, the lateral distance curve represents the relationship between the relative lateral distance between the vehicle under test and the auxiliary vehicle and time; the alarm time curve represents the relationship between the alarm signal and time; and the longitudinal distance curve represents the relationship between the relative longitudinal distance between the vehicle under test and the auxiliary vehicle and time. Figure 3 It can be seen that: the alarm start time is the node of the first jump on the alarm time curve, and the alarm end time is the node of the first jump on the alarm time curve after passing the alarm trigger point; the line segment between the alarm start time and the alarm end time is a straight line parallel to the time axis, representing that the alarm signal is continuous and stable; find the point corresponding to the alarm start time on the lateral distance curve representing the relationship between the relative lateral distance between the vehicle under test and the auxiliary vehicle and time, and the corresponding vertical coordinate value is the relative lateral distance between the two vehicles at the alarm start time; find the point corresponding to the alarm end time on the lateral distance curve representing the relationship between the relative lateral distance between the vehicle under test and the auxiliary vehicle and time. The corresponding point, whose vertical coordinate value is the relative lateral distance between the two vehicles at the alarm cutoff time; find the point with the lowest vertical coordinate on the lateral distance curve representing the relationship between the relative lateral distance between the vehicle under test and the auxiliary vehicle and time, whose corresponding vertical coordinate value is the closest relative lateral distance between the vehicle under test and the auxiliary vehicle in the lane merging scenario; observe the longitudinal distance curve representing the relationship between the relative longitudinal distance between the vehicle under test and the auxiliary vehicle and time, and combine it with the threshold required by the standard to determine whether the position of the auxiliary vehicle meets the standard requirements; based on the vehicle blind spot range required by the standard, and combined with the above information points, determine whether the function of the blind spot detection system for the vehicle under test meets the standard requirements.

[0053] In one embodiment, step 170 can be implemented as follows: if the auxiliary vehicle is located in the blind spot of the vehicle to be detected at the beginning of the alarm time curve, the detection result of the blind spot monitoring of the vehicle to be detected is determined based on the time difference between the beginning of the alarm time curve and the moment when the auxiliary vehicle enters the blind spot of the vehicle to be detected; if the auxiliary vehicle is not located in the blind spot of the vehicle to be detected at the beginning of the alarm time curve, the detection result of the blind spot monitoring of the vehicle to be detected is determined based on the distance difference between the auxiliary vehicle and the blind spot of the vehicle to be detected at the end of the alarm time curve.

[0054] This application determines the detection results of blind spot monitoring of the vehicle under test based on the relative positional relationship between the vehicle under test and the auxiliary vehicle and the alarm time curve of the vehicle under test. Specifically, if the auxiliary vehicle is located in the blind zone of the vehicle under test at the start of the alarm time curve, the detection result of the blind zone monitoring of the vehicle under test is further determined based on the time difference between the start of the alarm time curve and the time when the auxiliary vehicle enters the blind zone of the vehicle under test. If the time difference between the start of the alarm time curve and the time when the auxiliary vehicle enters the blind zone of the vehicle under test is within the preset time difference threshold range, the blind zone monitoring of the vehicle under test is determined to be qualified; otherwise, the blind zone monitoring of the vehicle under test is determined to be unqualified. If the auxiliary vehicle is not located in the blind zone of the vehicle under test at the start of the alarm time curve, it is further determined whether the auxiliary vehicle has passed through the blind zone of the vehicle under test at the end of the alarm time curve. If it has, the blind zone monitoring of the vehicle under test is determined to be unqualified; if it has not, it is further determined whether the distance difference between the auxiliary vehicle and the blind zone of the vehicle under test at the start of the alarm time curve is within the preset distance field threshold range. If it is, the blind zone monitoring of the vehicle under test is determined to be qualified; otherwise, the blind zone monitoring of the vehicle under test is determined to be unqualified.

[0055] Figure 4 This is a schematic diagram of the structure of a vehicle blind spot monitoring signal detection device provided in an exemplary embodiment of this application. Figure 4As shown, the vehicle blind spot monitoring signal detection device 40 includes: a test data acquisition module 41, used to acquire test data of the vehicle to be tested; wherein the test data includes the required data of the vehicle to be tested in the blind spot monitoring signal detection test; a test distance calculation module 42, used to calculate the longitudinal test distance of the vehicle to be tested based on the test data; a vehicle operation control module 43, used to control the operation of the vehicle to be tested and the auxiliary vehicle based on the test start point and the longitudinal test distance; wherein the auxiliary vehicle is used to trigger the blind spot monitoring signal of the vehicle to be tested during the test; a detection vehicle acquisition module 44, used to acquire the operation data and blind spot monitoring signal of the vehicle to be tested; an auxiliary vehicle acquisition module 45, used to acquire the operation data of the auxiliary vehicle; a distance information calculation module 46, used to calculate the distance information between the vehicle to be tested and the auxiliary vehicle based on the operation data of the vehicle to be tested and the operation data of the auxiliary vehicle; and a detection result determination module 47, used to determine the detection result of the blind spot monitoring of the vehicle to be tested based on the distance information and the blind spot monitoring signal of the vehicle to be tested.

[0056] This application provides a vehicle blind spot monitoring signal detection device, which acquires test data of the vehicle under test through a test data acquisition module 41; wherein the test data includes the required data of the vehicle under test in the blind spot monitoring signal detection test; a test distance calculation module 42 calculates the longitudinal test distance of the vehicle under test based on the test data; a vehicle operation control module 43 controls the operation of the vehicle under test and an auxiliary vehicle based on the test start point and the longitudinal test distance; wherein the auxiliary vehicle is used to trigger the blind spot monitoring signal of the vehicle under test during the test; a detection vehicle acquisition module 44 acquires the operation data and blind spot monitoring signal of the vehicle under test; an auxiliary vehicle acquisition module 45 acquires the operation data of the auxiliary vehicle; and a distance information calculation module 46 calculates the distance of the vehicle under test based on the operation data of the vehicle under test and the operation data of the auxiliary vehicle. The module 47 determines the blind spot monitoring detection result of the vehicle under test based on the distance information and the blind spot monitoring signal of the vehicle under test. It calculates the longitudinal test distance of the vehicle under test according to the test requirements, and controls the operation of the vehicle under test and the auxiliary vehicle in conjunction with the test start point and the longitudinal test distance to achieve the blind spot monitoring signal detection test of the vehicle under test. During the test, it collects the operation data of the vehicle under test, the blind spot monitoring signal, and the operation data of the auxiliary vehicle. Based on the operation data of the vehicle under test and the auxiliary vehicle, it calculates the distance information between the vehicle under test and the auxiliary vehicle, and combines this with the blind spot monitoring signal of the vehicle under test to determine the blind spot monitoring detection result, thereby improving the detection accuracy and efficiency of the vehicle's blind spot monitoring signal.

[0057] In one embodiment, the test data includes the speed of the auxiliary vehicle, the minimum offset speed, and the maximum offset speed; wherein, the test distance calculation module 42 can be further configured to: calculate the maximum and minimum longitudinal distances of the vehicle under test based on the speed of the auxiliary vehicle, the minimum offset speed, and the maximum offset speed; and determine the longitudinal test distance of the vehicle under test based on the maximum and minimum longitudinal distances of the vehicle under test.

[0058] In one embodiment, the above-mentioned test distance calculation module 42 can be further configured such that the formula for calculating the maximum longitudinal distance is: The formula for calculating the minimum longitudinal distance is: ;in, This represents the maximum vertical distance. The minimum vertical distance. The lateral distance for lane changes. To assist in determining vehicle speed, For the maximum offset speed, This is the minimum offset speed.

[0059] In one embodiment, the test distance calculation module 42 can be further configured to: determine a value between the maximum and minimum longitudinal distance of the vehicle under test as the longitudinal test distance of the vehicle under test.

[0060] In one embodiment, the distance information calculation module 46 can be further configured to: calculate the distance information between the vehicle to be detected and the auxiliary vehicle based on the position information of the vehicle to be detected during operation and the position information of the auxiliary vehicle during operation, as well as error compensation.

[0061] In one embodiment, the blind spot monitoring signal includes the alarm time curve of the vehicle to be detected; the detection result determination module 47 can be further configured to: determine the relative positional relationship between the vehicle to be detected and the auxiliary vehicle based on distance information; and determine the detection result of the blind spot monitoring of the vehicle to be detected based on the relative positional relationship and the alarm time curve of the vehicle to be detected.

[0062] In one embodiment, the detection result determination module 47 can be further configured to: if the auxiliary vehicle is located in the blind spot of the vehicle to be detected at the beginning of the alarm time curve, determine the detection result of the blind spot monitoring of the vehicle to be detected based on the time difference between the beginning of the alarm time curve and the moment when the auxiliary vehicle enters the blind spot of the vehicle to be detected; if the auxiliary vehicle is not located in the blind spot of the vehicle to be detected at the beginning of the alarm time curve, determine the detection result of the blind spot monitoring of the vehicle to be detected based on the distance difference between the auxiliary vehicle and the blind spot of the vehicle to be detected at the end of the alarm time curve.

[0063] Below, for reference Figure 5 This application describes an electronic device according to embodiments thereof. The electronic device may be either or both of a first device and a second device, or a standalone device independent of them, which may communicate with the first device and the second device to receive acquired input signals from them.

[0064] Figure 5 A block diagram of an electronic device according to an embodiment of this application is illustrated.

[0065] like Figure 5 As shown, the electronic device 10 includes one or more processors 11 and memory 12.

[0066] The processor 11 may be a central processing unit (CPU) or other form of processing unit with data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 10 to perform desired functions.

[0067] The memory 12 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 11 may execute the program instructions to implement the methods of the various embodiments of this application described above and / or other desired functions. Various contents such as input signals, signal components, and noise components may also be stored in the computer-readable storage medium.

[0068] In one example, the electronic device 10 may also include an input device 13 and an output device 14, which are interconnected via a bus system and / or other forms of connection mechanism (not shown).

[0069] When the electronic device is a standalone device, the input device 13 can be a communication network connector for receiving the collected input signals from the first device and the second device.

[0070] In addition, the input device 13 may also include, for example, a keyboard, a mouse, etc.

[0071] The output device 14 can output various information to the outside, including determined distance information, direction information, etc. The output device 14 may include, for example, a display, a speaker, a printer, and a communication network and its connected remote output devices, etc.

[0072] Of course, for the sake of simplicity, Figure 5Only some of the components of the electronic device 10 relevant to this application are shown in this illustration; components such as buses, input / output interfaces, etc., are omitted. In addition, the electronic device 10 may include any other suitable components depending on the specific application.

[0073] In addition to the methods and apparatus described above, embodiments of this application may also be computer program products, which include computer program instructions that, when executed by a processor, cause the processor to perform the steps in the methods according to various embodiments of this application described in the "Exemplary Methods" section above.

[0074] The computer program product can be written in any combination of one or more programming languages ​​to perform the operations of the embodiments of this application. The programming languages ​​include object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0075] Furthermore, embodiments of this application may also be computer-readable storage media storing computer program instructions thereon, which, when executed by a processor, cause the processor to perform the steps in the methods according to various embodiments of this application described in the "Exemplary Methods" section above.

[0076] The computer-readable storage medium may be any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof.

[0077] The basic principles of this application have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this application are merely examples and not limitations, and should not be considered as essential features of each embodiment of this application. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the application to the necessity of employing the aforementioned specific details for implementation.

[0078] The block diagrams of devices, apparatuses, devices, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0079] It should also be noted that in the apparatus, equipment, and methods of this application, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions of this application.

[0080] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of this application. Therefore, this application is not intended to be limited to the aspects shown herein, but rather to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0081] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of this application to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A method for detecting vehicle blind spot monitoring signals, characterized in that, include: Acquire test data of the vehicle to be tested; wherein, the test data includes the required data of the vehicle to be tested in the blind spot monitoring signal detection test; Based on the test data, the longitudinal test distance of the vehicle under test is calculated; Based on the test starting point and the longitudinal test distance, the operation of the vehicle under test and the auxiliary vehicle is controlled; wherein, the auxiliary vehicle is used to trigger the blind spot monitoring signal of the vehicle under test during the test; Collect the operating data and blind spot monitoring signals of the vehicle under test; Collect the operating data of the auxiliary vehicle; Based on the operating data of the vehicle to be detected and the operating data of the auxiliary vehicle, the distance information between the vehicle to be detected and the auxiliary vehicle is calculated; Based on the distance information and the blind spot monitoring signal of the vehicle under test, the detection result of the blind spot monitoring of the vehicle under test is determined; The test data includes the vehicle speed, minimum offset speed, and maximum offset speed of the auxiliary vehicle; wherein, calculating the longitudinal test distance of the vehicle under test based on the test data includes: Based on the speed, minimum offset speed, and maximum offset speed of the auxiliary vehicle, calculate the maximum and minimum longitudinal distances of the vehicle to be detected. Based on the maximum and minimum longitudinal distances of the vehicle under test, the longitudinal test distance of the vehicle under test is determined. The calculation of the maximum and minimum longitudinal distances of the vehicle to be detected based on the vehicle speed, minimum offset speed, and maximum offset speed of the auxiliary vehicle includes: The formula for calculating the maximum longitudinal distance is: ； The formula for calculating the minimum longitudinal distance is: ； in, This represents the maximum vertical distance. The minimum vertical distance. The lateral distance for lane changes. To assist in determining vehicle speed, For the maximum offset speed, Minimum offset speed; The blind spot monitoring signal includes the alarm time curve of the vehicle under test; the determination of the blind spot monitoring detection result of the vehicle under test based on the distance information and the blind spot monitoring signal of the vehicle under test includes: The relative positional relationship between the vehicle to be detected and the auxiliary vehicle is determined based on the distance information. Based on the relative positional relationship and the alarm time curve of the vehicle under test, the detection result of the blind spot monitoring of the vehicle under test is determined; The determination of the blind spot monitoring detection result of the vehicle under test based on the relative positional relationship and the alarm time curve of the vehicle under test includes: If the auxiliary vehicle is located in the blind spot of the vehicle to be detected at the start time of the alarm time curve, the detection result of the blind spot monitoring of the vehicle to be detected is determined based on the time difference between the start time of the alarm time curve and the time when the auxiliary vehicle enters the blind spot of the vehicle to be detected. If the auxiliary vehicle is not located in the blind spot of the vehicle to be detected at the beginning of the alarm time curve, the detection result of the blind spot monitoring of the vehicle to be detected is determined based on the distance difference between the auxiliary vehicle and the blind spot of the vehicle to be detected at the end of the alarm time curve. The determination of the blind spot monitoring detection result of the vehicle under test based on the time difference between the start time of the alarm time curve and the time when the auxiliary vehicle enters the blind spot of the vehicle under test includes: If the time difference between the start time of the alarm time curve and the time when the auxiliary vehicle enters the blind spot of the vehicle under test is within the preset time difference threshold range, then the blind spot monitoring of the vehicle under test is determined to be qualified; otherwise, the blind spot monitoring of the vehicle under test is determined to be unqualified. The determination of the blind spot monitoring detection result of the vehicle under test based on the distance difference between the blind spots of the auxiliary vehicle and the vehicle under test at the cutoff time of the alarm time curve includes: If the auxiliary vehicle is not located in the blind zone of the vehicle under test at the start of the alarm time curve, it is further determined whether the auxiliary vehicle has passed through the blind zone of the vehicle under test at the end of the alarm time curve. If it has, the blind zone monitoring of the vehicle under test is determined to be unqualified. If it has not, it is further determined whether the distance difference between the auxiliary vehicle and the blind zone of the vehicle under test at the start of the alarm time curve is within a preset distance field threshold range. If it is, the blind zone monitoring of the vehicle under test is determined to be qualified. Otherwise, the blind zone monitoring of the vehicle under test is determined to be unqualified. The calculation of the distance information between the vehicle under test and the auxiliary vehicle based on the operating data of the vehicle under test and the operating data of the auxiliary vehicle includes: Based on the position information of the vehicle under test and the auxiliary vehicle during operation, as well as error compensation, the distance information between the vehicle under test and the auxiliary vehicle is calculated.

2. The method for detecting vehicle blind spot monitoring signals according to claim 1, characterized in that, The determination of the longitudinal test distance of the vehicle under test based on the maximum and minimum longitudinal distances includes: A value is determined between the maximum and minimum longitudinal distances of the vehicle under test as the longitudinal test distance of the vehicle under test.

3. A device for detecting vehicle blind spot monitoring signals, characterized in that, include: The test data acquisition module is used to acquire test data of the vehicle under test; wherein, the test data includes the required data of the vehicle under test in the blind spot monitoring signal detection test; The test distance calculation module is used to calculate the longitudinal test distance of the vehicle under test based on the test data; The vehicle operation control module is used to control the operation of the vehicle under test and the auxiliary vehicle based on the test starting point and the longitudinal test distance; wherein, the auxiliary vehicle is used to trigger the blind spot monitoring signal of the vehicle under test during the test; The vehicle detection acquisition module is used to collect the operating data and blind spot monitoring signals of the vehicle under test; An auxiliary vehicle data acquisition module is used to collect the operating data of the auxiliary vehicle. The distance information calculation module is used to calculate the distance information between the vehicle to be detected and the auxiliary vehicle based on the operating data of the vehicle to be detected and the operating data of the auxiliary vehicle. The detection result determination module is used to determine the detection result of the blind spot monitoring of the vehicle under test based on the distance information and the blind spot monitoring signal of the vehicle under test; The test data includes the vehicle speed, minimum offset speed, and maximum offset speed of the auxiliary vehicle; wherein, the test distance calculation module is further configured as follows: Based on the speed, minimum offset speed, and maximum offset speed of the auxiliary vehicle, calculate the maximum and minimum longitudinal distances of the vehicle to be detected. Based on the maximum and minimum longitudinal distances of the vehicle under test, the longitudinal test distance of the vehicle under test is determined. The test distance calculation module is further configured as follows: The formula for calculating the maximum longitudinal distance is: ； The formula for calculating the minimum longitudinal distance is: ； in, This represents the maximum vertical distance. The minimum vertical distance. The lateral distance for lane changes. To assist in determining vehicle speed, For the maximum offset speed, Minimum offset speed; The blind spot monitoring signal includes the alarm time curve of the vehicle to be detected; the detection result determination module is further configured to: The relative positional relationship between the vehicle to be detected and the auxiliary vehicle is determined based on the distance information. Based on the relative positional relationship and the alarm time curve of the vehicle under test, the detection result of the blind spot monitoring of the vehicle under test is determined; The detection result determination module is further configured as follows: If the auxiliary vehicle is located in the blind spot of the vehicle to be detected at the start time of the alarm time curve, the detection result of the blind spot monitoring of the vehicle to be detected is determined based on the time difference between the start time of the alarm time curve and the time when the auxiliary vehicle enters the blind spot of the vehicle to be detected. If the auxiliary vehicle is not located in the blind spot of the vehicle to be detected at the beginning of the alarm time curve, the detection result of the blind spot monitoring of the vehicle to be detected is determined based on the distance difference between the auxiliary vehicle and the blind spot of the vehicle to be detected at the end of the alarm time curve. The detection result determination module is further configured as follows: If the time difference between the start time of the alarm time curve and the time when the auxiliary vehicle enters the blind spot of the vehicle under test is within the preset time difference threshold range, then the blind spot monitoring of the vehicle under test is determined to be qualified; otherwise, the blind spot monitoring of the vehicle under test is determined to be unqualified. The detection result determination module is further configured as follows: If the auxiliary vehicle is not located in the blind zone of the vehicle under test at the start of the alarm time curve, it is further determined whether the auxiliary vehicle has passed through the blind zone of the vehicle under test at the end of the alarm time curve. If it has, the blind zone monitoring of the vehicle under test is determined to be unqualified. If it has not, it is further determined whether the distance difference between the auxiliary vehicle and the blind zone of the vehicle under test at the start of the alarm time curve is within a preset distance field threshold range. If it is, the blind zone monitoring of the vehicle under test is determined to be qualified. Otherwise, the blind zone monitoring of the vehicle under test is determined to be unqualified. The distance information calculation module is further configured as follows: Based on the position information of the vehicle under test and the auxiliary vehicle during operation, as well as error compensation, the distance information between the vehicle under test and the auxiliary vehicle is calculated.

4. A computer-readable storage medium, characterized in that, The storage medium stores a computer program for performing the method described in any one of claims 1-2.

5. An electronic device, characterized in that, include: processor; Memory used to store the processor's executable instructions; The processor is used to execute the method described in any one of claims 1-2.

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