Online ground truth evaluation system and method for intelligent speed assistance system

Abstract

The present invention relates to the technical field of intelligent transportation. Disclosed are an online ground truth evaluation system and method for an intelligent speed assistance (ISA) system. The online ground truth evaluation system for an ISA system comprises an image sensor module, a combined inertial navigation module, a processing and display module, a communication module, and an online evaluation software module. The online ground truth evaluation method for an ISA system comprises: S100, preparation; S200, test creation; S300, sensor configuration; S400, ground truth evaluation; S500, data statistics; and S600, data export. The present invention provides a scientific and reliable basis for performance evaluation of an ISA system, discovers problems in the system in time, and provides data support for subsequent optimization and improvement.

Description

An online truth evaluation system and method for intelligent speed assistance systems Technical Field

[0001] This invention relates to the field of intelligent transportation technology, and in particular to an online truth evaluation system for an intelligent speed assistance system. Background Technology

[0002] Intelligent Speed ​​Assistance (ISA) is an advanced driver assistance technology that uses various sensors and algorithms to monitor the vehicle's speed and the current road speed limits in real time. Based on this information, it provides the driver with speed suggestions or directly intervenes to prevent speeding. Its purpose is to help drivers comply with speed limits and improve road safety.

[0003] Intelligent speed assist systems (ISAs) are an important component of modern automotive safety technology. With the development of intelligent connected and autonomous driving technologies, the application of these systems will become increasingly widespread, bringing positive impacts to driving safety and traffic management. As regulations on vehicle speed control become increasingly stringent in various countries, ISA-related regulations have been rapidly advanced, especially in the European Union, where EU Regulation 2021 / 1958 requires all new cars to be equipped with ISA systems.

[0004] Currently, truth evaluation of ISA systems mainly relies on laboratory testing and simulation. While these methods can reflect the theoretical performance of the system to some extent, they struggle to comprehensively and realistically simulate the complexities of actual driving environments. For example, laboratory tests often fail to cover all possible weather conditions, road types, and driving behaviors, while simulations are limited by model accuracy and computational resources. Furthermore, existing evaluation methods mostly focus on single performance indicators, such as recognition accuracy or response time, lacking a comprehensive evaluation system.

[0005] Therefore, those skilled in the art are dedicated to developing an online truth evaluation system and method for intelligent speed assistance systems. Summary of the Invention

[0006] In view of the above-mentioned deficiencies of the prior art, the technical problem to be solved by the present invention is how to provide a scientific and reliable basis for the performance evaluation of the intelligent speed-assisted ISA system, to promptly identify problems in the system, and to provide data support for subsequent optimization and improvement.

[0007] In one embodiment of the present invention, an online truth evaluation system for an intelligent speed assistance system is provided, comprising:

[0008] The image sensor module collects road information and vehicle dashboard information;

[0009] The combined inertial navigation module integrates navigation technologies from satellite positioning systems and inertial measurement systems, fusing their outputs to provide vehicle positioning and attitude information;

[0010] The processing and display module receives and processes the output data from the image sensor module and the combined inertial navigation module, and runs the online evaluation software module;

[0011] The communication module is responsible for data communication between the image sensor module, the integrated inertial navigation module, and the processing and display module.

[0012] The online evaluation software module runs within the processing and display module, analyzing the intelligent speed assistance system and performing truth value evaluation and result display.

[0013] The image sensor module and the combined inertial navigation module communicate with the processing and display module through the communication module, respectively, while the online evaluation software module runs on the processing and display module.

[0014] Optionally, in the online truth evaluation system of the intelligent speed assistance system in the above embodiments, the image sensor module uses an industrial camera.

[0015] Furthermore, in the online truth evaluation system of the intelligent speed assistance system in the above embodiments, the industrial camera includes an external camera and an internal camera. The external camera is installed inside the vehicle's windshield to capture road information; the internal camera is installed above the dashboard to capture dashboard information.

[0016] Furthermore, in the online truth evaluation system of the intelligent speed assistance system in the above embodiments, road information includes speed limit signs, road scenes, and traffic lights.

[0017] Furthermore, in the online truth evaluation system of the intelligent speed assistance system in the above embodiments, the vehicle dashboard information includes vehicle speed and speed limit sign detection values.

[0018] Furthermore, in the online truth evaluation system of the intelligent speed assistance system in the above embodiments, the image sensor module also includes an industrial camera bracket to connect and fix the external camera and the internal camera to ensure the shooting angle and stability.

[0019] Optionally, in the online truth evaluation system of the intelligent speed assistance system in any of the above embodiments, the combined inertial navigation module includes a satellite positioning system (GNSS) and an inertial navigation system (INS).

[0020] Optionally, in the online truth evaluation system of the intelligent speed assistance system in any of the above embodiments, the processing and display module uses a laptop computer.

[0021] Optionally, in the online truth evaluation system of the intelligent speed assistance system in any of the above embodiments, the communication module uses wired communication.

[0022] Furthermore, in the online truth evaluation system of the intelligent speed assistance system in the above embodiments, wired communication uses a USB interface, the external camera and the internal camera use a USB interface to communicate with the processing and display module, and the combined inertial navigation module uses a USB interface to communicate with the processing and display module.

[0023] Optionally, in the online truth evaluation system of the intelligent speed assistance system in any of the above embodiments, the online evaluation software module is based on a front-end page and a back-end database structure.

[0024] Furthermore, in the online truth evaluation system of the intelligent speed assist system in the above embodiments, the online evaluation software module records the marking point information in the test section, that is, the moment when the speed limit sign is about to disappear from the field of view of the external camera, and the speed limit sign detection value of the corresponding marking point, that is, the prompt information of the ISA system on the instrument panel.

[0025] Optionally, in the online truth evaluation system of the intelligent speed assistance system in any of the above embodiments, the online evaluation software module includes the following functions:

[0026] To create a test, enter the test name, testers, and data storage path, select the test country, and create and save the test plan.

[0027] Sensor configuration: automatically identifies and configures image sensor module parameters, and automatically identifies and configures the address of the combined inertial navigation module;

[0028] Truth evaluation, recording and storing the information of the marked points during the test;

[0029] Data statistics: View the dimensions and results of multi-dimensional data statistics for the test.

[0030] Data playback allows you to replay video data from the external and internal cameras 5 seconds before and after each marking point, and view the corresponding marking point information.

[0031] Export the data and export the test report in the specified format for further analysis of the ISA system's operation in the test countries.

[0032] Furthermore, in the online truth evaluation system of the intelligent speed assistance system in the above embodiments, the test plan includes the test name, test time, test personnel, test country, and data storage path.

[0033] Optionally, in the online truth evaluation system of the intelligent speed assistance system in any of the above embodiments, the test creation also includes automatically matching and displaying the speed limit sign legend and speed limit sign truth value in the national regulations of the test country. The speed limit sign legend is a pattern representation of different speed limit signs, and the speed limit sign truth value is the speed limit value represented by the speed limit sign legend.

[0034] Furthermore, in the online truth evaluation system of the intelligent speed assistance system in the above embodiments, the image sensor module parameters include the image sensor's name, address, resolution, pixel format, and frame rate.

[0035] Furthermore, in the online truth evaluation system of the intelligent speed assistance system in the above embodiments, the marking point information includes road information in the external camera image, vehicle dashboard information in the internal camera image, timestamp, and GPS coordinate information.

[0036] Furthermore, in the online truth evaluation system of the intelligent speed assistance system in the above embodiments, road information includes speed limit signs, road scenes, and traffic lights.

[0037] Furthermore, in the online truth evaluation system of the intelligent speed assistance system in the above embodiments, the vehicle dashboard information includes vehicle speed and speed limit sign detection values.

[0038] Furthermore, in the online truth evaluation system of the intelligent speed assistance system in the above embodiments, the results of multi-dimensional data statistics include the number of times the speed limit sign appears, the driving mileage, the driving time, and the truth evaluation KPI.

[0039] Furthermore, in the online truth evaluation system of the intelligent speed assistance system in the above embodiments, the truth evaluation KPI calculation formula is: Correctly identified driving mileage / (Correctly identified driving mileage + Incorrectly identified driving mileage) * 100%.

[0040] Furthermore, in the online truth evaluation system of the intelligent speed assistance system in the above embodiments, the truth evaluation supports shortcut key screenshots to record the images of the external camera and the internal camera at the marked points.

[0041] Furthermore, in the online truth value evaluation system of the intelligent speed assistance system in the above embodiments, the dimensions of multi-dimensional data statistics include truth value evaluation type, road type, speed limit sign type, and all speed limit signs.

[0042] Furthermore, in the online truth evaluation system of the intelligent speed assistance system in the above embodiments, the truth evaluation types include:

[0043] Correct identification indicates that both the true value and the detected value of the speed limit sign exist, and the results are consistent.

[0044] Incorrect identification indicates that both the true value and the detected value of the speed limit sign exist, but the results are inconsistent;

[0045] Ghost speed limit means that the actual value of the speed limit sign does not exist, but the speed limit sign detection value does exist;

[0046] No signal indicates that the true value of the speed limit sign exists, but the detected value of the speed limit sign does not exist.

[0047] Furthermore, in the online truth evaluation system of the intelligent speed assistance system in the above embodiments, the road type includes highways / expressways, urban roads / streets, and rural / non-urban roads.

[0048] Furthermore, in the online truth evaluation system of the intelligent speed assistance system in the above embodiments, the speed limit sign types include explicit numbers, implicit numbers, implicit non-digits, digital areas, traffic deceleration zones, highways, expressways, and urban roads.

[0049] Furthermore, in the online truth evaluation system of the intelligent speed assistance system in the above embodiments, data statistics support access to OpenStreetMap, Google Maps, Amap, and Baidu Maps.

[0050] Furthermore, in the online truth evaluation system of the intelligent speed assistance system in the above embodiments, the specified format includes CSV format.

[0051] Based on any of the above embodiments, another embodiment of the present invention provides an online truth evaluation method for an intelligent speed assistance system, comprising the following steps:

[0052] S100. Preparations: Install the image sensor module, the combined inertial navigation module, and the processing and display module.

[0053] S200: Create a test, enter the test name, testers and data storage path, select the test country, and create and save the test plan;

[0054] S300, sensor configuration, automatically identifies and configures image sensor module parameters, and automatically identifies and configures the address of the combined inertial navigation module;

[0055] S400, truth evaluation, records and stores the information of the marked points during the test;

[0056] S500, Data Statistics: View the dimensions and results of multi-dimensional data statistics for the test.

[0057] S600, Data Export: Export the test report for this test, which will be used for further analysis of the ISA system's operation in the test countries.

[0058] Optionally, in the online truth evaluation method of the intelligent speed assistance system in the above embodiments, the image sensor module uses an industrial camera.

[0059] Furthermore, in the online truth evaluation method of the intelligent speed assistance system in the above embodiments, the industrial camera includes an external camera and an internal camera.

[0060] Furthermore, in the online truth evaluation method of the intelligent speed assistance system in the above embodiments, step S100 includes:

[0061] S110. Install an external camera and an internal camera. The external camera is installed inside the vehicle's windshield to capture road information; the internal camera is installed above the dashboard to capture dashboard information.

[0062] S120. Install the combined inertial navigation module. Fix the combined inertial navigation module inside the vehicle to prevent relative movement between the combined inertial navigation module and the vehicle. The antenna of the combined inertial navigation module extends out of the window and is fixed to the roof of the vehicle.

[0063] S130, Connecting the communication module, the external and internal cameras communicate with the processing and display module via USB interface, and the combined inertial navigation module communicates with the processing and display module via USB interface.

[0064] Optionally, in the online truth evaluation method of the intelligent speed assistance system in any of the above embodiments, step S400 includes:

[0065] S410, Marking point screenshot: When a speed limit sign is seen in the live view of the external camera, take a screenshot at the moment when the speed limit sign is about to disappear from the image as a marking point;

[0066] S420. Save marking point information: Fill in the marking point information and save it.

[0067] S430: Evaluate all marked point information. Repeat S410-S420 until the evaluation of all marked point information for the entire test section is completed.

[0068] Furthermore, in the online truth value evaluation method of the intelligent speed assistance system in the above embodiments, the dimensions of the multi-dimensional data statistics in step S500 include truth value evaluation type, road type, speed limit sign type, and all speed limit signs.

[0069] Furthermore, in the online truth evaluation method of the intelligent speed assistance system in the above embodiments, the truth evaluation types include:

[0070] Correct identification indicates that both the true value and the detected value of the speed limit sign exist, and the results are consistent.

[0071] Incorrect identification indicates that both the true value and the detected value of the speed limit sign exist, but the results are inconsistent;

[0072] Ghost speed limit means that the actual value of the speed limit sign does not exist, but the speed limit sign detection value does exist;

[0073] No signal indicates that the true value of the speed limit sign exists, but the detected value of the speed limit sign does not exist.

[0074] Furthermore, in the online truth evaluation method of the intelligent speed assistance system in the above embodiments, the results of multi-dimensional data statistics in step S500 include the number of times the speed limit sign appears, the driving mileage, the driving time, and the truth evaluation KPI.

[0075] Furthermore, in the online truth evaluation method of the intelligent speed assistance system in the above embodiments, the truth evaluation KPI calculation formula is: Correctly identified driving mileage / (Correctly identified driving mileage + Incorrectly identified driving mileage) * 100%.

[0076] Optionally, the online truth evaluation method for the intelligent speed assistance system in any of the above embodiments further includes:

[0077] S700, data playback, playback of video data from external and internal cameras 5 seconds before and after each marking point, and viewing of corresponding marking point information.

[0078] This invention combines multiple data sources to comprehensively evaluate the ISA system from multiple dimensions, including recognition accuracy, frequency of occurrence, mileage, and driving time. The online real-time evaluation provides immediate feedback on the ISA system's performance, facilitating rapid problem identification and resolution. It adapts to different road environments and driving behaviors, ensuring the universality and reliability of the evaluation results. This invention provides a scientific and reliable basis for evaluating the performance of the ISA system, promptly identifying existing problems, and providing data support for subsequent optimization and improvement. This contributes to improving the overall performance and reliability of the ISA system, thereby enhancing road safety.

[0079] The following will further explain the concept, specific structure, and technical effects of the present invention in conjunction with the accompanying drawings, so as to fully understand the purpose, features, and effects of the present invention. Attached Figure Description

[0080] Figure 1 is a schematic diagram of the structure of an online truth evaluation system for an intelligent speed assistance system according to an exemplary embodiment;

[0081] Figure 2 is a flowchart illustrating an online truth evaluation method for an intelligent speed assistance system according to an exemplary embodiment. Detailed Implementation

[0082] The following description, with reference to the accompanying drawings, illustrates several preferred embodiments of the present invention to make its technical content clearer and easier to understand. The present invention can be embodied in many different forms, and the scope of protection of the present invention is not limited to the embodiments mentioned herein.

[0083] In the accompanying drawings, components with the same structure are indicated by the same numerical designation, and components with similar structures or functions are indicated by similar numerical designations. The dimensions and thicknesses of each component shown in the drawings are arbitrary, and the present invention does not limit the dimensions and thicknesses of each component. To make the illustrations clearer, the thickness of components is schematically exaggerated in some places in the drawings.

[0084] The inventors designed an online truth evaluation system for an intelligent speed assistance system, as shown in Figure 1, including:

[0085] The image sensor module uses industrial cameras, including an external camera and an internal camera. The external camera is mounted inside the vehicle's windshield to capture road information, including speed limit signs, road scenes, and traffic lights. The internal camera is mounted above the dashboard to capture dashboard information, including vehicle speed and speed limit sign detection values. The image sensor module also includes an industrial camera bracket to connect and fix the external and internal cameras, ensuring shooting angles and stability.

[0086] The combined inertial navigation module integrates navigation technologies from satellite positioning systems and inertial measurement systems, including satellite positioning system (GNSS) and inertial navigation system (INS), and fuses their outputs to provide vehicle positioning and attitude information.

[0087] The processing and display module uses a laptop computer to receive and process the output data from the image sensor module and the combined inertial navigation module, and runs the online evaluation software module.

[0088] The communication module uses a USB interface for communication. The external and internal cameras communicate with the processing and display module via USB interfaces, and the combined inertial navigation module communicates with the processing and display module via USB interfaces.

[0089] The online evaluation software module, running within the processing and display module, analyzes the intelligent speed assist system based on the front-end page and back-end database structure, performing truth value evaluation and displaying results. It records the marking point information in the test section, i.e., the moment when the speed limit sign is about to disappear from the field of view of the external camera, and the corresponding speed limit sign detection value at the marking point, i.e., the prompt information of the ISA system on the dashboard. Functions include:

[0090] Test creation involves entering the test name, testers, and data storage path, selecting the test country, and creating and saving the test plan. The test plan includes the test name, test time, testers, test country, and data storage path. Test creation also includes automatically matching and displaying the speed limit sign legends and true values ​​of the speed limit signs in the regulations of the test country. The speed limit sign legends are graphic representations of different speed limit signs, and the true values ​​of the speed limit signs are the speed limit values ​​represented by the speed limit sign legends.

[0091] Sensor configuration: Automatically identifies and configures image sensor module parameters, including the image sensor's name, address, resolution, pixel format, and frame rate; automatically identifies and configures the address of the combined inertial navigation module.

[0092] The truth value assessment records and stores the information of the marked points during the test, including road information from the external camera, vehicle dashboard information from the internal camera, timestamps, and GPS coordinates. The road information includes speed limit signs, road scenes, and traffic lights, while the vehicle dashboard information includes vehicle speed and speed limit sign detection values. The truth value assessment also supports shortcut key screenshots to record the images from the external and internal cameras at the marked points.

[0093] Data statistics include viewing the dimensions and results of multi-dimensional data statistics for the test. The dimensions of multi-dimensional data statistics include truth value assessment type, road type, speed limit sign type, and all speed limit signs. The results include the number of times speed limit signs appear, mileage traveled, travel time, and truth value assessment KPI. The truth value assessment KPI calculation formula is: Correctly identified mileage / (Correctly identified mileage + Incorrectly identified mileage) * 100%. Road types include highways / expressways, urban roads / streets, and rural / non-urban roads. Speed ​​limit sign types include explicit numbers, implicit numbers, implicit non-numbers, number zones, traffic deceleration zones, highways, expressways, and urban roads. Truth value assessment types include:

[0094] Correct identification indicates that both the true value and the detected value of the speed limit sign exist, and the results are consistent.

[0095] Incorrect identification indicates that both the true value and the detected value of the speed limit sign exist, but the results are inconsistent;

[0096] Ghost speed limit means that the actual value of the speed limit sign does not exist, but the speed limit sign detection value does exist;

[0097] No signal indicates that the true value of the speed limit sign exists, but the speed limit sign detection value does not exist;

[0098] In addition, the data statistics also support access to OpenStreetMap, Google Maps, Amap, and Baidu Maps.

[0099] Data playback allows you to replay video data from the external and internal cameras 5 seconds before and after each marking point, and view the corresponding marking point information.

[0100] Export the data and export the test report in the specified format for further analysis of the ISA system's operation in the test countries. The specified format includes CSV.

[0101] The image sensor module and the combined inertial navigation module communicate with the processing and display module through the communication module, respectively, while the online evaluation software module runs on the processing and display module.

[0102] Based on the above embodiments, the inventors provide an online truth evaluation method for an intelligent speed assistance system, as shown in Figure 2, including the following steps:

[0103] S100. Preparation: Install the image sensor module, the combined inertial navigation module, and the processing and display module. The image sensor module uses industrial cameras, including external and internal cameras. Specific steps S100 include:

[0104] S110. Install an external camera and an internal camera. The external camera is installed inside the vehicle's windshield to capture road information; the internal camera is installed above the dashboard to capture dashboard information.

[0105] S120. Install the combined inertial navigation module. Fix the combined inertial navigation module inside the vehicle to prevent relative movement between the combined inertial navigation module and the vehicle. The antenna of the combined inertial navigation module extends out of the window and is fixed to the roof of the vehicle.

[0106] S130, Connecting the communication module, the external and internal cameras communicate with the processing and display module via USB interface, and the combined inertial navigation module communicates with the processing and display module via USB interface.

[0107] S200: Create a test. Enter the test name, testers, and data storage path. Select the test country and create and save the test plan.

[0108] S300 sensor configuration: automatically identifies and configures image sensor module parameters, and automatically identifies and configures the address of the combined inertial navigation module.

[0109] S400, truth evaluation, recording and storing marker information during the test; specifically including:

[0110] S410, Marking point screenshot: When a speed limit sign is seen in the live view of the external camera, take a screenshot at the moment when the speed limit sign is about to disappear from the image as a marking point;

[0111] S420. Save marking point information: Fill in the marking point information and save it.

[0112] S430: Evaluate all marked point information. Repeat S410-S420 until the evaluation of all marked point information for the entire test section is completed.

[0113] S500, Data Statistics: View the dimensions and results of the multi-dimensional data statistics for the test. The dimensions of the multi-dimensional data statistics include truth value assessment type, road type, speed limit sign type, and all speed limit signs. The truth value assessment type includes:

[0114] Correct identification indicates that both the true value and the detected value of the speed limit sign exist, and the results are consistent.

[0115] Incorrect identification indicates that both the true value and the detected value of the speed limit sign exist, but the results are inconsistent;

[0116] Ghost speed limit means that the actual value of the speed limit sign does not exist, but the speed limit sign detection value does exist;

[0117] No signal indicates that the true value of the speed limit sign exists, but the speed limit sign detection value does not exist;

[0118] The results of multi-dimensional data statistics include the number of times speed limit signs appear, mileage, driving time, and truth value evaluation KPI. The truth value evaluation KPI calculation formula is: correct identification mileage / (correct identification mileage + incorrect identification mileage) * 100%.

[0119] S600, Data Export: Export the test report for this test, which will be used for further analysis of the ISA system's operation in the test countries.

[0120] S700, data playback, playback of video data from external and internal cameras 5 seconds before and after each marking point, and viewing of corresponding marking point information.

[0121] The effectiveness of this application has been verified through experiments, and the device selection is as follows:

[0122] External camera: Weinan Electronics industrial camera is selected. The camera has a FOV of 120 degrees, a resolution of 1080P (1920*1080 pixels), a frame rate of 60FPS, and supports USB communication.

[0123] In-cabin camera: Weinan Electronics industrial camera is selected, with a FOV of 150 degrees, a resolution of 1080P (1920*1080 pixels), a frame rate of 30FPS, and support for USB communication.

[0124] External camera mount: The external camera mount is custom-made.

[0125] In-cabin camera bracket: The in-cabin camera bracket uses a pre-made camera bracket from Weinan Electronics.

[0126] Integrated inertial navigation system: The selected system is the Xsens MTi-G-710 GNSS / INS, which supports USB communication.

[0127] Laptop: The Lenovo Y7000P high-performance laptop is selected, with a 14th generation i7-14650HX processor, 16GB of RAM, 1TB of solid-state storage, and an RTX 4060 graphics card.

[0128] The installation was performed according to steps S110-S130 above, and operations were performed according to S200-S700 to obtain the results of multi-dimensional data statistics. Taking the truth value judgment type as an example, the statistical results of the truth value judgment type are shown in the table below:

[0129]

[0130] The truth assessment types include correct recognition, incorrect recognition, ghost speed limit, and no signal. Statistical results were compiled for the frequency, mileage, driving time, and truth assessment KPI for each of these four truth assessment types. The truth assessment KPI is calculated as follows: Truth Assessment KPI = (Mileage for correct recognition / (Mileage for correct recognition + Mileage for incorrect recognition)) * 100% = 14.17 / (14.17 + 0.62) * 100% = 95.8%. Assuming regulations stipulate that the truth assessment KPI must not be lower than 90%, the ISA system of this test vehicle passed the test on this test route.

[0131] The preferred embodiments of the present invention have been described in detail above. It should be understood that those skilled in the art can make numerous modifications and variations based on the concept of the present invention without creative effort. Therefore, all technical solutions that can be obtained by those skilled in the art based on the concept of the present invention through logical analysis, reasoning, or limited experimentation on the basis of existing technology should be within the scope of protection defined by the claims.

Claims

1. An online truth evaluation system for an intelligent speed assistance system, characterized in that, include: An image sensor module collects road information and vehicle dashboard information. The image sensor module uses an industrial camera, which includes an external camera and an internal camera. The external camera is installed inside the vehicle's windshield to capture road information; the internal camera is installed above the dashboard to capture the vehicle's dashboard information. The combined inertial navigation module integrates navigation technologies from satellite positioning systems and inertial measurement systems, fusing their outputs to provide vehicle positioning and attitude information; The processing and display module receives and processes the output data from the image sensor module and the combined inertial navigation module, and runs the online evaluation software module. The communication module is responsible for data communication between the image sensor module, the combined inertial navigation module, and the processing and display module; The online evaluation software module runs on the processing and display module, analyzes the intelligent speed assistance system, and performs truth value evaluation and displays the results. The truth value evaluation types include: Correct identification indicates that both the true value and the detected value of the speed limit sign exist, and the results are consistent. An incorrect identification indicates that both the true value and the detected value of the speed limit sign exist, but the results are inconsistent. Ghost speed limit means that the true value of the speed limit indicator does not exist, but the detection value of the speed limit indicator does exist; No signal indicates that the true value of the speed limit indicator exists, but the detected value of the speed limit indicator does not exist; The online evaluation software module records the marking point information in the test section, that is, the moment when the speed limit sign is about to disappear from the field of view of the external camera, and the speed limit sign detection value of the corresponding marking point, that is, the prompt information of the ISA system on the instrument panel; The image sensor module and the combined inertial navigation module communicate with the processing and display module via the communication module, and the online evaluation software module runs on the processing and display module.

2. The online truth evaluation system for the intelligent speed assistance system as described in claim 1, characterized in that, The functions of the online evaluation software module include: To create a test, enter the test name, testers, and data storage path, select the test country, and create and save the test plan. Sensor configuration: automatically identify and configure the parameters of the image sensor module, and automatically identify and configure the address of the combined inertial navigation module; Truth evaluation, recording and storing the information of the marked points during the test; Data statistics: View the dimensions and results of multi-dimensional data statistics for the test. Data playback: Play back the video data from the external camera and the internal camera 5 seconds before and after each marking point, and view the corresponding marking point information; Export the data and export the test report in the specified format for further analysis of the ISA system's operation in the test country.

3. The online truth evaluation system for the intelligent speed assistance system as described in claim 2, characterized in that, The dimensions of the multi-dimensional data statistics include truth value evaluation type, road type, speed limit sign type, and all speed limit signs.

4. An online truth evaluation method for an intelligent speed assistance system, using the online truth evaluation system for an intelligent speed assistance system as described in any one of claims 1-3, characterized in that, Includes the following steps: S100. Preparation work: Install the image sensor module, the combined inertial navigation module and the processing and display module. The image sensor module uses an industrial camera, including an external camera and an internal camera. S200: Create a test, enter the test name, testers and data storage path, select the test country, and create and save the test plan; S300, Sensor Configuration: Automatically identify and configure the parameters of the image sensor module, and automatically identify and configure the address of the combined inertial navigation module; S400, truth evaluation, records and stores the information of the marked points during the test; S500, Data Statistics: View the dimensions and results of multi-dimensional data statistics for the test. S600, Data Export: Export the test report for this test, which will be used for further analysis of the ISA system's operation in the test countries.

5. The online truth evaluation method for the intelligent speed assistance system as described in claim 4, characterized in that, Step S100 includes: S110. Install an external camera and an internal camera. The external camera is installed inside the vehicle's windshield to capture road information. The internal camera is installed above the dashboard to capture dashboard information. S120. Install the combined inertial navigation module. Fix the combined inertial navigation module inside the vehicle to prevent relative movement between the combined inertial navigation module and the vehicle. The antenna of the combined inertial navigation module extends out of the window and is fixed to the roof of the vehicle. S130, Connect the communication module. The external camera and the internal camera communicate with the processing and display module via USB interface. The combined inertial navigation module communicates with the processing and display module via USB interface.

6. The online truth evaluation method for the intelligent speed assistance system as described in claim 5, characterized in that, Step S400 includes: S410. Marking point screenshot: When a speed limit sign is seen in the real-time image of the external camera, take a screenshot as the marking point at the moment when the speed limit sign is about to disappear from the image. S420. Save marking point information: Fill in the marking point information and save it. S430. Evaluate all marking point information, and repeat S410-S420 until the evaluation of all marking point information for the entire test section is completed.

7. The online truth evaluation method for the intelligent speed assistance system as described in claim 4, characterized in that, The results of the multi-dimensional data statistics in step S500 include the number of times the speed limit sign appears, the driving mileage, the driving time, and the true value evaluation KPI.

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