Electronic fence system for intelligent driving test of vehicle

Abstract

The application discloses a kind of vehicle intelligent driving test electronic fence systems, it is related to the field of intelligent driving test, including: vehicle positioning equipment, communication equipment, the electronic fence of safety area and electronic fence center computer;Vehicle positioning equipment is connected with communication equipment signal, for the position of target vehicle is positioned, to obtain the actual coordinate of target vehicle, and actual coordinate is sent to communication equipment;Communication equipment is connected with electronic fence center computer signal, for receiving actual coordinate, and actual coordinate is sent to electronic fence center computer;Safety area is the subarea divided from test area, for carrying out test preparation work, test area is used for executing vehicle intelligent driving test;Electronic fence center computer is used to set up the electronic fence of safety area on map, and receive actual coordinate, and generate vehicle state prompt based on actual coordinate and electronic fence, vehicle state includes safety and danger.The application improves intelligent driving test efficiency.

Description

Technical Field

[0001] This application relates to the field of intelligent driving testing technology, and in particular to an electronic fence system for intelligent driving testing of vehicles. Background Technology

[0002] Before mass production, all intelligent driving vehicles must undergo intelligent driving tests to ensure the safety of their intelligent driving functions. These tests are conducted at intelligent driving test tracks, which typically use barriers such as gates, cones, and water-filled barriers to divide different test areas and charge fees based on the duration of use.

[0003] Currently, when intelligent driving vehicles are conducting intelligent driving tests, the site mode is as follows: multiple intelligent driving vehicles use the test area in a shared mode, usually communicating via walkie-talkies to take turns starting the test; the charging method is as follows: when the target vehicle needs to be tested, it enters the test area, and the gate device starts timing; when the test is completed and the vehicle leaves the test area, the gate device stops timing, and the charge is based on the duration of the time.

[0004] As can be seen from the above, the existing technology has at least the following problems: communication between different test vehicles is prone to information errors, which leads to a reduction in vehicle safety and testing efficiency. Summary of the Invention

[0005] The purpose of this application is to provide an electronic fence system for testing intelligent driving of vehicles to solve the problem of low testing efficiency described in the background art.

[0006] To achieve the above objectives, this application provides the following solution: This application provides a vehicle intelligent driving test electronic fence system, including: vehicle positioning equipment, communication equipment, electronic fence of safe area and electronic fence central computer; The vehicle positioning device is signal-connected to the communication device and is used to locate the position of the target vehicle, obtain the actual coordinates of the target vehicle, and send the actual coordinates of the target vehicle to the communication device. The communication device is signal-connected to the electronic fence central computer and is used to receive the actual coordinates of the target vehicle sent by the vehicle positioning device, and send the actual coordinates of the target vehicle to the electronic fence central computer. The safe zone is a sub-area divided from the test area, used for test preparation work, while the test area is used to perform intelligent driving tests of vehicles. The electronic fence central computer is used to set up the electronic fence of the safe area on the map, and to receive the actual coordinates of the target vehicle sent by the communication device, and to generate a vehicle status prompt for the target vehicle based on the actual coordinates of the target vehicle and the electronic fence of the safe area, wherein the vehicle status includes safe and dangerous.

[0007] Optionally, the electronic fence also includes an electronic fence for the actual test area, and the electronic fence central computer is also used to set the electronic fence for the actual test area on a map.

[0008] Optionally, the electronic fence is used to determine the driving range of the target vehicle, and the electronic fence central computer is also used to generate an alarm command when the target vehicle enters the safe area or the actual test area, the alarm command being used to indicate the generation of an alarm.

[0009] Optionally, the vehicle positioning device includes an antenna, a base station, and an inertial navigation system; The antenna includes a base station antenna and a vehicle-mounted antenna; the base station antenna is installed on the base station and is used to receive satellite positioning signals and transmit satellite signals to the base station; the vehicle-mounted antenna is installed on the target vehicle and is used to receive satellite positioning signals and transmit satellite signals to the inertial navigation system. The base station is connected to the base station antenna to receive the satellite signal, generate the real-time coordinates of the base station based on the satellite signal, determine the common error of the area range based on the base station's reference coordinates, i.e. the common error of the target vehicle, and broadcast the common error to the inertial navigation system through the communication device. The inertial navigation system is connected to the vehicle-mounted antenna and is used to receive the satellite signals transmitted by the vehicle-mounted antenna and generate preliminary coordinates of the target vehicle based on the satellite signals; the inertial navigation system is also used to receive the common error through a communication device and determine the actual coordinates of the target vehicle based on the preliminary coordinates and the common error.

[0010] Optionally, the communication equipment includes a vehicle-side communication device and a base station-side communication device. The vehicle-side communication device is used to receive the actual coordinates of the target vehicle sent by the vehicle positioning device and broadcast the actual coordinates of the target vehicle. The base station-side communication device receives the actual coordinates of the target vehicle and then sends the actual coordinates of the target vehicle to the electronic fence central computer, so that the electronic fence central computer can determine whether the target vehicle has entered the safe area or the actual test area.

[0011] Optionally, the vehicle intelligent driving test electronic fence system also includes a driving robot, which is installed in the driver's cab of the target vehicle to simulate a driver.

[0012] Optionally, the vehicle intelligent driving test electronic fence system further includes a barrier gate device, which is signal-connected to the electronic fence central computer and is used to receive billing instructions sent by the electronic fence central computer and perform corresponding billing operations.

[0013] Optionally, the alarm may include an audible alarm, a text alarm, or a rendering of the safe area or the actual test area.

[0014] According to the specific embodiments provided in this application, the following technical effects are disclosed: The vehicle intelligent driving test electronic fence system provided in this embodiment sets up a safe zone for the test area and an electronic fence for the safe zone. This allows the target vehicle to perform preparation work in the safe zone, and after preparation, it queues in the safe zone until it is its turn to be tested before entering the actual test area. Therefore, when the target vehicle is preparing or queuing, it will not enter the actual test area, ensuring the continuation of the test and reducing interference with vehicles already being tested, thus improving the safety of other vehicles. In addition, when the target vehicle enters the safe zone or the actual test area, both the electronic fence center and the electronic fence software on the target vehicle will generate an alarm to inform other vehicles and personnel around the target vehicle of the new vehicle's presence, thereby attracting their attention and improving their safety. Furthermore, since only vehicles that have completed preparation can queue to enter the actual test area, queuing time is shortened, and once a vehicle has completed preparation and enters the actual test area, it can directly perform the test operation, preventing unprepared vehicles from entering the actual test area, thus avoiding unnecessary waiting and improving test efficiency. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 A schematic diagram of an electronic fence system for testing intelligent driving of a vehicle provided in an embodiment of this application; Figure 2 This is a schematic diagram of a test area division provided in an embodiment of this application; Figure 3 A schematic diagram of an electronic fence system for testing intelligent driving of a vehicle provided in an embodiment of this application; Figure 4 A flowchart illustrating a billing method for vehicle intelligent driving testing, provided as another embodiment of this application; Figure 5 A flowchart illustrating a method for determining a first positional relationship, provided as another embodiment of this application; Figure 6 A flowchart illustrating a method for determining a second positional relationship according to an embodiment of this application; Figure 7 A flowchart illustrating another method for determining a first positional relationship provided in an embodiment of this application; Figure 8 A flowchart illustrating another method for determining a second positional relationship provided in an embodiment of this application; Figure 9 This is a schematic diagram of the structure of a computer device provided in an embodiment of this application. Detailed Implementation

[0017] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0018] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the contents of this application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0019] In one exemplary embodiment, this application provides an electronic fence system for testing intelligent driving of vehicles, see [link to relevant documentation]. Figure 1 The system includes: vehicle positioning equipment, communication equipment, electronic fences for the safe area, and a central computer for the electronic fences; The vehicle positioning device is signal-connected to the communication device and is used to locate the position of the target vehicle, obtain the actual coordinates of the target vehicle, and send the actual coordinates of the target vehicle to the communication device. The communication device is signal-connected to the electronic fence central computer and is used to receive the actual coordinates of the target vehicle sent by the vehicle positioning device, and send the actual coordinates of the target vehicle to the electronic fence central computer. The safe zone is a sub-area divided from the test area, used for test preparation work, while the test area is used to perform intelligent driving tests of vehicles. The electronic fence central computer is used to set up the electronic fence of the safe area on the map, and to receive the actual coordinates of the target vehicle sent by the communication device, and to generate a vehicle status prompt for the target vehicle based on the actual coordinates of the target vehicle and the electronic fence of the safe area, wherein the vehicle status includes safe and dangerous.

[0020] The test area also includes an actual test area, which consists of a safe area and an actual test area. When the target vehicle completes the test preparation work in the safe area and it is the turn of the queue, the target vehicle enters the actual test area to perform the relevant operations for intelligent driving test.

[0021] The test preparation work includes debugging the target vehicle, communication equipment, and other related equipment.

[0022] The safe zone and the actual test zone are determined by dividing the test zone in advance based on the actual situation of the test zone. For example, areas within the test zone that do not affect other experiments or produce blind spots can be designated as safe zones, while other areas outside the safe zones are designated as actual test zones.

[0023] Further, see Figure 2 A test track can include multiple test areas connected by roads. Each test area can be used for different test items; for example, some test areas are used to test pedestrian recognition and obstacle avoidance, some to test lane keeping functions, and some to test vehicle crossing recognition and obstacle avoidance. Furthermore, each test area is divided into a safety zone and an actual test zone.

[0024] Furthermore, in this application, vehicles located in the actual testing area are referred to as test vehicles, and vehicles located in the safe area are referred to as non-test vehicles. Furthermore, it is considered that the movement of test vehicles within the actual testing area may pose a danger to themselves and their surroundings, therefore the state of test vehicles is considered dangerous; while vehicles in the safe area are essentially stationary and do not pose a danger to themselves or their surroundings, therefore the state of non-test vehicles is considered safe.

[0025] The working process of the electronic fence system for intelligent driving testing of vehicles provided in this embodiment is as follows: When the target vehicle needs to undergo intelligent driving testing, the necessary communication equipment, vehicle positioning equipment, test computer, etc., will be installed on the target vehicle. After installation, the target vehicle is driven into a safe area and tested in the safe area, such as testing the vehicle's functions, vehicle positioning equipment, and communication equipment. Additionally, it should be noted that whether the target vehicle enters the safe zone is determined manually by the test engineer on the target vehicle. When the decision is made to enter the safe zone, the test engineer controls the target vehicle to enter. Furthermore, the test computer on the target vehicle is equipped with an electronic fence application that can display the location of the safe zone, and the test engineer drives the vehicle into the safe zone. After debugging, queue up in the safe area. When there are no other vehicles in the actual test area (which can be checked through the electronic fence software on the vehicle test computer; the same actual test area usually only supports one vehicle to carry out testing. Multiple vehicles carrying out testing at the same time will cause route conflicts and collision risks), drive out of the safe area and enter the actual test area. Simultaneously, the vehicle positioning device sends information to the electronic fence central computer. The electronic fence software (which can be installed on both the electronic fence central computer and the test computer on the target vehicle) generates an alarm to alert other test vehicles and dispatchers. This informs other vehicles and personnel that a vehicle is entering or exiting, thereby improving vehicle and personnel safety. Dispatchers, through the electronic fence software on the electronic fence central computer, monitor the positioning status of all vehicles in the test area in real time and check for any security risks. When the target vehicle enters the actual test area, the corresponding test operation is performed until the test is completed. The target vehicle then enters the safe area and sends a message to the electronic fence center computer via communication equipment that the test is completed and the vehicle has entered the safe area. Additionally, it should be noted that a test project may require multiple adjustments and tests to complete. Therefore, the target vehicle may need to enter and exit the safe zone and the actual test zone multiple times within a test area. The operation for each entry into the safe zone and the actual test zone is the same as described above and will not be repeated here. After multiple debugging and testing sessions, and once a test item is completed, the target vehicle leaves the test area.

[0026] The vehicle intelligent driving test electronic fence system provided in this embodiment sets up a safe zone for the test area and an electronic fence for the safe zone. This allows the target vehicle to perform preparation work in the safe zone, and after preparation, it queues in the safe zone until it is its turn to be tested before entering the actual test area. Therefore, when the target vehicle is preparing or queuing, it will not enter the actual test area, which not only ensures the orderly conduct of the test but also reduces interference with vehicles performing tests and improves the safety of other vehicles. In addition, when the target vehicle enters the safe zone and the actual test area, the test computers on all vehicles in the electronic fence center and the test area will generate alarms to inform other vehicles and personnel around the target vehicle of the new vehicle's presence, thereby attracting their attention and improving their safety. Furthermore, since only vehicles that have completed preparation can queue to wait to enter the actual test area, queuing time is shortened, and vehicles that have completed preparation can directly perform test operations after entering the actual test area, preventing unprepared vehicles from entering the actual test area and avoiding unnecessary waiting, thus improving test efficiency.

[0027] Optionally, the electronic fence also includes an electronic fence for the actual test area, and the electronic fence central computer is also used to set the electronic fence for the actual test area on a map.

[0028] In existing technologies, no security domain is set up; the test area is fenced with a physical gate to prevent target vehicles from leaving the test area and ensure their safety. This application divides the test area into a security zone and an actual test zone, and sets up electronic fences for each. By combining electronic fences with physical gate fences, the accuracy of vehicle management is further improved, as well as vehicle safety.

[0029] Optionally, the electronic fence is used to determine the driving range of the target vehicle, and the electronic fence central computer is also used to generate an alarm command when the target vehicle enters the safe area or the actual test area, the alarm command being used to indicate the generation of an alarm.

[0030] Furthermore, the computer at the electronic fence center can be equipped with electronic fence and related applications to perform functions such as location calculation, electronic fence location setting, vehicle location display, and alarm when crossing the electronic fence.

[0031] Optionally, the alarm may include an audible alarm, a text alarm, or a rendering of the safe area or the actual test area.

[0032] For rendering: When the target vehicle enters the safe zone, the safe zone is rendered; when the target vehicle enters the actual test zone, the actual test zone is rendered. For example, the safe zone and the actual test zone are rendered in red to distinguish them from the surrounding colors on the map, allowing surrounding vehicles and staff to know that a new vehicle has entered.

[0033] Optionally, see Figure 3 The vehicle positioning device includes an antenna, a base station, and an inertial navigation system; The antenna includes a base station antenna and a vehicle-mounted antenna; the base station antenna is installed on the base station and is used to receive satellite positioning signals and transmit satellite signals to the base station; the vehicle-mounted antenna is installed on the target vehicle and is used to receive satellite positioning signals and transmit satellite signals to the inertial navigation system. The base station is connected to the base station antenna to receive the satellite signal, generate the real-time coordinates of the base station based on the satellite signal, determine the common error of the area range based on the base station's reference coordinates, i.e. the common error of the target vehicle, and send the common error to the inertial navigation system through the communication device. The inertial navigation system is connected to the vehicle-mounted antenna and is used to receive the satellite signals transmitted by the vehicle-mounted antenna and generate preliminary coordinates of the target vehicle based on the satellite signals; the inertial navigation system is also used to receive the common error through a communication device and determine the actual coordinates of the target vehicle based on the preliminary coordinates and the common error.

[0034] The reference coordinates are the coordinates of the base station determined by static observation over a period of time (generally configured as 1 minute after the base station is powered on and receives a good satellite signal), and are used as the precise coordinates of the base station.

[0035] The vehicle positioning equipment, including the vehicle-mounted antenna and inertial navigation system, can be placed on the vehicle or removed from it. When entering the test area, these devices are placed or installed on the target vehicle.

[0036] Furthermore, both the vehicle-mounted antenna and the base station-mounted antenna in this application are Global Navigation Satellite System (GNSS) antennas, which are respectively mounted on the top of the target vehicle and on a tripod at a fixed position of the base station, and continuously acquire position coordinate signals through these antennas.

[0037] The base station obtains its own real-time coordinates based on its built-in GPS positioning module and GNSS antenna, which are recorded as the base station's real-time coordinates. It then sends differential signals outward, which include the base station's precise coordinates, error correction information, etc. (the differential signals must follow a standardized format).

[0038] The base station is installed in a fixed location at the test site, and multiple base stations can be used simultaneously. Furthermore, the base station connects to communication equipment via a network port and broadcasts differential signals using User Datagram Protocol (UDP) within the local area network environment.

[0039] Furthermore, the base station sends a differential signal to the inertial navigation system through the communication device; after receiving the differential signal through the communication device, the inertial navigation system re-determines the position of the target vehicle based on the differential signal and the preliminary coordinates sent by the antenna, and obtains the actual coordinates of the target vehicle; and sends the actual coordinates of the target vehicle to the computer of the electronic fence center through the communication device.

[0040] Furthermore, before testing, a mapping relationship is established between the target vehicle and the testing equipment. For example, a mapping relationship is established between the IP address of the target vehicle's inertial navigation system (INS) and its vehicle identification number (VIN). The vehicle is identified through the INS IP address, thus enabling simultaneous monitoring of multiple target vehicles. After testing, the INS and antenna can be removed from the target vehicle. Another example is establishing a mapping relationship between the IP address of the target vehicle's driving robot and its VIN. The vehicle is identified through the driving robot's IP address. (This is because the information sent by the INS and the driving robot to the central fence computer includes the device IP address and the target vehicle's location.) The inertial navigation system / driving robot also broadcasts UDP messages within the network segment via communication devices. These UDP messages contain the actual coordinates of the target vehicle calculated by the inertial navigation system. After the vehicle-side communication device broadcasts the messages, the base station-side communication device receives the actual coordinates of the target vehicle and sends them to the electronic fence central computer. The UDP protocol ensures low latency in data transmission, enabling the electronic fence central computer to receive the target vehicle's coordinates in real time.

[0041] For details on the process of positioning achieved by antennas, inertial navigation systems and base stations, please refer to relevant prior art, which will not be described in detail here. For example, refer to real-time dynamic differential (RTK) positioning technology and satellite-inertial navigation combined positioning system.

[0042] Therefore, in this application, the GNSS antenna, when combined with the inertial navigation system and the base station, can achieve centimeter-level positioning.

[0043] Optionally, the communication equipment includes a vehicle-side communication device and a base station-side communication device. The vehicle-side communication device is used to receive the actual coordinates of the target vehicle sent by the vehicle positioning device and broadcast the actual coordinates of the target vehicle. The base station-side communication device receives the actual coordinates of the target vehicle and then sends the actual coordinates of the target vehicle to the electronic fence central computer, so that the electronic fence central computer can determine whether the target vehicle has entered the safe area or the actual test area.

[0044] Once the electronic fence central computer receives the actual coordinates of the target vehicle, it uses an application program installed on the electronic fence central computer to calculate whether the target vehicle has entered the safe area or the actual test area.

[0045] The vehicle-mounted communication equipment can be temporarily installed on the target vehicle and combined with the base station-mounted communication equipment to enable communication between the inertial navigation system and the electronic fence central computer. Once all tests are completed, it can be removed from the target vehicle.

[0046] The coordinate data collected by the vehicle-side communication equipment and the base station-side communication equipment is binary data.

[0047] Furthermore, the electronic fence central computer is connected to a network port of the base station via a network cable, and is connected to the same network as the vehicle-side communication equipment and the base station-side communication equipment to receive messages sent by the vehicle positioning equipment.

[0048] Optionally, the vehicle intelligent driving test electronic fence system also includes a driving robot, which is installed in the driver's cab of the target vehicle to simulate a driver; Furthermore, the driving robot can perform some intelligent driving tests. For example, to require the target vehicle to travel at a fixed speed, the driving robot applies force to the accelerator, brake, and steering wheel to achieve fixed speed and trajectory travel.

[0049] Furthermore, the test computer on the target vehicle, which is connected to the test equipment, is equipped with an intelligent driving test application. The engineer on the target vehicle sets up test tasks through the intelligent driving test application and issues them to the driving robot.

[0050] In addition, the test computer, driving robot, inertial navigation, communication and other equipment are connected inside the target vehicle via wires.

[0051] Driving robots can reduce deviations caused by human drivers, and improve the accuracy and objectivity of vehicle intelligent driving tests.

[0052] The driving robot is connected to the electronic fence center computer via the communication device and can be used as a device to forward positioning signals. That is, the driving robot is also used to send the actual coordinates of the target vehicle located by the inertial navigation system to the communication device.

[0053] Additionally, it should be noted that when the target vehicle is not equipped with a driving robot, the inertial navigation system sends positioning signals on its own. When a driving robot is equipped, the inertial navigation system no longer sends positioning signals; instead, the driving robot forwards all the signals.

[0054] Therefore, when matching the device IP with the target vehicle, it is necessary to determine whether the positioning signal is being sent by the driving robot or the inertial navigation system.

[0055] Optionally, the vehicle intelligent driving test electronic fence system further includes a barrier gate device, which is signal-connected to the electronic fence central computer and is used to receive billing instructions sent by the electronic fence central computer and perform corresponding billing operations.

[0056] Furthermore, the communication connection methods between vehicle positioning equipment, communication equipment, electronic fence central computer, and barrier gate equipment can be determined according to actual needs. For example, vehicle-side communication equipment and vehicle positioning equipment can communicate via wired connection, while vehicle-side communication equipment and base station-side communication equipment can be wirelessly connected.

[0057] Furthermore, the electronic fence computer generates a billing instruction based on the actual coordinates of the target vehicle and the coordinates of each vertex of the safe area, and sends the billing instruction to the barrier gate device so that the barrier gate device can perform the corresponding billing operation.

[0058] The UDP protocol ensures low latency in data transmission, enabling the billing system to operate in real-time.

[0059] For details on generating billing instructions based on the actual coordinates of the target vehicle and the coordinates of each vertex of the safe area, please refer to the relevant embodiments of the method, which will not be described in detail here.

[0060] For more details on the methods performed on each device, please refer to the relevant content in the following method embodiments.

[0061] In one exemplary embodiment, see Figure 4 As shown, a billing method for vehicle intelligent driving testing is provided. This method is executed by a computer device and its application. In this embodiment, the method is applied to... Figure 1 The following steps, 101 to 105, are used as an example of the electronic fence central computer: Step 101: Determine the positional relationship between the target vehicle and the safe area at the previous moment, and record it as the first positional relationship. The safe area is an area set up in the test area for test preparation work. The positional relationship is used to describe whether the target vehicle is located in the safe area. The target vehicle is the vehicle to be tested for intelligent driving.

[0062] The vehicle positioning device broadcasts the actual coordinates of the target vehicle to the outside world through the communication device at predetermined intervals. The positional relationship between the target vehicle and the safe area is determined by the coordinates, such as whether the target vehicle is located within the safe area or outside the safe area.

[0063] The predetermined duration can be determined based on the output frequency of the real-time positioning device. In this case, it is 100 Hz, which means an interval of 0.01 s. The time it takes to send the actual coordinates of the target vehicle once is one moment.

[0064] Before conducting intelligent driving tests on a target vehicle, the test equipment and the target vehicle need to be debugged, including the target vehicle, vehicle positioning equipment, communication equipment, and other devices. Only after successful debugging can the test operation be performed. This application divides a test area into a safe area and an actual test area. The safe area is used for debugging the test equipment and the target vehicle, while the actual test area is used for performing intelligent driving tests. Therefore, before performing the test operation, the target vehicle is first moved to the safe area to debug the test equipment and the target vehicle. After successful debugging, it then enters the actual test area to perform the test operation.

[0065] The first positional relationship is used to describe whether the target vehicle was located within the safe area at the previous moment.

[0066] Step 102: Determine the positional relationship between the target vehicle and the safe area at the current moment, and record it as the second positional relationship; The second positional relationship is used to describe whether the target vehicle is located within the safe area at the current moment.

[0067] Step 103: Determine the position status of the target vehicle based on the first position relationship and the second position relationship, wherein the position status includes entering the safe area and leaving the safe area; Step 104: When the location status is "entering a safe zone", generate a pause billing instruction; or, when the location status is "leaving a safe zone", generate a start billing instruction. The target vehicle enters the safe area to queue or debug test equipment and the target vehicle in preparation for intelligent driving testing. No test operation is performed, so no charge is charged. Therefore, a pause charge instruction can be generated so that the gate device can stop charging when it receives the pause charge instruction. When the target vehicle leaves the safe area, it is to enter the actual test area to perform intelligent driving testing, so charging needs to start. Therefore, a start charge instruction can be generated so that the gate device can start charging when it receives the start charge instruction.

[0068] Additionally, it should be noted that in this application, when performing intelligent driving tests on the target vehicle, the target vehicle's path is as follows: first, it enters a safe area for debugging and queuing; after debugging is completed and queuing is finished, it can enter the actual testing area to perform test operations. During the test, if it is found that the debugging is not complete, it can re-enter the safe area for debugging. After debugging is completed, it re-enters the actual testing area; when the test is completed, it leaves the actual testing area directly without re-entering the safe area. Therefore, in this application, if the target vehicle enters the safe area, it is considered that no test operation has been performed, and if it leaves the safe area, it is considered that it is about to enter the actual testing area to perform test operations.

[0069] Furthermore, when the target vehicle enters and remains within the safe zone, the billing pause status remains unchanged. When the target vehicle leaves the safe zone and remains within the actual test area, the billing operation remains unchanged.

[0070] Step 105: Send the pause billing instruction or the start billing instruction to the barrier gate device so that the barrier gate device can perform the corresponding billing operation according to the pause billing instruction or the start billing instruction.

[0071] In this application, the barrier gate device is used to perform billing operations based on the received billing instructions.

[0072] The billing method for intelligent driving testing of vehicles provided in this application includes: determining a first positional relationship and a second positional relationship between the target vehicle and a safe area; determining whether the target vehicle is leaving or entering the safe area based on the first and second positional relationships; generating a start billing instruction when leaving the safe area, and generating a pause billing instruction when entering the safe area, so that the gate device can perform corresponding billing operations according to the pause billing instruction or the start billing instruction; thus, no billing is performed when the target vehicle is being tested in the safe area, and billing is only performed when testing in the actual test area, which is reasonable. In contrast, the prior art does not set up a safe area for testing, and billing is performed as soon as the vehicle enters the test area, which is unreasonable; therefore, compared with the prior art, this application improves the reasonableness of billing.

[0073] Furthermore, in existing technologies, the testing area is occupied during equipment or vehicle debugging, but no testing operations are performed, resulting in wasted testing area resources, reduced testing area utilization efficiency, and reduced testing efficiency. In this application, the testing area is divided into a safe area and an actual testing area. The safe area is used for debugging, and the actual testing area is used for testing. Only when the equipment and vehicle have completed debugging can they enter the actual testing area to perform testing operations. Therefore, vehicles that have completed debugging first can enter the actual testing area first, and vehicles entering the actual testing area are all vehicles that have completed debugging and can directly enter the testing process, improving the utilization efficiency of the actual testing area and the vehicle testing efficiency.

[0074] Furthermore, in existing technologies, the use of intercom modes during intelligent driving testing relies on proactive communication by test personnel. Site management personnel cannot monitor the vehicle status in real time, potentially leading to safety issues. In this application, however, target vehicles queue within a safe area and enter the actual testing area sequentially, improving on-site safety. An electronic fence application installed on the target vehicles displays the real-time location and status of each vehicle within the testing area, allowing the test engineer inside the target vehicle to know when it is their turn to enter the actual testing area.

[0075] In addition, in the prior art, communication between different test vehicles is prone to information errors, which leads to reduced testing efficiency; this application receives the positioning information of all vehicles through the electronic fence central computer, and then manages the testing order of the target vehicles as a whole, thereby improving testing efficiency.

[0076] In addition, in the prior art, the target vehicle is parked in the actual test area while it is being debugged or waiting, but no actual test is carried out. This not only results in low safety but also high cost. In contrast, this application places the target vehicle in the debugging or waiting stage in a safe area, which not only improves the safety of the vehicle but also reduces the cost.

[0077] Optionally, see Figure 5 In another exemplary embodiment of this application, step 101 includes steps 201 to 203: Step 201: Obtain the coordinates of the target vehicle at the previous moment, and record them as the first coordinates; Step 202: Obtain the coordinates of each vertex of the safe area, and record them as vertex coordinates; Step 203: Determine the first positional relationship based on the first coordinates and the vertex coordinates.

[0078] Optionally, see Figure 6 In another exemplary embodiment of this application, step 102 includes steps 301 to 303: Step 301: Obtain the current coordinates of the target vehicle, and record them as the second coordinates; Step 302: Obtain the coordinates of each vertex of the safe area, and record them as vertex coordinates; Step 303: Determine the second positional relationship based on the second coordinates and the vertex coordinates.

[0079] Optionally, in another exemplary embodiment of this application, step 203 is implemented by step 401: determining the first positional relationship based on the first coordinates and the vertex coordinates using an improved ray method.

[0080] Further, see Figure 7 Step 401 includes steps 501 to 503: Step 501: Determine the first coordinates as the coordinates of the first target point, where the first target point is the target point in the improved ray casting method; Step 502: Determine the coordinates of each vertex of the safe area as the coordinates of each vertex of the polygonal region, wherein the polygonal region is the polygonal region in the improved ray casting method; Step 503: Send the coordinates of the first target point and the coordinates of each vertex of the polygonal region to the improved ray tracing model, so that the improved ray tracing model outputs the positional relationship between the first target point and the polygonal region, i.e., the first positional relationship.

[0081] Step 303 is implemented by step 601: based on the second coordinates and the vertex coordinates, the second positional relationship is determined by an improved ray method.

[0082] Further, see Figure 8 Step 601 includes steps 701-702: Step 701: Determine the second coordinates as the coordinates of the second target point, where the second target point is the target point in the improved ray casting method; Step 702: Determine the coordinates of each vertex of the safe area as the coordinates of each vertex of the polygonal region, wherein the polygonal region is the polygonal region in the improved ray casting method; Step 703: Send the coordinates of the second target point and the coordinates of each vertex of the polygonal region to the improved ray casting model, so that the improved ray casting model outputs the positional relationship between the second target point and the polygonal region, i.e., the second positional relationship.

[0083] The improved ray method is a method for determining whether a point (the actual coordinates of the target vehicle in this application) is located within a polygonal region (the safe region in this application). It is commonly used to make this determination using the horizontal scan line method or the vertical line method. This application will use the horizontal scan line method as an example for explanation.

[0084] This method draws a horizontal scan line starting from the point of doubt P(x, y) and calculates the number of intersections between this line and the polygon boundary. An odd number of intersections indicates the point is inside the polygon, while an even number indicates the point is outside. Furthermore, for any given moment, the improved ray casting method described above proceeds as follows: Step 1: Verify the number of vertices in the safe region Once the test area used by the target vehicle is determined, the number of vertices in the safe zone of that test area is obtained. When the number of vertices is greater than or equal to 3, it means that a polygon can be formed, that is, a safe zone can be formed, and the subsequent operation can continue to be performed, proceeding to step 2. When the number of vertices is less than 3, a polygon cannot be formed, that is, a safe zone is not formed, and the subsequent operation cannot be performed, so an abnormality alert is generated.

[0085] Step 2: Detect whether the target vehicle is located on the edge of the safe zone. Obtain the coordinates of the target vehicle's current location, which are denoted as vehicle coordinates for ease of description. Traverse all edges of the safe area and calculate the distance from the vehicle coordinates to each edge. If the distance is less than the tolerance value, the target vehicle is determined to be located on an edge of the safe area. In this application, when the target vehicle is located on an edge of the safe area, it is considered to be inside the safe area, and the positional relationship determination is complete. Further, if the distance is greater than or equal to the tolerance value, the positional relationship between the target vehicle and the safe area cannot be determined. Therefore, step 3 is executed to continue determining the positional relationship between the target vehicle and the safe area.

[0086] The tolerance value can be an empirical value.

[0087] Step 3: Use the improved ray casting method to determine the positional relationship between the target vehicle and the safe area. Step 3.1: Initialize variables Step 3 is executed according to the positioning data update frequency (e.g., 100Hz). Each time step 3 is executed, the number of intersection points is initialized to 0.

[0088] Step 3.2: Traverse each edge of the safe region. The traversal process is as follows: traverse each vertex of the safe area in turn, and determine whether the line segment formed by each pair of adjacent vertices is a horizontal line segment; if it is, proceed to step 3.3; if not, proceed to step 3.4. Step 3.3: Skip the horizontal edge The improved ray casting method draws a horizontal ray from the target vehicle's coordinates, determining the vehicle's position relative to the safe zone based on the number of intersections between this ray and each edge of the safe zone. However, horizontal edges have no or infinitely many intersections with the horizontal ray, rendering them meaningless. Therefore, when calculating the number of intersections between the vehicle's coordinates and each edge, the horizontal edges can be skipped. This eliminates the interference of horizontal edges in the ray casting calculation, improving the algorithm's accuracy.

[0089] Step 3.4: Check if the vehicle coordinates coincide with the vertices of the safe area. Since the target vehicle may be located exactly at a vertex of the safe area, to avoid misidentifying the vertex as the intersection of the ray and the edge of the safe area, the vehicle coordinates are compared with the coordinates of each vertex of the safe area to determine whether the target vehicle is exactly located at a vertex of the safe area. When the vehicle coordinates coincide with a vertex of the safe area, the target vehicle is determined to be within the safe area, and the positional relationship determination ends; when the target vehicle does not coincide with a vertex of the safe area, proceed to step 3.5.

[0090] Step 3.5: Determine the intersection of the ray and the edge of the safe zone. Using the vehicle's coordinates as the endpoint, draw a horizontal ray in one direction (left or right). Calculate the intersection points of this horizontal ray with each edge and determine the number of intersection points. When the number of intersection points is even, the target vehicle is determined to be outside the safe zone. When the number of intersection points is odd, the target vehicle is determined to be within the safe zone.

[0091] Step 3.6: Return the detection results, i.e., return the positional relationship between the target vehicle and the safe area. Output: Boolean value, true indicates the vehicle is within the safe zone, false indicates it is outside the safe zone.

[0092] Since the time complexity of the improved ray casting method is O(n), it is used to perform vehicle safety zone boundary detection, which meets the requirements of real-time performance and high efficiency.

[0093] Furthermore, the improved ray casting method incorporates a fault-tolerance mechanism, making the billing method highly robust, adaptable to complex testing environments, and ensuring stable operation of the billing method.

[0094] Optionally, in another exemplary embodiment of this application, the positional relationship includes the target vehicle being located within the safe area and the target vehicle being located outside the safe area; step 103 includes steps 801 and 802: Step 801: When the first positional relationship indicates that the target vehicle is outside the safe area, and the second positional relationship indicates that the target vehicle is within the safe area, the positional status of the target vehicle is determined to be entering the safe area. Step 802: When the first positional relationship indicates that the target vehicle is located within the safe area, and the second positional relationship indicates that the target vehicle is located outside the safe area, the positional status of the target vehicle is determined to be "leaving the safe area".

[0095] In one exemplary embodiment, an electronic fence central computer device is provided. This computer device can be a server or a terminal, and its internal structure diagram can be found in [reference needed]. Figure 9 As shown, this computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operating system and computer programs stored in the non-volatile storage media. The database stores data related to the billing method for intelligent vehicle driving tests. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communicating with external terminals via a network connection. When the computer program is executed by the processor, it can implement a billing method for intelligent vehicle driving tests.

[0096] Those skilled in the art will understand, see Figure 9 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0097] In one exemplary embodiment, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described method embodiments.

[0098] In one exemplary embodiment, a computer-readable storage medium is provided storing a computer program that, when executed by a processor, implements the steps in the above-described method embodiments.

[0099] In one exemplary embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above-described method embodiments.

[0100] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data that have been agreed to by the user or have been fully agreed to by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0101] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. In the embodiments provided in this application, any reference to memory, database, or other media can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM).

[0102] The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic units, data processing logic units, etc., and are not limited to these.

[0103] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0104] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. Furthermore, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A vehicle intelligent driving test electronic fence system, characterized in that, include: Vehicle positioning equipment, communication equipment, electronic fences for safe zones, and electronic fence central computer; The vehicle positioning device is signal-connected to the communication device and is used to locate the position of the target vehicle, obtain the actual coordinates of the target vehicle, and send the actual coordinates of the target vehicle to the communication device. The communication device is signal-connected to the electronic fence central computer and is used to receive the actual coordinates of the target vehicle sent by the vehicle positioning device, and send the actual coordinates of the target vehicle to the electronic fence central computer. The safe zone is a sub-area divided from the test area, used for test preparation work, while the test area is used to perform intelligent driving tests of vehicles. The electronic fence central computer is used to set up the electronic fence of the safe area on the map, and to receive the actual coordinates of the target vehicle sent by the communication device, and to generate a vehicle status prompt for the target vehicle based on the actual coordinates of the target vehicle and the electronic fence of the safe area, wherein the vehicle status includes safe and dangerous.

2. The vehicle intelligent driving test electronic fence system according to claim 1, characterized in that, The electronic fence also includes an electronic fence for the actual test area, and the electronic fence central computer is also used to set the electronic fence for the actual test area on a map.

3. The vehicle intelligent driving test electronic fence system according to claim 2, characterized in that, The electronic fence is used to determine the driving range of the target vehicle. The electronic fence central computer is also used to generate an alarm command when the target vehicle enters the safe area or the actual test area. The alarm command is used to indicate that an alarm should be generated.

4. The vehicle intelligent driving test electronic fence system according to claim 1, characterized in that, The vehicle positioning device includes an antenna, a base station, and an inertial navigation system; The antenna includes a base station antenna and a vehicle-mounted antenna; the base station antenna is installed on the base station and is used to receive satellite positioning signals and transmit satellite signals to the base station. The vehicle-mounted antenna is installed on the target vehicle to receive satellite positioning signals and transmit the satellite signals to the inertial navigation system. The base station is connected to the base station antenna to receive the satellite signal, generate the real-time coordinates of the base station based on the satellite signal, determine the common error of the area range based on the base station's reference coordinates, i.e. the common error of the target vehicle, and send the common error to the inertial navigation system through the communication device. The inertial navigation system is connected to the vehicle-mounted antenna and is used to receive the satellite signals transmitted by the vehicle-mounted antenna and generate preliminary coordinates of the target vehicle based on the satellite signals; the inertial navigation system is also used to receive the common error through a communication device and determine the actual coordinates of the target vehicle based on the preliminary coordinates and the common error.

5. The vehicle intelligent driving test electronic fence system according to claim 1, characterized in that, The communication equipment includes a vehicle-side communication device and a base station-side communication device. The vehicle-side communication device is used to receive the actual coordinates of the target vehicle sent by the vehicle positioning device and broadcast the actual coordinates of the target vehicle. The base station-side communication device receives the actual coordinates of the target vehicle and then sends the actual coordinates of the target vehicle to the electronic fence central computer, so that the electronic fence central computer can determine whether the target vehicle has entered the safe area or the actual test area.

6. The vehicle intelligent driving test electronic fence system according to any one of claims 1-5, characterized in that, The vehicle intelligent driving test electronic fence system also includes a driving robot, which is installed in the driver's cab of the target vehicle to simulate a driver.

7. The vehicle intelligent driving test electronic fence system according to any one of claims 1-5, characterized in that, The vehicle intelligent driving test electronic fence system also includes a barrier gate device, which is signal-connected to the electronic fence central computer and is used to receive billing instructions sent by the electronic fence central computer and perform corresponding billing operations.

8. The vehicle intelligent driving test electronic fence system according to claim 3, characterized in that, The alarm includes sound alarm, text alarm, or rendering of the safe area or the actual test area.

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