CN114136356A - Parameter acquisition test system, method, device and computer readable storage medium - Google Patents
Parameter acquisition test system, method, device and computer readable storage medium Download PDFInfo
- Publication number
- CN114136356A CN114136356A CN202111446197.8A CN202111446197A CN114136356A CN 114136356 A CN114136356 A CN 114136356A CN 202111446197 A CN202111446197 A CN 202111446197A CN 114136356 A CN114136356 A CN 114136356A
- Authority
- CN
- China
- Prior art keywords
- target
- motion attribute
- target motion
- data
- parameter acquisition
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D18/00—Testing or calibrating apparatus or arrangements provided for in groups G01D1/00 - G01D15/00
Abstract
The invention discloses a parameter acquisition and test system, a parameter acquisition and test method, parameter acquisition and test equipment and a computer readable storage medium. The parameter acquisition and test system comprises a vehicle body, a true value parameter acquisition device, an intelligent driving perception sensor device, a data processing device and a plurality of mounting brackets; the intelligent driving perception sensor device is fixed on the head part of the vehicle body through the mounting bracket; the data processing device is installed in the vehicle body and used for processing the data acquired by the true value parameter acquisition device and the intelligent driving perception sensor device. The invention realizes accurate acquisition of the identification performance parameters of the intelligent driving perception sensor on the motion attributes of the vehicle target.
Description
Technical Field
The invention relates to the technical field of vehicle-mounted ADAS sensor evaluation, in particular to a parameter acquisition and test system, method and equipment and a computer readable storage medium.
Background
The Advanced driving Assistance System (ADAS Advanced Driver Assistance System) is currently generally mounted on high-end passenger vehicles. The mainstream hardware of the intelligent driving perception sensor of the ADAS system is configured with three schemes: "1 millimeter wave radar", "1 visual camera", and "1 millimeter wave radar +1 visual camera". The attribute of the motion state of the vehicle targets in front of the carried vehicle can be detected and output no matter the millimeter wave radar or the vision camera. However, the intelligent driving perception sensor actually has certain errors in the identification of the motion attribute of the vehicle target. The error value can be used as an index parameter for evaluating the recognition performance of the sensor to a certain extent. The error values of the sensors manufactured by different companies are different, so that the identification performance parameters of the intelligent driving perception sensor on the motion attributes of the vehicle target cannot be accurately acquired.
Disclosure of Invention
The invention mainly aims to provide a parameter acquisition testing system, a parameter acquisition testing method, parameter acquisition testing equipment and a computer-readable storage medium. The method aims to solve the problem that the identification performance parameters of the intelligent driving perception sensor on the motion attributes of the vehicle target cannot be accurately acquired.
In order to achieve the above object, the present invention provides a parameter collection and test system, comprising:
the intelligent driving system comprises a vehicle body, a true value parameter acquisition device, an intelligent driving perception sensor device, a data processing device and a plurality of mounting brackets;
the intelligent driving perception sensor device is fixed on the head part of the vehicle body through the mounting bracket;
the data processing device is installed in the vehicle body and used for processing the data acquired by the true value parameter acquisition device and the intelligent driving perception sensor device.
Optionally, the true value parameter collecting device includes a visual camera and a laser radar, which are respectively fixed on the vehicle roof for target classification.
Optionally, the smart driving perception sensor device includes a detected camera fixed behind a front windshield in the head portion of the vehicle body and a detected radar fixed at a position of a license plate in the head portion of the vehicle body.
Optionally, the data processing device comprises a lower computer, a signal acquisition device and an upper computer which are sequentially connected, wherein the lower computer is connected with the true value parameter acquisition device, and the signal acquisition device is further connected with the intelligent driving perception sensor device.
Optionally, the lower computer comprises a display interface and configuration module, a data processing and relaying module and a data receiving and sending module which are connected with each other, and is used for displaying and processing point cloud data of the laser radar and video data of the visual camera for target classification;
the intelligent driving perception sensor device comprises an upper computer and a lower computer, wherein the upper computer comprises a real-time data acquisition module and an offline analysis and calculation module which are connected with each other, and the upper computer is used for receiving data sent by the lower computer and analyzing the data to obtain performance parameters of the intelligent driving perception sensor device.
In order to achieve the above object, the present invention further provides a parameter collecting and testing method, which is applied to a parameter collecting and testing device, and the parameter collecting and testing method includes the steps of:
controlling a true value parameter acquisition device to acquire first target data and controlling an intelligent driving perception sensor device to acquire second target data at intervals of a preset period;
acquiring a target motion attribute and an error corresponding to the target motion attribute according to the first target data and the second target data;
and calculating the performance parameters of the intelligent driving perception sensor device according to the target motion attribute and the error corresponding to the target motion attribute.
Optionally, the step of obtaining a target motion attribute and an error corresponding to the target motion attribute according to the first target data and the second target data includes:
acquiring a first recognition target and a first target motion attribute according to the first target data, and acquiring a second recognition target and a second target motion attribute according to the second target data;
matching and associating the first recognition target with the second recognition target to obtain an associated target;
acquiring a first target motion attribute and a second target motion attribute corresponding to the associated target according to the associated target;
and calculating the difference between the first target motion attribute and the second target motion attribute corresponding to the associated target, and taking the difference as the error corresponding to the target motion attribute.
Optionally, before the step of calculating the performance parameter of the smart driving perception sensor device according to the target motion attribute and the error corresponding to the target motion attribute, the method further includes:
acquiring the target number of the target and the error value number of the error corresponding to the target motion attribute;
after the step of calculating the performance parameters of the smart driving perception sensor device according to the target motion attribute and the error corresponding to the target motion attribute, the method further includes:
and calculating the variance, the standard deviation and the maximum error value corresponding to the target motion attribute according to the target motion attribute, the error corresponding to the target motion attribute, the target number and the error value number, wherein the performance parameters comprise the variance, the standard deviation and the maximum error value.
In addition, in order to achieve the above object, the present invention further provides a parameter collecting and testing apparatus, which includes the parameter collecting and testing device, the parameter collecting and testing method, a memory, a processor, and a parameter collecting and testing program stored in the memory and capable of being executed on the processor, wherein the parameter collecting and testing program, when executed by the processor, implements the steps of the parameter collecting and testing method.
In addition, to achieve the above object, the present invention further provides a computer readable storage medium, wherein a parameter collection test program is stored on the computer readable storage medium, and when being executed by a processor, the parameter collection test program implements the steps of the parameter collection test method as described above.
The invention provides a parameter acquisition and test system, a method, equipment and a computer readable storage medium, wherein the parameter acquisition and test system comprises a vehicle body, a true value parameter acquisition device, an intelligent driving perception sensor device, a data processing device and a plurality of mounting brackets; the intelligent driving perception sensor device is fixed on the head part of the vehicle body through the mounting bracket; the data processing device is installed in the vehicle body and used for processing the data acquired by the true value parameter acquisition device and the intelligent driving perception sensor device. Through the system, the performance parameters of the intelligent driving sensor can be accurately measured, the identification performance of the sensor can be objectively evaluated, on the other hand, the measured performance parameters can be used for performing corresponding compensation on the target motion attributes in the intelligent driving auxiliary system function, so that the performance and experience of the intelligent driving auxiliary system are improved, the parameter acquisition and test system is simple in structure, the measurement cost can be saved, and the measurement precision can be improved.
Drawings
FIG. 1 is a schematic diagram of an apparatus in a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a parameter acquisition testing system according to the present invention;
FIG. 3 is a schematic flow chart of a parameter collection and testing method according to a first embodiment of the present invention;
FIG. 4 is a detailed flowchart of step S20 of the first embodiment of the parameter collection testing method according to the present invention;
the implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, fig. 1 is a schematic terminal structure diagram of a hardware operating environment according to an embodiment of the present invention.
The terminal of the embodiment of the invention can be a parameter acquisition testing device, such as a vehicle and the like.
As shown in fig. 1, the terminal may include: a processor 1001, such as a CPU, a communication bus 1002, a user interface 1003, a DVI interface 1004, a USB interface 1005, and a memory 1006. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The DVI interface 1004 may optionally include a standard wired interface to connect with other external devices via DVI wires. The USB interface 1005 may optionally include a standard wired interface to connect with other external devices via a USB cable. The memory 1006 may be a high-speed RAM memory or a non-volatile memory (e.g., a disk memory). The memory 1006 may alternatively be a storage device separate from the processor 1001.
Optionally, the terminal may further include an audio circuit and the like, which are not described in detail herein.
Those skilled in the art will appreciate that the terminal structure shown in fig. 1 is not intended to be limiting and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, the memory 1006, which is a type of computer storage medium, may include therein an operating system, a DVI interface module, a USB interface module, a user interface module, and a parameter acquisition test program.
In the terminal shown in fig. 1, the DVI interface 1004 is mainly used for connecting, and communicating data with, external devices; the USB interface 1005 is mainly used for connecting an external device and performing data communication with the external device; the user interface 1003 is mainly used for connecting a client and performing data communication with the client; and the processor 1001 may be configured to call the parameter collection test program stored in the memory 1005, and perform the following operations:
controlling a true value parameter acquisition device to acquire first target data and controlling an intelligent driving perception sensor device to acquire second target data at intervals of a preset period;
acquiring a target motion attribute and an error corresponding to the target motion attribute according to the first target data and the second target data;
and calculating the performance parameters of the intelligent driving perception sensor device according to the target motion attribute and the error corresponding to the target motion attribute.
Further, the processor 1001 may call the parameter collection test program stored in the memory 1006, and further perform the following operations:
the step of obtaining the target motion attribute and the error corresponding to the target motion attribute according to the first target data and the second target data comprises:
acquiring a first recognition target and a first target motion attribute according to the first target data, and acquiring a second recognition target and a second target motion attribute according to the second target data;
matching and associating the first recognition target with the second recognition target to obtain an associated target;
acquiring a first target motion attribute and a second target motion attribute corresponding to the associated target according to the associated target;
and calculating the difference between the first target motion attribute and the second target motion attribute corresponding to the associated target, and taking the difference as the error corresponding to the target motion attribute.
Further, the processor 1001 may call the parameter collection test program stored in the memory 1006, and further perform the following operations:
before the step of calculating the performance parameters of the smart driving perception sensor device according to the target motion attribute and the error corresponding to the target motion attribute, the method further includes:
acquiring the target number of the target and the error value number of the error corresponding to the target motion attribute;
after the step of calculating the performance parameters of the smart driving perception sensor device according to the target motion attribute and the error corresponding to the target motion attribute, the method further includes:
and calculating the variance, the standard deviation and the maximum error value corresponding to the target motion attribute according to the target motion attribute, the error corresponding to the target motion attribute, the target number and the error value number, wherein the performance parameters comprise the variance, the standard deviation and the maximum error value.
Based on the hardware structure, the invention provides various embodiments of the parameter acquisition and test system.
Referring to fig. 2, fig. 2 is a schematic structural diagram of a parameter acquisition and testing system, including: the intelligent driving system comprises a vehicle body (not shown), a true value parameter acquisition device 01, an intelligent driving perception sensor device 02, a data processing device 03 and a plurality of mounting brackets (not shown); the mounting bracket (not shown) is fixed on a vehicle body (not shown), the true value parameter acquisition device 01 is fixed on a vehicle body roof (not shown) through the mounting bracket (not shown), and the smart driving sensing sensor device 02 is fixed on a vehicle body head (not shown) part through the mounting bracket (not shown); the data processing device 03 is installed inside the vehicle body and used for processing data collected by the true value parameter collecting device 01 and the intelligent driving perception sensor device 02.
In this embodiment, the true value parameter collecting device 01 includes 1 collecting and testing 128-line laser radar 001 and 1 target classifying visual camera 002, where the laser radar 001 is used for distance measurement and speed measurement of a vehicle target in front of a vehicle to be carried, and takes a measured value as a true value, i.e., a calibration value; the visual camera for classification is used for assisting the laser radar 001 in classifying the target, and associating the target recognized by the laser radar 001 with the target recognized by the sensing sensor, for example, when the laser radar 001 detects that the vehicle target exists in front of the carried vehicle, the vehicle target can be classified into a truck, a lorry or a car through the visual camera for classification, and in addition, the video image of the visual camera for classification can also be used as a driving record and used for later-stage manual correction and labeling. The intelligent driving perception sensor is a sensor to be tested and is used for acquiring the motion attribute of a vehicle target, analyzing the motion attribute with the motion attribute of the target acquired by the true value parameter acquisition device 01 and calculating the performance parameter of the intelligent driving perception sensor; the data processing device 03, namely the lower computer 031, the signal acquisition device 032 and the upper computer 033, is configured to perform performance parameter analysis on the intelligent driving perception sensor according to the data acquired by the true value parameter acquisition device 01 and the intelligent driving perception sensor device 02. Through the system, the performance parameters of the intelligent driving sensor can be accurately measured, the identification performance of the sensor can be objectively evaluated, on the other hand, the measured performance parameters can be used for performing corresponding compensation on the target motion attributes in the intelligent driving auxiliary system function, so that the performance and experience of the intelligent driving auxiliary system are improved, the parameter acquisition and test system is simple in structure, the measurement cost can be saved, and the measurement precision can be improved.
In an embodiment, the true value parameter collecting device 01 includes a visual camera 002 and a laser radar 001 for classifying targets, which are respectively fixed on the roof of the vehicle body.
In this embodiment, because laser radar 001 range finding accuracy of testing speed can reach the millimeter level, and detection range can reach 200 meters effectively, is higher than above-mentioned intelligence and drives perception sensor's (millimeter wave radar and camera) measuring ability far away, so adopt 128 lines laser radar 001 and 1 target classification to regard as truth parameter collection system 01 with vision camera 002, fix at the automobile body roof through installing support (not shown).
In one embodiment, the driving intelligent sensing sensor device 02 includes a measured camera 021 fixed behind a front windshield in the head portion of the vehicle body and a measured radar 022 fixed at the position of a license plate in the head portion of the vehicle body.
In this embodiment, the measured camera 021 may be specifically installed behind a front windshield of a vehicle, the measured radar 022 may be installed near a license plate of the vehicle, and the smart driving sensing sensor may be used to measure a motion attribute of a target vehicle, thereby achieving accurate measurement.
In an embodiment, the data processing apparatus 03 includes a lower computer 031, a signal acquisition device 032, and an upper computer 033, which are connected in sequence, wherein the lower computer 031 is connected to the true parameter acquisition apparatus 01, and the signal acquisition device 032 is further connected to the smart driving sensing sensor apparatus 02.
In this embodiment, the lower computer 031 software in the lower computer 031 runs on the acquisition and test system host, and the lower computer 031 runs on a linux system (Ubuntu) and is mainly used for processing the point cloud data of the laser radar 001 and the image data of the camera, extracting features, classifying and associating targets, calculating motion attributes, and the like, and finally, sending out a processing result in a CAN manner. The software of the upper computer 033 runs on a PC (personal computer), the PC runs in a Windows system, and the upper computer 033 is developed in a Matlab environment and used for processing and analyzing signals. Matlab CAN support multi-channel CAN signal acquisition equipment 032 through CANoe/Kvaser and the like, and CAN receive CAN signals sent by a lower computer 031 and CAN signals sent by a detected intelligent driving perception sensor. The signal acquisition device 032 is a CANoe/Kvaser or other device capable of supporting multi-channel CAN signal acquisition device 032. It should be noted that the laser radar 001 in the true value parameter collecting device 01 is connected to the lower computer 031 through a serial port line, and the target classification visual camera 002 is connected to the lower computer 031 through LVDS; a measured camera 021 and a measured radar 022 in the intelligent driving perception sensor are both connected with a signal acquisition device 032 through a CAN twisted pair; the lower computer 031 is connected with the signal acquisition equipment 032 through a CAN twisted pair; the signal acquisition equipment 032 is connected with the upper computer 033 through a USB interface line, and the lower computer 031 is further connected with a lower computer 031 display.
In an embodiment, the lower computer 031 includes a display interface and configuration module, a data processing and relaying module, and a data receiving and sending module, which are connected to each other, and the lower computer 031 is configured to display and process point cloud data of the laser radar 001 and video data of the visual camera 002 for target classification;
the upper computer 033 comprises a real-time data acquisition module and an offline analysis and calculation module which are connected with each other, and the upper computer 033 is used for receiving data sent by the lower computer 031 and analyzing the data to obtain performance parameters of the intelligent driving perception sensor device 02.
In this embodiment, the display interface and configuration module further includes a point cloud display unit, a video display unit, a processed target display unit, and a configuration interface unit; the data processing and relaying module also comprises a point cloud data processing unit, a video signal processing unit, a target extracting, associating and attribute calculating unit and a data packing and analyzing unit; the data receiving and sending module further comprises a laser radar 001 power supply data access unit, a target classification visual camera 002 unit, a calling CAN protocol sending unit and a database unit.
The real-time data acquisition module is used for receiving CAN signals sent by a lower computer 031 and an intelligent driving perception sensor. Firstly, target association is performed, that is, all targets identified by the lower computer 031 are in one-to-one correspondence with all targets identified by the smart driving sensing sensor. Then, in each calculation cycle (T ═ 0.02s), the error of the target motion attribute identified by the smart driving perception sensor is calculated and counted, with each target motion attribute identified by the lower computer 031 being a true value. And finally, storing the error values of the motion attributes of the targets, the corresponding time stamps and the count value data. And the off-line analysis module is used for analyzing the data files collected and stored in real time to obtain the identification performance parameters of the sensor to be tested.
Referring to fig. 3, fig. 3 is a schematic flow chart of a parameter acquisition testing method according to a first embodiment of the present invention, the parameter acquisition testing method is applied to a parameter acquisition testing apparatus, and the parameter acquisition testing method provided in this embodiment includes the following steps:
step S10, controlling a true value parameter acquisition device to acquire first target data and controlling an intelligent driving perception sensor device to acquire second target data at intervals of a preset period;
in this embodiment, the first target data and the second target data each include image data and target motion attributes, specifically, the target motion attributes include a longitudinal position, a lateral position, a longitudinal speed, a lateral speed, a longitudinal acceleration, and a lateral acceleration of a target vehicle, where the target vehicle is a vehicle in front of a vehicle on which the parameter collection test system is mounted, that is, a vehicle in front of a test vehicle. The preset period is 0.02s, and a person skilled in the art can set different preset periods according to actual needs so as to enable the acquired data to be more accurate.
Step S20, obtaining a target motion attribute and an error corresponding to the target motion attribute according to the first target data and the second target data;
referring to fig. 4, in an embodiment, the step S20 includes:
step S21, acquiring a first recognition target and a first target motion attribute according to the first target data, and acquiring a second recognition target and a second target motion attribute according to the second target data;
in the present embodiment, since the first target data is data of all preceding vehicle targets acquired by the true value parameter collecting means, the number of first recognition targets is random. The number of second recognition targets is also random similarly. The first target motion data comprises a first recognition target and a first target motion attribute, and the second target motion data comprises a second recognition target and a second target motion attribute; specifically, the first recognition target and the second recognition target may be obtained according to image data in the first target data and the second target data, and further, the recognition target may be a vehicle, a pedestrian, or other articles in the detection range of the parameter collection test system.
Step S22, matching and associating the first identification target with the second identification target to obtain an associated target;
in this embodiment, since the ranges detected by the true value parameter collecting device and the smart driving sensing sensor are the same, the vehicle targets collected by the two devices also belong to the repeated vehicle targets in the same range, and therefore, the identification targets collected by the two devices need to be associated, that is, the targets identified by the true value parameter collecting device and the targets identified by the smart driving sensing sensor are in one-to-one correspondence to obtain the two target motion attributes of the same identification target.
Step S23, acquiring a first target motion attribute and a second target motion attribute corresponding to the associated target according to the associated target;
in this embodiment, the target motion attributes include a longitudinal position, a lateral position, a longitudinal velocity, a lateral velocity, a longitudinal acceleration, and a lateral acceleration; the first target motion attribute is acquired by a calibration parameter detection device, and the second target motion attribute is acquired by an intelligent driving perception sensor device.
Step S24, calculating the difference between the first target motion attribute and the second target motion attribute corresponding to the associated target, and taking the difference as the error corresponding to the target motion attribute;
in this embodiment, assuming that there is a vehicle target directly in front of the vehicle, the motion attributes of the target detected by the calibration parameter acquisition and testing device are respectively: longitudinal position l _ x _ real, transverse position l _ y _ real, longitudinal velocity v _ x _ real, transverse velocity v _ y _ real, longitudinal acceleration a _ x _ real, transverse acceleration a _ y _ real; the intelligent driving perception sensor device detects that the target motion attributes are respectively as follows: longitudinal position l _ x _ test, transverse position l _ y _ test, longitudinal speed v _ x _ test, transverse speed v _ y _ test, longitudinal acceleration a _ x _ test, and transverse acceleration a _ y _ test. The error calculation formula of each motion attribute is as follows:
the vertical position error l _ x _ diff is l _ x _ test-l _ x _ real;
the lateral position error l _ y _ diff is l _ y _ test-l _ y _ real;
the longitudinal speed error v _ x _ diff is v _ x _ test-v _ x _ real;
the lateral speed error v _ y _ diff is v _ y _ test-v _ y _ real;
the longitudinal acceleration error a _ x _ diff is a _ x _ test-a _ x _ real;
the lateral acceleration error a _ y _ diff is a _ y _ test-a _ y _ real.
And step S30, calculating the performance parameters of the intelligent driving perception sensor device according to the target motion attribute and the error corresponding to the target motion attribute.
In the present embodiment, the performance parameters include variance, standard deviation, and maximum error value.
According to the intelligent driving sensing device, the first target data are acquired by the interval preset period control truth value parameter acquisition device and the second target data are acquired by the intelligent driving sensing sensor device, so that the target data are acquired in real time, and the accuracy of performance test is improved; obtaining a target motion attribute and an error corresponding to the target motion attribute according to the first target data and the second target data, and realizing rough calculation of the performance of the intelligent driving perception sensor through error calculation; the performance parameters of the intelligent driving perception sensor device are calculated according to the target motion attributes and the errors corresponding to the target motion attributes, so that the recognition performance of the sensor can be objectively evaluated.
Further, a second embodiment of the parameter collecting and testing method according to the present invention provides a parameter collecting and testing method, based on the embodiment shown in fig. 2, before the step of calculating the performance parameter of the smart driving perception sensor device according to the target motion attribute and the error corresponding to the target motion attribute, the method further includes:
step a301, obtaining the target number of the target and the error value number of the error corresponding to the target motion attribute;
after the step of calculating the performance parameters of the smart driving perception sensor device according to the target motion attribute and the error corresponding to the target motion attribute, the method further includes:
step a302, calculating a variance, a standard deviation and a maximum error value corresponding to the target motion attribute according to the target motion attribute, an error corresponding to the target motion attribute, a target number and an error value number, wherein the performance parameters include the variance, the standard deviation and the maximum error value.
In this embodiment, the number of targets is the number of specific targets detected by a vehicle equipped with a parameter acquisition and testing system; the error value number is the number of the parameter collection test system in the collected same target motion attribute, for example, taking the longitudinal position l _ x as an example, the calculation process of other motion attributes is the same. Suppose that a certain intelligent driving perception sensor is evaluated on a certain day, a public road is driven for a plurality of time periods, 1000 vehicle targets are collected, and each target correspondingly collects couteri error values. Then, longitudinal position recognition performance parameters, such as variance, standard deviation, and error maximum, are calculated according to the following formula.
Variance:
standard deviation: e (l _ x) ═ sqrt (D (l _ x))
Maximum error value: max (l _ x) ═ max (max (l _ x1), max (l _ x1)2)，max(l_x3)，...max(l_xn))
Where D (l _ x) is the variance of the longitudinal position, n is the number of vehicle targets, i is one of the number of vehicle targets, couteri is the number of error values, E (l _ x) is the standard deviation of the longitudinal position, and max (l _ x) is the maximum value of the error of the longitudinal position.
According to the method and the device, the variance, the standard deviation and the maximum error value corresponding to the target motion attribute are calculated according to the target motion attribute, the error corresponding to the target motion attribute, the target number and the error value number, so that the performance parameter calculation of the intelligent driving perception sensor device is realized, the identification performance parameters of the intelligent driving perception sensor can be accurately obtained, the motion attribute identification performance parameters of the vehicle target can be applied to a software algorithm, and the performance and experience of development of an autonomous intelligent driving system are improved.
In addition, an embodiment of the present invention further provides a computer-readable storage medium, where a parameter collection test program is stored on the computer-readable storage medium, and when executed by a processor, the parameter collection test program implements the following operations:
controlling a true value parameter acquisition device to acquire first target data and controlling an intelligent driving perception sensor device to acquire second target data at intervals of a preset period;
acquiring a target motion attribute and an error corresponding to the target motion attribute according to the first target data and the second target data;
and calculating the performance parameters of the intelligent driving perception sensor device according to the target motion attribute and the error corresponding to the target motion attribute.
Further, the parameter collection test program, when executed by the processor, further implements the following operations:
the step of obtaining the target motion attribute and the error corresponding to the target motion attribute according to the first target data and the second target data comprises:
acquiring a first recognition target and a first target motion attribute according to the first target data, and acquiring a second recognition target and a second target motion attribute according to the second target data;
matching and associating the first recognition target with the second recognition target to obtain an associated target;
acquiring a first target motion attribute and a second target motion attribute corresponding to the associated target according to the associated target;
and calculating the difference between the first target motion attribute and the second target motion attribute corresponding to the associated target, and taking the difference as the error corresponding to the target motion attribute.
Further, the parameter collection test program, when executed by the processor, further implements the following operations:
before the step of calculating the performance parameters of the smart driving perception sensor device according to the target motion attribute and the error corresponding to the target motion attribute, the method further includes:
acquiring the target number of the target and the error value number of the error corresponding to the target motion attribute;
after the step of calculating the performance parameters of the smart driving perception sensor device according to the target motion attribute and the error corresponding to the target motion attribute, the method further includes:
and calculating the variance, the standard deviation and the maximum error value corresponding to the target motion attribute according to the target motion attribute, the error corresponding to the target motion attribute, the target number and the error value number, wherein the performance parameters comprise the variance, the standard deviation and the maximum error value.
The specific embodiment of the computer-readable storage medium of the present invention is substantially the same as the embodiments of the parameter collecting and testing method described above, and is not described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A parameter acquisition testing system, comprising:
the intelligent driving system comprises a vehicle body, a true value parameter acquisition device, an intelligent driving perception sensor device, a data processing device and a plurality of mounting brackets;
the intelligent driving perception sensor device is fixed on the head part of the vehicle body through the mounting bracket;
the data processing device is installed in the vehicle body and used for processing the data acquired by the true value parameter acquisition device and the intelligent driving perception sensor device.
2. The parameter acquisition and testing system of claim 1, wherein the true parameter acquisition device comprises a vision camera and a laser radar for object classification, which are respectively fixed on the roof of the vehicle body.
3. The parameter collection and testing system of claim 1, wherein the smart-drive sensing sensor device comprises a camera to be tested secured behind a front windshield in the head portion of the vehicle body and a radar to be tested secured in a position of a license plate in the head portion of the vehicle body.
4. The parameter acquisition and testing system of claim 1, wherein the data processing device comprises a lower computer, a signal acquisition device and an upper computer which are connected in sequence, wherein the lower computer is connected with the true parameter acquisition device, and the signal acquisition device is further connected with the intelligent driving perception sensor device.
5. The parameter acquisition and testing system of claim 4, wherein the lower computer comprises a display interface and configuration module, a data processing and relay module and a data receiving and sending module which are connected with each other, and is used for displaying and processing point cloud data of the laser radar and video data of the visual camera for target classification;
the intelligent driving perception sensor device comprises an upper computer and a lower computer, wherein the upper computer comprises a real-time data acquisition module and an offline analysis and calculation module which are connected with each other, and the upper computer is used for receiving data sent by the lower computer and analyzing the data to obtain performance parameters of the intelligent driving perception sensor device.
6. A parameter acquisition test method is characterized in that the parameter acquisition test method is applied to a parameter acquisition test device, and the parameter acquisition test method comprises the following steps:
controlling a true value parameter acquisition device to acquire first target data and controlling an intelligent driving perception sensor device to acquire second target data at intervals of a preset period;
acquiring a target motion attribute and an error corresponding to the target motion attribute according to the first target data and the second target data;
and calculating the performance parameters of the intelligent driving perception sensor device according to the target motion attribute and the error corresponding to the target motion attribute.
7. The parameter collection testing method of claim 6, wherein the step of obtaining a target motion attribute and an error corresponding to the target motion attribute based on the first target data and the second target data comprises:
acquiring a first recognition target and a first target motion attribute according to the first target data, and acquiring a second recognition target and a second target motion attribute according to the second target data;
matching and associating the first recognition target with the second recognition target to obtain an associated target;
acquiring a first target motion attribute and a second target motion attribute corresponding to the associated target according to the associated target;
and calculating the difference between the first target motion attribute and the second target motion attribute corresponding to the associated target, and taking the difference as the error corresponding to the target motion attribute.
8. The parameter collection and testing method of claim 7, wherein before the step of calculating the performance parameters of the smart driving perception sensor device according to the target motion attributes and the errors corresponding to the target motion attributes, the method further comprises:
acquiring the target number of the target and the error value number of the error corresponding to the target motion attribute;
after the step of calculating the performance parameters of the smart driving perception sensor device according to the target motion attribute and the error corresponding to the target motion attribute, the method further includes:
and calculating the variance, the standard deviation and the maximum error value corresponding to the target motion attribute according to the target motion attribute, the error corresponding to the target motion attribute, the target number and the error value number, wherein the performance parameters comprise the variance, the standard deviation and the maximum error value.
9. A parameter collection testing apparatus, comprising the parameter collection testing device, the parameter collection testing method, a memory, a processor, and a parameter collection testing program stored on the memory and operable on the processor, wherein the parameter collection testing program when executed by the processor implements the steps of the parameter collection testing method according to any one of claims 6 to 8.
10. A computer-readable storage medium, having stored thereon a parameter acquisition test program, which when executed by a processor implements the steps of the parameter acquisition test method of any one of claims 6 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111446197.8A CN114136356A (en) | 2021-11-30 | 2021-11-30 | Parameter acquisition test system, method, device and computer readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111446197.8A CN114136356A (en) | 2021-11-30 | 2021-11-30 | Parameter acquisition test system, method, device and computer readable storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114136356A true CN114136356A (en) | 2022-03-04 |
Family
ID=80386040
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111446197.8A Pending CN114136356A (en) | 2021-11-30 | 2021-11-30 | Parameter acquisition test system, method, device and computer readable storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114136356A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116566861A (en) * | 2023-06-27 | 2023-08-08 | 襄阳达安汽车检测中心有限公司 | Data consistency test method, device, equipment and readable storage medium |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111398989A (en) * | 2020-04-02 | 2020-07-10 | 昆易电子科技(上海)有限公司 | Performance analysis method and test equipment of driving assistance system |
| CN112816954A (en) * | 2021-02-09 | 2021-05-18 | 中国信息通信研究院 | Road side perception system evaluation method and system based on truth value |
| CN113155173A (en) * | 2021-06-02 | 2021-07-23 | 福瑞泰克智能系统有限公司 | Perception performance evaluation method and device, electronic device and storage medium |
| CN113268411A (en) * | 2021-04-25 | 2021-08-17 | 福瑞泰克智能系统有限公司 | Driving assistance algorithm testing method and device, electronic device and storage medium |
-
2021
- 2021-11-30 CN CN202111446197.8A patent/CN114136356A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111398989A (en) * | 2020-04-02 | 2020-07-10 | 昆易电子科技(上海)有限公司 | Performance analysis method and test equipment of driving assistance system |
| CN112816954A (en) * | 2021-02-09 | 2021-05-18 | 中国信息通信研究院 | Road side perception system evaluation method and system based on truth value |
| CN113268411A (en) * | 2021-04-25 | 2021-08-17 | 福瑞泰克智能系统有限公司 | Driving assistance algorithm testing method and device, electronic device and storage medium |
| CN113155173A (en) * | 2021-06-02 | 2021-07-23 | 福瑞泰克智能系统有限公司 | Perception performance evaluation method and device, electronic device and storage medium |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116566861A (en) * | 2023-06-27 | 2023-08-08 | 襄阳达安汽车检测中心有限公司 | Data consistency test method, device, equipment and readable storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10006895B2 (en) | System and method for monitoring atmospheric pollution | |
| CN107749194B (en) | Lane changing assisting method and mobile terminal | |
| CN109094669A (en) | Method and apparatus for assessing hinge angle | |
| CN111833631B (en) | Target data processing method, system and storage medium based on vehicle-road cooperation | |
| CN111398989A (en) | Performance analysis method and test equipment of driving assistance system | |
| CN111220197B (en) | Test system and test method for lane line deviation alarm system | |
| CN113340325A (en) | System, method and medium for verifying vehicle-road cooperative roadside perception fusion precision | |
| CN105892442B (en) | Interface device, vehicle inspection device connected to interface device, and control method thereof | |
| CN110703739B (en) | Vehicle diagnosis method, roadside unit, on-board unit, system, and storage medium | |
| CN110610137A (en) | Method and device for detecting vehicle running state, electronic equipment and storage medium | |
| US20210229674A1 (en) | Driver profiling and identification | |
| CN114136356A (en) | Parameter acquisition test system, method, device and computer readable storage medium | |
| CN107257913B (en) | Method for updating parking lot information in navigation system and navigation system | |
| CN107680396A (en) | The monitoring method and its device of a kind of driving behavior | |
| CN113793509B (en) | Road condition analysis method, device, equipment and medium based on motion sensor | |
| CN110823596B (en) | Test method and device, electronic equipment and computer readable storage medium | |
| WO2019188886A1 (en) | Terminal device, information processing method, and storage medium | |
| CN115546299A (en) | Method for identifying camera pose change and abnormity by combining laser radar | |
| CN1573292A (en) | Apparatus and method for sensing a state of a movable body | |
| EP3850374B1 (en) | System and method for determining accelerometer orientation | |
| CN110884501B (en) | Vehicle perception data processing method and device, electronic equipment and storage medium | |
| CN218297594U (en) | Vehicle dynamic braking performance tester | |
| CN211335969U (en) | Device for acquiring driving behavior data of driver | |
| CN214502370U (en) | Vehicle separation and reunion footboard stroke detection device and vehicle | |
| CN215867111U (en) | System for monitoring vehicle operation and vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |