CN108593310A - Off-line test system and method - Google Patents
Off-line test system and method Download PDFInfo
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- CN108593310A CN108593310A CN201810619775.5A CN201810619775A CN108593310A CN 108593310 A CN108593310 A CN 108593310A CN 201810619775 A CN201810619775 A CN 201810619775A CN 108593310 A CN108593310 A CN 108593310A
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- 238000012360 testing method Methods 0.000 title claims abstract description 180
- 238000000034 method Methods 0.000 title abstract description 26
- 230000007613 environmental effect Effects 0.000 claims abstract description 50
- 230000003287 optical effect Effects 0.000 claims description 27
- 238000010998 test method Methods 0.000 claims description 18
- 230000008447 perception Effects 0.000 claims description 15
- 238000012545 processing Methods 0.000 claims description 14
- 230000004888 barrier function Effects 0.000 description 24
- 238000009434 installation Methods 0.000 description 23
- 238000001514 detection method Methods 0.000 description 19
- 230000008901 benefit Effects 0.000 description 8
- 238000004519 manufacturing process Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
Abstract
The embodiment of the present invention provides a kind of off-line test system for intelligent driving system cabinet-type air conditioner and method and a kind of off-line test system and method for sensor.The system includes：Input source, for providing default environment；Sensor, the environmental information for acquiring default environment, and environmental information is transferred to intelligent driving system cabinet-type air conditioner, wherein intelligent driving system cabinet-type air conditioner is used to determine environment sensing information based on environmental information, wherein environment sensing information includes following one or more：The location information of the car status information of virtual vehicle corresponding to sensor, the road information in default environment, the target object in default environment；And processor, the quality for judging intelligent driving system cabinet-type air conditioner based on environment sensing information.The off-line test to intelligent driving system cabinet-type air conditioner and sensor may be implemented in the systems and methods, this allows the testing cost of intelligent driving system to substantially reduce.
Description
Technical field
The present invention relates to intelligent driving fields, relate more specifically to a kind of off-line test for intelligent driving system cabinet-type air conditioner
System and method and a kind of off-line test system and method for sensor.
Background technology
Hardware in loop (hardware-in-the-loop, HIL) emulation is proved to be a kind of effective embedded Control system
Unified test method for testing.HIL technologies may insure just to complete the test of embedded software in early stage embedded control system development cycle.
The problem of can early finding embedded control system in this way, therefore the cost solved the problems, such as can be reduced.
At present in main engine plants, HIL emulation testings have become electronic control unit (Electronic Control Unit,
ECU) very important a ring in development process.However, HIL platforms currently on the market work as test greatly both for vehicle
It when intelligent driving system, needs to be tested on vehicle, does so of high cost, efficiency is low, it is difficult to realize large-scale intelligence
Control loop is tested.
Invention content
The present invention is proposed in view of the above problem.The present invention provides it is a kind of for intelligent driving system cabinet-type air conditioner from
Line tests system and method and a kind of off-line test system and method for sensor.
According to an aspect of the present invention, a kind of off-line test system for intelligent driving system cabinet-type air conditioner is provided.The system
Including：Input source, for providing default environment；Sensor, the environmental information for acquiring default environment, and environmental information is passed
It is defeated to arrive intelligent driving system cabinet-type air conditioner, wherein intelligent driving system cabinet-type air conditioner is used to based on environmental information determine environment sensing information,
In, environment sensing information includes following one or more：The car status information of virtual vehicle corresponding to sensor, default ring
The location information of road information in border, the target object in default environment；And processor, for being based on environment sensing information
Judge the quality of intelligent driving system cabinet-type air conditioner.
Illustratively, input source includes the first display, and sensor includes test camera, and the first display is for showing
Include the ambient image of default environment；Test camera is used to carry out image for the ambient image shown by the first display to adopt
Collection, to obtain image to be detected, wherein environmental information includes the image information of image to be detected.
Illustratively, the type for presetting environment be it is one or more, the number of ambient image be it is one or more, one or
Multiple ambient images separately include one or more default environment, and the number of image to be detected is one or more, the first display
Implement body for showing one or more ambient images successively；It tests camera and is specifically used for acquisition respectively and one or more rings
Border image one or more image to be detected correspondingly；Processor judges intelligent driving system cabinet-type air conditioner in the following manner
Quality：For each in one or more image to be detected, it is true that intelligent driving system cabinet-type air conditioner is based on the image to be detected
Compared with the known perception information of default environment in fixed environment sensing information ambient image corresponding with the image to be detected,
To determine that intelligent driving system cabinet-type air conditioner is directed to the perceptual error of the corresponding ambient image of the image to be detected；Based on intelligent driving system
The perceptual error that system cabinet-type air conditioner is directed to one or more ambient images judges whether the quality of intelligent driving system cabinet-type air conditioner is qualified.
Illustratively, processor is based on intelligent driving system cabinet-type air conditioner and is directed to one or more ambient images in the following manner
Perceptual error judge whether the quality of intelligent driving system cabinet-type air conditioner qualified：For each in one or more ambient images
It is a, if intelligent driving system cabinet-type air conditioner is less than error threshold for the perceptual error of the ambient image, it is determined that intelligent driving system
System cabinet-type air conditioner passes through for the environment sensing of the ambient image, otherwise determines that intelligent driving system cabinet-type air conditioner is directed to the ring of the ambient image
Border perception does not pass through；If the percent of pass that intelligent driving system cabinet-type air conditioner is directed to the environment sensing of one or more ambient images is more than
Percent of pass threshold value, it is determined that intelligent driving system cabinet-type air conditioner it is up-to-standard, otherwise determine the quality of intelligent driving system cabinet-type air conditioner not
It is qualified.
Illustratively, test system further includes second display, and second display is used to connect with intelligent driving system cabinet-type air conditioner
It connects, second display is for showing image to be detected.
Illustratively, the first display is additionally operable to the optical center that the display in display environment image is used to indicate standard camera head
First identifier symbol, second display is additionally operable to when show image to be detected display and is used to indicate the optical center for testing camera
Second identifier accords with, wherein standard camera head is the camera for acquiring ambient image.
Illustratively, test system further includes：Data processing equipment is connect with the first display, for controlling environment map
As display on the first display.
Illustratively, input source includes target object, and sensor includes radar installations, and radar installations is used to utilize electromagnetic wave
The position of the target object in environment is preset in detection, wherein environmental information includes and the relevant radar number in the position of target object
According to.
Illustratively, radar installations includes one or more in laser radar, millimetre-wave radar, ultrasonic radar.
Illustratively, in the case where intelligent driving system cabinet-type air conditioner connects sensor and processor, target object is multiple
It is moved between predeterminated position, environmental information includes the target object radar data that detection obtains in multiple predeterminated positions respectively.
Illustratively, environment sensing information includes location information of the target object respectively under multiple test positions, processing
Device judges the quality of intelligent driving system cabinet-type air conditioner in the following manner：If the known position information of multiple predeterminated positions with it is multiple
The location information of test position correspond to it is consistent, and intelligent driving system cabinet-type air conditioner detect duration of multiple test positions with
The residence time that target object rests on multiple predeterminated positions corresponds to unanimously, it is determined that the quality of intelligent driving system cabinet-type air conditioner is closed
Otherwise lattice determine the off quality of intelligent driving system cabinet-type air conditioner.
Illustratively, target object is unmanned plane or intelligent robot.
Illustratively, test system further includes rack, for to input source, sensor, intelligent driving system cabinet-type air conditioner and
At least two in processor be attached and/or in input source, sensor, intelligent driving system cabinet-type air conditioner and processor extremely
One item missing is fixed.
According to a further aspect of the invention, a kind of off-line test method for intelligent driving system cabinet-type air conditioner is provided, is applied
In a kind of off-line test system for intelligent driving system cabinet-type air conditioner, test system includes input source, sensor and processor, is surveyed
Method for testing includes：It is provided using input source and presets environment；The environmental information for presetting environment is acquired using sensor, and environment is believed
Breath is transferred to intelligent driving system cabinet-type air conditioner, wherein intelligent driving system cabinet-type air conditioner is used to determine that environment sensing is believed based on environmental information
Breath, wherein environment sensing information includes following one or more：The car status information of virtual vehicle corresponding to sensor,
The location information of road information in default environment, the target object in default environment；And it is based on environment sense using processor
Know that information judges the quality of intelligent driving system cabinet-type air conditioner.
According to a further aspect of the invention, a kind of off-line test system for sensor is provided, including：Input source is used
Environment is preset in providing；Intelligent driving system cabinet-type air conditioner, the environmental information of the default environment for receiving sensor acquisition, and be based on
Environmental information determines environment sensing information, wherein environment sensing information includes following one or more：Void corresponding to sensor
The location information of the car status information of quasi- vehicle, the road information in default environment, the target object in default environment；And
Processor, the quality for judging sensor based on environment sensing information.
Illustratively, input source includes the first display, and sensor includes test camera, and the first display is for showing
Include the ambient image of default environment；Test camera is used to carry out image for the ambient image shown by the first display to adopt
Collection, to obtain image to be detected, wherein environmental information includes the image information of image to be detected.
Illustratively, the type for presetting environment be it is one or more, the number of ambient image be it is one or more, one or
Multiple ambient images separately include one or more default environment, and the number of image to be detected is one or more, the first display
Implement body for showing one or more ambient images successively；It tests camera and is specifically used for acquisition respectively and one or more rings
Border image one or more image to be detected correspondingly；Processor judges the quality of sensor in the following manner：For
Each in one or more image to be detected, the environment sense that intelligent driving system cabinet-type air conditioner is determined based on the image to be detected
Compared with the known perception information for knowing the default environment in information ambient image corresponding with the image to be detected, to determine intelligence
Control loop cabinet-type air conditioner is directed to the perceptual error of the corresponding ambient image of the image to be detected；It is directed to based on intelligent driving system cabinet-type air conditioner
The perceptual error of one or more ambient images judges whether the quality of sensor is qualified.
Illustratively, processor is based on intelligent driving system cabinet-type air conditioner and is directed to one or more ambient images in the following manner
Perceptual error judge whether the quality of sensor qualified：For each in one or more ambient images, if intelligence
Control loop cabinet-type air conditioner is less than error threshold for the perceptual error of the ambient image, it is determined that intelligent driving system cabinet-type air conditioner is directed to should
The environment sensing of ambient image passes through, and otherwise determines that intelligent driving system cabinet-type air conditioner does not lead to for the environment sensing of the ambient image
It crosses；If the percent of pass that intelligent driving system cabinet-type air conditioner is directed to the environment sensing of one or more ambient images is more than percent of pass threshold
Value, it is determined that sensor it is up-to-standard, otherwise determine sensor it is off quality.
Illustratively, test system further includes second display, and second display is used to connect with intelligent driving system cabinet-type air conditioner
It connects, second display is for showing image to be detected.
Illustratively, second display is additionally operable to when showing image to be detected, and display is used to indicate standard camera head
The first identifier of optical center accords with and is used to indicate the second identifier symbol of the optical center of test camera, wherein standard camera head is to use
In the camera of acquisition ambient image.
Illustratively, test system further includes：Data processing equipment is connect with the first display, for controlling environment map
As display on the first display.
Illustratively, input source includes target object, and sensor includes radar installations, and radar installations is used to utilize electromagnetic wave
The position of the target object in environment is preset in detection, wherein environmental information includes and the relevant radar number in the position of target object
According to.
Illustratively, radar installations includes one or more in laser radar, millimetre-wave radar, ultrasonic radar.
Illustratively, in the case where sensor connects intelligent driving system cabinet-type air conditioner, target object is in multiple predeterminated positions
Between move, environmental information include target object respectively in multiple predeterminated positions detection obtain radar data.
Illustratively, environment sensing information includes location information of the target object respectively under multiple test positions, processing
Device judges the quality of sensor in the following manner：If the known position information of multiple predeterminated positions and multiple test positions
Location information corresponds to unanimously, and intelligent driving system cabinet-type air conditioner detects that the duration of multiple test positions stops with target object
Stay in multiple predeterminated positions residence time correspond to it is consistent, it is determined that sensor it is up-to-standard, otherwise determine the matter of sensor
It measures unqualified.
Illustratively, target object is unmanned plane or intelligent robot.
Illustratively, test system further includes rack, for input source, sensor, intelligent driving system cabinet-type air conditioner and place
Reason device at least two be attached and/or in input source, sensor, intelligent driving system cabinet-type air conditioner and processor at least
One is fixed.
According to a further aspect of the invention, a kind of off-line test method for sensor is provided, is used for applied to one kind
The off-line test system of sensor, test system include input source, intelligent driving system cabinet-type air conditioner and processor, test method packet
It includes：It is provided using input source and presets environment；Utilize the environment of the default environment of intelligent driving system cabinet-type air conditioner receiving sensor acquisition
Information, and environment sensing information is determined based on environmental information, wherein environment sensing information includes following one or more：Sensing
The car status information of virtual vehicle corresponding to device, the road information in default environment, target object in default environment
Location information；And the quality of sensor is judged based on environment sensing information using processor.
It is according to the ... of the embodiment of the present invention for the off-line test system and method for intelligent driving system cabinet-type air conditioner and for passing
The off-line test system and method for sensor may be implemented the off-line test to intelligent driving system cabinet-type air conditioner and sensor, that is, be detached from
Independent test is carried out to intelligent driving system cabinet-type air conditioner and sensor in entity vehicle, this makes the testing cost of intelligent driving system
It can substantially reduce.Above-mentioned off-line test system is easy to operate, and effect is intuitive, test result can programming count, it is clear easy-to-use.
In addition, the application scenarios of above-mentioned off-line test system are various, it both can be used for the fast verification of system level usually, it can also
It is used for verifying the consistency of product batches after product volume production.
Description of the drawings
The embodiment of the present invention is described in more detail in conjunction with the accompanying drawings, the above and other purposes of the present invention,
Feature and advantage will be apparent.Attached drawing is used for providing further understanding the embodiment of the present invention, and constitutes explanation
A part for book is not construed as limiting the invention for explaining the present invention together with the embodiment of the present invention.In the accompanying drawings,
Identical reference label typically represents same parts or step.
Fig. 1 shows the off-line test system and phase according to an embodiment of the invention for intelligent driving system cabinet-type air conditioner
The schematic block diagram of the intelligent driving system cabinet-type air conditioner of pass；
Fig. 2 shows the parts of the off-line test system according to an embodiment of the invention for intelligent driving system cabinet-type air conditioner
Component；
Fig. 3 shows the part of the off-line test system according to an embodiment of the invention for intelligent driving system cabinet-type air conditioner
Component and intelligent driving system cabinet-type air conditioner；
Fig. 4 shows the detection schematic diagram of radar installations according to an embodiment of the invention；
Fig. 5 shows that the flow according to an embodiment of the invention that off-line test is carried out to intelligent driving system cabinet-type air conditioner is illustrated
Figure；
Fig. 6 shows the signal of the off-line test method according to an embodiment of the invention for intelligent driving system cabinet-type air conditioner
Property flow chart；
Fig. 7 shows the off-line test system according to an embodiment of the invention for sensor and relevant sensor
Schematic block diagram；And
Fig. 8 shows the schematic flow chart of the off-line test method according to an embodiment of the invention for sensor.
Specific implementation mode
In order to enable the object, technical solutions and advantages of the present invention become apparent, root is described in detail below with reference to accompanying drawings
According to example embodiments of the present invention.Obviously, described embodiment is only a part of the embodiment of the present invention, rather than this hair
Bright whole embodiments, it should be appreciated that the present invention is not limited by example embodiment described herein.
To solve the above-mentioned problems, the embodiment of the present invention provides a kind of off-line test system for intelligent driving system cabinet-type air conditioner
System and method and a kind of off-line test system and method for sensor.Off-line test system according to the ... of the embodiment of the present invention
The test of the intelligent driving system cabinet-type air conditioner and sensor involved by intelligent driving is can be applied to, it is according to the ... of the embodiment of the present invention
Off-line test system has assembling simple, efficiently, low cost, and the advantages of facilitate popularization, have great practical value and
Extensive market prospects.Off-line test system according to the ... of the embodiment of the present invention and method can be applied to various intelligent driving necks
Domain.
In the following, by the off-line test system according to the ... of the embodiment of the present invention for intelligent driving system cabinet-type air conditioner is described with reference to figure 1
System.Fig. 1 shows the off-line test system 110 and correlation according to an embodiment of the invention for intelligent driving system cabinet-type air conditioner
Intelligent driving system cabinet-type air conditioner 120 schematic block diagram.As shown in Figure 1, the off-line test system for intelligent driving system cabinet-type air conditioner
System 110 includes input source 102, sensor 104 and processor 106.
Input source 102 is for providing default environment.
Default environment can be any environment, including but not limited to use the collected environment of camera of entity vehicle.It can
Selection of land, default environment may include the barrier of static state, can also include the scene of dynamic change.
Input source 102 is used to be suitble to for the structure of intelligent driving system cabinet-type air conditioner 120 application scenarios of test.Input source 102 can
With according to the different and different of sensor 104.For example, if necessary to in intelligent driving system cabinet-type air conditioner 120 based on taking the photograph
As the intelligent driving algorithm (such as vision positioning algorithm etc.) of head is tested, then sensor 104 may include camera, input
The display that high refresh rate may be used in source 102 is realized.Display described herein can include but is not limited to computer monitor,
Television set etc..The display can show that the ambient image acquired in advance, intelligent driving system cabinet-type air conditioner 120 can pass through camera shooting
Head obtains the environmental information shown in display.In another example if necessary to in intelligent driving system cabinet-type air conditioner 120 based on radar
The intelligent driving algorithm of device is tested, then sensor 104 may include radar installations, and input source 102 may include obstacle
Object.
Sensor 104 is used to acquire the environmental information of default environment, and environmental information is transferred to intelligent driving system cabinet
Machine 120, wherein intelligent driving system cabinet-type air conditioner 120 is used to determine environment sensing information based on environmental information, wherein environment sensing
Information includes following one or more：Road in the car status information of virtual vehicle corresponding to sensor, default environment
The location information of information, target object in default environment.
Sensor 104 can obtain corresponding environmental information from input source 102 and be sent to the environmental information perceived
Intelligent driving system cabinet-type air conditioner 120.Sensor 104 may include camera, laser radar, millimetre-wave radar, ultrasonic radar etc.
One or more of.
Intelligent driving system cabinet-type air conditioner described herein is that be integrated with the intelligent driving (for realizing intelligent driving algorithm) soft
The device of part.Intelligent driving system cabinet-type air conditioner can be assemblied on the entity vehicle to match, be driven for realizing the intelligence to vehicle
Sail control.Intelligent driving system cabinet-type air conditioner 120 can receive the environmental information from sensor 104, and carry out phase to environmental information
It should handle.For example, when sensor 104 includes camera, positioning immediately and map structuring (SLAM), view-based access control model can be used
Immediately positioning is with map structuring (V-SLAM), image detection, feature point extraction scheduling algorithm to camera the image collected (such as this
Image to be detected described in text) it is handled.When sensor 104 is other kinds of sensor, intelligent driving system cabinet-type air conditioner
120, which can be used other algorithms, handles environmental information, and result is sent to processor 106 by treated.
The information that intelligent driving technology is concerned about is usually directed at least three aspects：Vehicle, road and target object.Show
Example property, environment sensing information determined by intelligent driving system cabinet-type air conditioner 120 may include and one in three above aspect
Or the relevant information of many aspects.
Since off-line test system provided in an embodiment of the present invention is mainly used in the case where being detached from entity vehicle independently
The ring that device (intelligent driving system cabinet-type air conditioner or sensor) involved by intelligent driving system is tested, therefore is calculated
It is the information of virtual vehicle about the car status information of vehicle in the perception information of border.Illustratively, car status information can be with
Posture information including virtual vehicle and movement state information.Posture information may include that the physical coordinates of virtual vehicle (exist
Coordinate in earth coordinates), information, the movement state information such as course angle may include the letters such as the travel speed of virtual vehicle
Breath.
Illustratively, the road information preset in environment may include shape, direction, the gradient, lane line of road etc..
Target object as described herein can be arbitrary objects, including but not limited to pedestrian, vehicle (sensor 104 pair
Vehicle other than the virtual vehicle answered), trees, building, signal lamp, traffic sign etc..Certain target objects are properly termed as hindering
Hinder object, such as pedestrian, vehicle, trees etc..Intelligent driving system cabinet-type air conditioner 120 may include the identification for barrier and evade
Algorithm, so that it can realize barrier avoiding function.
Processor 106 is used to judge based on environment sensing information the quality of intelligent driving system cabinet-type air conditioner 120.
Processor 106 can receive the environment sensing information from intelligent driving system cabinet-type air conditioner 120, and by the environment of reception
The known environment sensing information (herein referred as known perception information) of perception information and default environment is compared.In some realities
It applies in example, processor 106 can judge whether the quality of intelligent driving system cabinet-type air conditioner 120 is qualified according to comparison result.It is exemplary
Ground, if by comparing, found between the environment sensing information that intelligent driving system cabinet-type air conditioner 120 determines and known perception information
Error is in scheduled threshold range, then can determine the up-to-standard of intelligent driving system cabinet-type air conditioner 120, if the error is super
Go out scheduled threshold range, then can determine the off quality of intelligent driving system cabinet-type air conditioner 120.
Illustratively, processor 106 can be also used for exporting the report of the test result about intelligent driving system cabinet-type air conditioner 120
Accuse information.For example, processor 106 can be by devices such as display (such as following second displays) and/or loud speakers to scheme
The test result of one or more outputs in the information such as picture, video, word, audio about intelligent driving system cabinet-type air conditioner 120
Report information, to inform user's information.
Off-line test system according to the ... of the embodiment of the present invention is a kind of HIL emulation test systems, using HIL emulation testings system
System can reduce the number of proving ground test, and the software of ECU can be improved while shortening the development time and reducing cost
Quality reduces the risk of automobile factory.Therefore design HIL realizes the off-line test of intelligent driving system in ring verification platform, can
To well solve the consistency problem in the offline later product function of volume production, ensure product quality.
Off-line test system according to the ... of the embodiment of the present invention for intelligent driving system cabinet-type air conditioner may be implemented to drive intelligence
The off-line test of system cabinet-type air conditioner is sailed, that is, is detached from and independent test is carried out to intelligent driving system cabinet-type air conditioner in entity vehicle, this makes intelligence
The testing cost of energy control loop can substantially reduce.The off-line test system is easy to operate, and effect is intuitive, and test result can
Programming count, it is clear easy-to-use.In addition, the application scenarios of the off-line test system are various, system level usually is both can be used for
Fast verification, can also be used for verifying the consistency of product batches after product volume production.
As described above, in one embodiment, sensor 104 may include camera.The embodiment is described below
Example implementations.
According to embodiments of the present invention, input source 102 may include the first display, and sensor 104 may include that test is taken the photograph
As head, the first display is displayed for including the ambient image of default environment；Test camera can be used for being directed to first
Ambient image shown by display carries out Image Acquisition, to obtain image to be detected, wherein environmental information includes mapping to be checked
The image information of picture.
Ambient image can be acquired in advance using standard camera head.Optionally, standard camera head may be mounted at mark
On quasi- vehicle, as a series of images comprising default environment of standard vehicle traveling acquisition are as ambient image.
First display can be the display of high refresh rate.Since camera collection image has certain frequency, it is
Camera is set to collect stable image, the refresh rate of the first display can be set to the Image Acquisition with camera
Frequency is consistent or picture-taken frequency higher than camera.For example, the first display can be the display that refresh rate is 144HZ
Device.
Test camera can be directed to the content that the first display is shown and carry out Image Acquisition.It is appreciated that be detected
The case where default environment can be known in image, therefore environmental information may include the image information of image to be detected.
Using camera as sensor, the intelligent driving based on camera that can test intelligent driving system cabinet-type air conditioner is calculated
The accuracy of method.
According to embodiments of the present invention, the type for presetting environment is one or more, and the number of ambient image is one or more
A, one or more ambient images separately include one or more default environment, and the number of image to be detected is one or more,
First display is specifically used for showing one or more ambient images successively；It tests camera and is specifically used for acquisition respectively and one
Or multiple ambient images one or more image to be detected correspondingly；Processor 106 can judge intelligence in the following manner
The quality of energy control loop cabinet-type air conditioner 120：For each in one or more image to be detected, by intelligent driving system cabinet-type air conditioner
Default environment in the 120 environment sensing information ambient images corresponding with the image to be detected determined based on the image to be detected
Known perception information compare, with determine intelligent driving system cabinet-type air conditioner 120 be directed to the corresponding ambient image of the image to be detected
Perceptual error；The perceptual error that one or more ambient images are directed to based on intelligent driving system cabinet-type air conditioner 120 judges that intelligence is driven
Whether the quality for sailing system cabinet-type air conditioner 120 is qualified.
In one example, processor 106 can be based on intelligent driving system cabinet-type air conditioner 120 in the following manner and be directed to one
Or the perceptual error of multiple ambient images judges whether the quality of intelligent driving system cabinet-type air conditioner 120 is qualified：For one or more
Each in ambient image, if intelligent driving system cabinet-type air conditioner 120 is less than error threshold for the perceptual error of the ambient image
Value, it is determined that intelligent driving system cabinet-type air conditioner 120 passes through for the environment sensing of the ambient image, otherwise determines intelligent driving system
Cabinet-type air conditioner 120 does not pass through for the environment sensing of the ambient image；If intelligent driving system cabinet-type air conditioner 120 is directed to one or more rings
The percent of pass of the environment sensing of border image be more than percent of pass threshold value, it is determined that intelligent driving system cabinet-type air conditioner 120 it is up-to-standard, it is no
Then determine the off quality of intelligent driving system cabinet-type air conditioner 120.
For example, 100 ambient images can be collected in advance, each ambient image (is directed to certain comprising a kind of default environment
A kind of default environment acquisition), the environment that varying environment image is included can be identical or different.In test intelligent driving system
During cabinet-type air conditioner 120,100 ambient images can be shown on the first display successively.First display shows the i-th (i=
1,2,3 ... 100) a ambient image when, test camera can be directed to the first display shown by i-th of ambient image into
Row Image Acquisition obtains corresponding i-th of image to be detected.I-th of image to be detected can be sent to intelligence by test camera
Energy control loop cabinet-type air conditioner 120, intelligent driving system cabinet-type air conditioner 120 handles i-th of image to be detected, determines the mapping to be checked
As corresponding environment sensing information, the environment sensing information is it is also assumed that be environment sensing corresponding with i-th of ambient image
Information.Processor 106 can be corresponding with i-th of ambient image known by the corresponding environment sensing information of i-th of ambient image
Perception information compares, and calculates gap between the two, obtains the perception that intelligent driving system cabinet-type air conditioner 120 is directed to the ambient image
Error (i.e. the perceptual error of the ambient image).Illustratively, if the perceptual error is less than error threshold, it may be considered that intelligence
Energy control loop cabinet-type air conditioner 120 passes through for the environment sensing of i-th of ambient image, if the perceptual error is greater than or equal to error
Threshold value, it may be considered that intelligent driving system cabinet-type air conditioner 120 does not pass through for the environment sensing of i-th of ambient image.
Finally, test camera can acquire acquisition and one-to-one 100 image to be detected of 100 ambient images,
Processor can calculate the perceptual error for obtaining 100 ambient images, and can determine the environment sensing of 100 ambient images
Percent of pass.Assuming that percent of pass threshold value is 95%, if there are 90 in 100 ambient images by environment sensing, can determine
Intelligent driving system cabinet-type air conditioner 120 it is off quality, can be with if having 98 in 100 ambient images by environment sensing
Determine the up-to-standard of intelligent driving system cabinet-type air conditioner 120.
In another example, processor 106 can be based on intelligent driving system cabinet-type air conditioner 120 in the following manner and be directed to one
The perceptual error of a or multiple ambient images judges whether the quality of intelligent driving system cabinet-type air conditioner 120 is qualified：Based on intelligent driving
The perceptual error that system cabinet-type air conditioner 120 is directed to one or more ambient images calculates overall error；Overall error is compared with threshold value, such as
Fruit overall error is less than total threshold value, it is determined that intelligent driving system cabinet-type air conditioner 120 it is up-to-standard, otherwise determine intelligent driving system cabinet
Machine 120 it is off quality.Total threshold value is preset threshold value, and size can be set as needed, and the present invention does not carry out this
Limitation.
Illustratively, when the number of ambient image is one, if the perceptual error of the ambient image is less than error threshold
Value, then can directly determine the up-to-standard of intelligent driving system cabinet-type air conditioner 120, whereas if the perceptual error of the ambient image
More than or equal to error threshold, then the off quality of intelligent driving system cabinet-type air conditioner 120 can be directly determined.
According to embodiments of the present invention, test system 110 can also include second display, and second display is used for and intelligence
Control loop cabinet-type air conditioner 120 connects, and second display is for showing image to be detected.
Intelligent driving system cabinet-type air conditioner 120 can export image to be detected to second display, will be waited for by second display
Detection image is displayed on the screen, so that user checks.User can be sentenced by checking image to be detected on second display
Whether disconnected test collected image to be detected of camera meets the requirements, such as, it can be determined that the clarity of image to be detected, angle
Whether degree, and the acquisition position of test camera are suitable.If image to be detected is unsatisfactory for requiring, user can be in time to surveying
Examination camera and/or the first display are adjusted, so that test camera can collect more satisfactory mapping to be checked
Picture.
According to embodiments of the present invention, the first display can be also used for the display in display environment image and be used to indicate standard
The first identifier of the optical center of camera accords with, and second display can be also used for the display when showing image to be detected and be used to indicate survey
Try the second identifier symbol of the optical center of camera, wherein standard camera head is the camera for acquiring ambient image.
Fig. 2 shows the parts of the off-line test system according to an embodiment of the invention for intelligent driving system cabinet-type air conditioner
Component.In fig. 2, the display 210 in left side is above-mentioned first display, and the display 220 on right side is above-mentioned second display,
Test camera 230 is additionally provided among two displays.
As shown in Fig. 2, showing the concentric circles of black and white and the cross hairs of black on the first display 210.For
The first identifier symbol of the optical center of instruction standard camera may include the concentric circles of the black and white and the cross hairs of black.Standard
Camera is the camera for being originally used for acquisition ambient image.For example, can make standard vehicle along road traveling in advance, with setting
The standard camera head being placed in standard vehicle acquires a series of ambient images.The row of standard vehicle when acquiring each ambient image
Sailing the parameter of status information and standard camera head is known, determines.In each ambient image, the light of standard camera head
The heart can be determined according to information such as the parameters of standard camera head.It illustratively, can be by the data that are connect with the first display
Reason equipment calculates the optical center of standard camera in each ambient image, and controls the identifier that the first display shows the optical center.
Similarly, in each image to be detected, the optical center for testing camera can be according to the parameter etc. of test camera
Information determines.Illustratively, the light that camera is tested in each image to be detected can be calculated by intelligent driving system cabinet-type air conditioner 120
The heart, and control the identifier that second display shows the optical center.Illustratively, it is aobvious to can be also used for connection second for processor 106
Show device, in such a case, it is possible to calculate the optical center for testing camera in each image to be detected by processor 106, and controls
Second display shows the identifier of the optical center.Processor 106 can be used for receiving from intelligent driving system cabinet-type air conditioner 120 to be detected
Image or processor 106 can be also used for connecting test camera, and receive image to be detected from test camera.
As shown in Fig. 2, the concentric circles for showing image to be detected on second display 220, while being also displayed in white, is used for
Indicate that the second identifier symbol of the optical center of test camera may include the concentric circles of the white.Since image to be detected itself includes
There is the information that first identifier accords with, therefore can see first identifier symbol and second identifier symbol, user simultaneously on the second display
It can judge whether the optical center for testing camera is aligned with the optical center of standard camera head based on two identifiers, if misalignment,
User can adjust the position of test camera, so that optical center is aligned.Illustratively, it can be taken the photograph for fixed test by rotation
As head rack on rotation button adjust test camera.For example, if three rings among two concentric circles can be right
Standard, the then optical center that can be considered as test camera and standard camera head have been aligned.
The optical center for testing camera is aligned with the optical center of standard camera head, it is ensured that test camera is relative to first
The position for the default environment (the default environment is presented by ambient image) that display is presented is acquired with Previous standards camera
Position when ambient image relative to default environment is identical, this is advantageously implemented effective emulation for default environment, with more preferable
Intelligent driving system is tested on ground.
According to embodiments of the present invention, test system 110 can also include：Data processing equipment is connect with the first display,
For controlling the display of ambient image on the first display.
Fig. 3 shows the part of the off-line test system according to an embodiment of the invention for intelligent driving system cabinet-type air conditioner
Component and intelligent driving system cabinet-type air conditioner.Similar with Fig. 2, Fig. 3 shows that two displays, left side are the first displays 310, right
Side is second display 320.320 front of second display is provided with test camera 330.Cuboid shown in the lower rights Fig. 3
Device is data processing equipment 340.Data processing equipment can be the device for arbitrarily having certain data-handling capacity, can
For the display of control ambient image on the first display, and may be alternatively used for carrying out some images to ambient image
Processing (such as the optical center of standard camera head is calculated based on ambient image).For example, data processing equipment can be microcomputer, move
Dynamic terminal etc..In addition, Fig. 3 also shows intelligent driving system cabinet-type air conditioner 360.
According to embodiments of the present invention, test system 110 can also include rack, for input source 102, sensor 104,
At least two in intelligent driving system cabinet-type air conditioner 120 and processor 106 be attached and/or to input source 102, sensor 104,
At least one in intelligent driving system cabinet-type air conditioner 120 and processor 106 is fixed.
With continued reference to Fig. 3, wherein under the devices such as the first display 310, second display 320 and test camera 330
The perforated plate of side is rack 350, components can be waited to be fixed test camera 330, ensure each device in test process
Stability, reduce test error.In addition, rack 350 can be used for the different components in connecting test system 110.
The exemplary test flow of intelligent driving system cabinet-type air conditioner 120 is described with reference to Fig. 3, the testing process is as follows：
1) high refresh rate display 310, is connected to data processing equipment 340.
2) intelligent driving system cabinet-type air conditioner 360, is connected into camera 330, and ensures intelligent driving system cabinet-type air conditioner 360 and camera shooting
First 330 access is normal.
3) it, controls ambient image by data processing equipment 340 to start to show on display 310, and in intelligent driving
Start camera on system cabinet-type air conditioner 360 and control program, to control the unlatching of camera 330.
4) position of camera 330, is adjusted so that on its optical center and display 310 by the rotation button on rack 350
Shown optical center overlaps, such as the black and white concentric circles effect presented on display 320 in Fig. 3.
5) different ambient images, is constantly shown by display 310.Camera 330 is constantly directed to 310 institute of display
The ambient image of display carries out Image Acquisition, obtains image to be detected.Intelligent driving system cabinet-type air conditioner 360 loads intelligent driving vision
Algorithm, and vision positioning is carried out to image to be detected based on the algorithm, obtain the characteristic point of certain target objects (such as building).
The successful identification of target object characteristic point may indicate that the hardware-in―the-loop test system based on camera can work normally.
6), data verification：Assuming that participate in test image be N number of ambient image, these images before volume production starts
Collection after having carried out the load of intelligent driving vision algorithm has collected to obtain in standard camera head, standard intelligence
Environment sensing information under control loop cabinet-type air conditioner, standard intelligent driving vision algorithm (it is standard value).Can by standard value with
The offline later intelligent driving system cabinet-type air conditioner of volume production obtains after loading intelligent driving vision algorithm for identical N number of ambient image
Result be compared, for example, the value of X-coordinate, Y coordinate and radian in vehicle location result can be compared.
By the consistency of comparing result, the perceptual error of each ambient image is determined.It is determined for the perceptual error of N number of ambient image
Later, the percent of pass that can be perceived with computing environment, judges the quality of intelligent driving system cabinet-type air conditioner.Whole flow process terminates can be completed
One intelligent driving system cabinet-type air conditioner in ring test.
7), if necessary to test more intelligent driving system cabinet-type air conditioners of volume production, every intelligence can be tested one by one
Control loop cabinet-type air conditioner, only needs replacing new intelligent driving system cabinet-type air conditioner every time, and nothing needs to change hardware-in―the-loop test system
In device.
As described above, in another embodiment, sensor 104 may include radar installations.The implementation is described below
The example implementations of example.
According to embodiments of the present invention, input source 102 may include target object, and sensor 104 may include radar installations,
Radar installations can be used for using electromagnetic wave detection preset environment in target object position, wherein environmental information include with
The relevant radar data in position of target object.Illustratively, radar installations may include laser radar, millimetre-wave radar, surpass
It is one or more in sound radar.
In the present embodiment, target object may include barrier.Radar installations can be same as detecting in default environment
The position of barrier.Fig. 4 shows the detection schematic diagram of radar installations according to an embodiment of the invention.Reality shown in Fig. 4
Apply in example, it is assumed that laser radar detection distance be 80 meters, millimetre-wave radar detection range be 100 meters, ultrasonic radar detection away from
From being 5 meters.Illustratively, it can place obstacles at position as shown in Figure 4 in the effective detection range of radar installations
Object.In Fig. 4,1,2,3 ... 30 these numbers respectively represent different positions.
Function, the performance of algorithm of the intelligent driving system cabinet-type air conditioner based on radar installations can be tested using preset barrier
And stability.During the test, radar installations can acquire with the relevant information in the position of preset barrier, with obtain
Radar data.Intelligent driving system cabinet-type air conditioner 120 can obtain the location information of preset barrier based on radar data.Processor
106 can collect the correlation log and data of intelligent driving system cabinet-type air conditioner 120, including calculate the position letter of the barrier obtained
Breath.Processor 106 can by the location information received from intelligent driving system cabinet-type air conditioner 120 and a reference value (preset barrier
Known position information) contrast verification is carried out, the report about test result can be exported after completion contrast verification.
According to embodiments of the present invention, the case where intelligent driving system cabinet-type air conditioner 120 connects sensor 104 and processor 106
Under, target object can move between multiple predeterminated positions, and environmental information may include target object respectively multiple default
The radar data that detection obtains when position.
Illustratively, target object can be unmanned plane or intelligent robot.Unmanned plane or intelligent robot can be automatic
Movement is moved by people or other control systems control, convenient to move and stop between multiple predeterminated positions, facilitates realization
Test.
It illustratively, can be by unmanned plane or intelligent robot according to the gradual moving obstacle of predeterminated position, Huo Zhezhi
It connects using unmanned plane or intelligent robot as barrier, unmanned plane or intelligent robot is made gradually to be moved according to predeterminated position.In advance
If the change sequence of position can also be to preset, as shown in figure 4, can be become larger according to number (i.e. from 1 to 30)
Sequence makes barrier be moved between 30 predeterminated positions.Illustratively, barrier can stop one in each predetermined position
The section time, such as 1 minute.Radar installations can continue to detect the position of barrier, track the real time position of barrier.Intelligence is driven
The location information of barrier can be determined in real time according to the radar data that radar installations detects by sailing system cabinet-type air conditioner 120.
According to embodiments of the present invention, environment sensing information may include position of the target object respectively under multiple test positions
Confidence ceases, and processor 106 can judge the quality of intelligent driving system cabinet-type air conditioner 120 in the following manner：If multiple default positions
The known position information set is corresponding with the location information of multiple test positions consistent, and intelligent driving system cabinet-type air conditioner 120 detects
To duration of multiple test positions, to rest on target object the residence time of multiple predeterminated positions corresponding consistent, it is determined that
Intelligent driving system cabinet-type air conditioner 120 it is up-to-standard, otherwise determine the off quality of intelligent driving system cabinet-type air conditioner 120.
Above-mentioned example is continued to use, predeterminated position is 30, and barrier stops 1 minute under each predeterminated position.Intelligence is driven
It sails the data that system cabinet-type air conditioner 120 is sent based on radar installations to be calculated, certain position is obtained when intelligent driving system cabinet-type air conditioner 120 calculates
Set that there are when barrier, it is believed that intelligent driving system cabinet-type air conditioner 120 detects the barrier.If when barrier appears in jth (j
=1,2,3 ... 30) a predeterminated position when, intelligent driving system cabinet-type air conditioner 120 can be continuously detected barrier 1 minute, and
The known position information of currently detected location information (i.e. the location information of test position) and j-th of predeterminated position keeps one
It causes, then can determine that intelligent driving system cabinet-type air conditioner 120 passes through for the detection of j-th of predeterminated position.If intelligent driving system
Cabinet-type air conditioner 120 passes through for the detection of 30 predeterminated positions, it may be considered that intelligent driving system cabinet-type air conditioner is up-to-standard.If
Intelligent driving system cabinet-type air conditioner does not detect the location information of 30 positions, such as only detects intelligent driving system cabinet-type air conditioner 28
Location information under a position, or when barrier rests under a certain predeterminated position, intelligent driving system cabinet-type air conditioner is not held
It is continuous to detect the barrier, such as the barrier under the predeterminated position is only detected in 30 seconds, then it can determine intelligent driving
System cabinet-type air conditioner it is off quality.
Above-mentioned Quality estimation mode is only a kind of example, and the invention is not limited in above-mentioned example, intelligent driving system cabinets
Whether any suitable standard may be used in qualification to the quality of machine 120 is judged.
Fig. 5 shows that the flow according to an embodiment of the invention that off-line test is carried out to intelligent driving system cabinet-type air conditioner is illustrated
Figure.As shown in figure 5, input source, which provides, presets environment, input source can be such as computer, TV, high refresh rate large-screen display
In it is one or more.Sensor acquires environmental information, intelligent driving system cabinet-type air conditioner receiving sensor data.Intelligent driving system
After cabinet-type air conditioner receives sensing data, programmed algorithm, and the operation result of output program algorithm can be enabled.Intelligent driving system
Intelligent driving algorithm in system cabinet-type air conditioner may include one or more in vision algorithm, perception algorithm, location and obstacle avoidance algorithm etc..
Processor compares the result that intelligent driving system cabinet-type air conditioner exports with standard value.In the embodiment shown in fig. 5, if intelligence
Similarity between the result and standard value of energy control loop cabinet-type air conditioner output is greater than or equal to 90%, and (i.e. error is less than or equal to
10%), it is determined that intelligent driving system cabinet-type air conditioner it is up-to-standard, otherwise determine that its is off quality.As shown in figure 5, can be with
It is reported by output writer result.
According to a further aspect of the invention, a kind of off-line test method for intelligent driving system cabinet-type air conditioner is provided, is applied to
A kind of off-line test system for intelligent driving system cabinet-type air conditioner, which includes input source, sensor and processor.Figure
6 show the schematic flow of the off-line test method 600 according to an embodiment of the invention for intelligent driving system cabinet-type air conditioner
Figure.As shown in fig. 6, test method 600 includes step S610, S620 and S630.
In step S610, is provided using input source and preset environment.
In step S620, the environmental information for presetting environment is acquired using sensor, and environmental information is transferred to intelligence and is driven
Sail system cabinet-type air conditioner, wherein intelligent driving system cabinet-type air conditioner is used to determine environment sensing information based on environmental information, wherein environment sense
Know that information includes following one or more：Road in the car status information of virtual vehicle corresponding to sensor, default environment
The location information of road information, target object in default environment.
In step S630, the quality of intelligent driving system cabinet-type air conditioner is judged based on environment sensing information using processor.
Input source 102, the sensor of the off-line test system 110 for intelligent driving system cabinet-type air conditioner is hereinbefore described
104, the structure, the method for operation and its advantage etc. of processor 106 etc., those skilled in the art combine Fig. 1 to 5 and above for
The description of test system 110, it is possible to understand that embodiment and its advantage of test method 600 etc. are repeated not to this herein.
According to a further aspect of the invention, a kind of off-line test system for sensor is provided.Fig. 7 is shown according to the present invention
One embodiment for the off-line test system 710 of sensor and the schematic block diagram of relevant sensor 720.Such as Fig. 7
Shown, the off-line test system 710 for sensor includes input source 702, intelligent driving system cabinet-type air conditioner 704 and processor 706.
Input source 702 is for providing default environment.
Environmental information of the intelligent driving system cabinet-type air conditioner 704 for the default environment of receiving sensor acquisition, and it is based on environment
Information determines environment sensing information, wherein environment sensing information includes following one or more：Virtual vehicle corresponding to sensor
Car status information, the road information in default environment, the target object in default environment location information.
Processor 706 is used to judge based on environment sensing information the quality of sensor 720.
It is calculated it will be understood by those skilled in the art that intelligent driving system cabinet-type air conditioner can store and run various intelligent drivings
Method, sensor can acquire various data, and the data that intelligent driving system cabinet-type air conditioner can be acquired based on sensor realize that intelligence is driven
The control sailed.Therefore, for the test of intelligent driving system may include intelligent driving system cabinet-type air conditioner test and/or for pass
The test of sensor.
Input source 102, sensor 104 and processor 106 and intelligent driving system cabinet-type air conditioner 120 shown in FIG. 1 and Fig. 7 institutes
Input source 702, sensor 720 and the processor 706 and intelligent driving system cabinet-type air conditioner 704 shown is similar, the reality of Fig. 1 descriptions
Apply example and embodiment that Fig. 7 is described difference lies in test objects different, correspondingly testing the building block of system, some are not yet
Together, but the test process in two embodiments can be similar.That is, input source 702 shown in Fig. 7, sensor
720 and processor 706 and intelligent driving system cabinet-type air conditioner 704 operation principle and mode and input source 102 shown in FIG. 1, pass
The operation principle and mode of sensor 104 and processor 106 and intelligent driving system cabinet-type air conditioner 120 are almost the same, only in Fig. 1 institutes
In the embodiment shown, the error reflection between environment sensing information and known perception information determined by intelligent driving system cabinet-type air conditioner
Be intelligent driving system cabinet-type air conditioner accuracy, final judging result is whether the quality of intelligent driving system cabinet-type air conditioner qualified,
And in the embodiment shown in fig. 7, between environment sensing information and known perception information determined by intelligent driving system cabinet-type air conditioner
Error reflection be sensor accuracy, final judging result is whether the quality of sensor qualified.
Those skilled in the art can refer to above for the off-line test system 100 for intelligent driving system cabinet-type air conditioner
Description understands structure, working method and the advantage of the off-line test system 700 for sensor, for sake of simplicity, herein no longer
This is repeated.
The off-line test system for sensor provided according to embodiments of the present invention, may be implemented to the offline of sensor
Test is detached from and carries out independent test to sensor in entity vehicle, this allows the testing cost of intelligent driving system big
It is big to reduce.The off-line test system is easy to operate, and effect is intuitive, test result can programming count, it is clear easy-to-use.In addition, should
The application scenarios of off-line test system are various, both can be used for the fast verification of system level usually, can also be in product volume
It is used for verifying the consistency of product batches after production.
Illustratively, input source 702 may include the first display, and sensor 720 may include testing camera, and first
Display is used to show the ambient image for including default environment；Camera is tested to be used for for the environment shown by the first display
Image carries out Image Acquisition, to obtain image to be detected, wherein environmental information includes the image information of image to be detected.
Illustratively, the type for presetting environment be it is one or more, the number of ambient image be it is one or more, one or
Multiple ambient images separately include one or more default environment, and the number of image to be detected is one or more, the first display
Implement body for showing one or more ambient images successively；It tests camera and is specifically used for acquisition respectively and one or more rings
Border image one or more image to be detected correspondingly；Processor 706 can judge sensor 720 in the following manner
Quality：For each in one or more image to be detected, intelligent driving system cabinet-type air conditioner 704 is based on the image to be detected
Determining environment sensing information is compared with the known perception information of the default environment in the corresponding ambient image of the image to be detected
Compared with to determine that intelligent driving system cabinet-type air conditioner 704 is directed to the perceptual error of the corresponding ambient image of the image to be detected；Based on intelligence
The perceptual error that control loop cabinet-type air conditioner 704 is directed to one or more ambient images judges whether the quality of sensor 720 is qualified.
Illustratively, processor 706 is based on intelligent driving system cabinet-type air conditioner 704 and is directed to one or more rings in the following manner
The perceptual error of border image judges whether the quality of sensor 720 is qualified：For each in one or more ambient images,
If intelligent driving system cabinet-type air conditioner 704 is less than error threshold for the perceptual error of the ambient image, it is determined that intelligent driving system
System cabinet-type air conditioner 704 passes through for the environment sensing of the ambient image, otherwise determines that intelligent driving system cabinet-type air conditioner 704 is directed to the environment map
The environment sensing of picture does not pass through；If intelligent driving system cabinet-type air conditioner 704 is directed to the environment sensing of one or more ambient images
Percent of pass is more than percent of pass threshold value, it is determined that sensor 720 it is up-to-standard, otherwise determine the off quality of sensor 720.
Illustratively, test system further includes second display, and second display is used for and intelligent driving system cabinet-type air conditioner 704
Connection, second display is for showing image to be detected.
Illustratively, second display is additionally operable to when showing image to be detected, and display is used to indicate standard camera head
The first identifier of optical center accords with and is used to indicate the second identifier symbol of the optical center of test camera, wherein standard camera head is to use
In the camera of acquisition ambient image.
Illustratively, test system further includes：Data processing equipment is connect with the first display, for controlling environment map
As display on the first display.
Illustratively, input source 702 includes target object, and sensor 720 includes radar installations, and radar installations is for utilizing
Electromagnetic wave detection presets the position of the target object in environment, wherein environmental information includes relevant with the position of target object
Radar data.
Illustratively, radar installations includes one or more in laser radar, millimetre-wave radar, ultrasonic radar.
Illustratively, in the case where sensor 720 connects intelligent driving system cabinet-type air conditioner 704, target object is multiple pre-
If being moved between position, environmental information includes the target object radar data that detection obtains in multiple predeterminated positions respectively.
Illustratively, environment sensing information includes location information of the target object respectively under multiple test positions, processing
Device 706 judges the quality of sensor 720 in the following manner：If the known position information of multiple predeterminated positions and multiple detections
The location information of position correspond to it is consistent, and intelligent driving system cabinet-type air conditioner 704 detect duration of multiple test positions with
Target object rest on multiple predeterminated positions residence time correspond to it is consistent, it is determined that sensor 720 it is up-to-standard, otherwise really
Determine the off quality of sensor 720.
Illustratively, target object is unmanned plane or intelligent robot.
Illustratively, test system 700 can also include rack, for input source 702, sensor 720, intelligent driving
At least two in system cabinet-type air conditioner 704 and processor 706 are attached and/or to input source 702, sensor 720, intelligent driving
At least one in system cabinet-type air conditioner 704 and processor 706 is fixed.
According to embodiments of the present invention on the other hand, a kind of off-line test method for sensor is provided, is applied to one kind
For the off-line test system of sensor, which includes input source, intelligent driving system cabinet-type air conditioner and processor.Fig. 8 shows
Go out the schematic flow chart of the off-line test method 800 according to an embodiment of the invention for sensor.As shown in figure 8,
Test method 800 includes step S810, S820 and S830.
In step S810, is provided using input source and preset environment.
In step S820, using the environmental information of the default environment of intelligent driving system cabinet-type air conditioner receiving sensor acquisition, and
Environment sensing information is determined based on environmental information, wherein environment sensing information includes following one or more：Corresponding to sensor
The car status information of virtual vehicle, the road information in default environment, the target object in default environment location information.
In step S830, the quality of sensor is judged based on environment sensing information using processor.
Input source 702, the sensor of the off-line test system 710 for intelligent driving system cabinet-type air conditioner is hereinbefore described
704, the structure, the method for operation and its advantage etc. of processor 706 etc., those skilled in the art combine Fig. 7 and above for surveys
The description of test system 710, it is possible to understand that embodiment and its advantage of test method 800 etc. are repeated not to this herein.
Those of ordinary skill in the art may realize that lists described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is implemented in hardware or software, depends on the specific application and design constraint of technical solution.Professional technician
Described function can be realized using different system to each specific application, but this realization is it is not considered that exceed
The scope of the present invention.
Similarly, it should be understood that in order to simplify the present invention and help to understand one or more of each inventive aspect,
To in the description of exemplary embodiment of the present invention, each feature of the invention be grouped together into sometimes single embodiment, figure,
Or in descriptions thereof.However, the system of the present invention should be construed to reflect following intention：It is i.e. claimed
The present invention claims the more features of feature than being expressly recited in each claim.More precisely, such as corresponding power
As sharp claim reflects, inventive point is that the spy of all features less than some disclosed single embodiment can be used
It levies to solve corresponding technical problem.Therefore, it then follows thus claims of specific implementation mode are expressly incorporated in this specific
Embodiment, wherein each claim itself is as a separate embodiment of the present invention.
It should be noted that the present invention will be described rather than limits the invention for above-described embodiment, and ability
Field technique personnel can design alternative embodiment without departing from the scope of the appended claims.In the claims,
Any reference mark between bracket should not be configured to limitations on claims.Word "comprising" does not exclude the presence of not
Element or step listed in the claims.Word "a" or "an" before element does not exclude the presence of multiple such
Element.The present invention can be by means of including the hardware of several different elements and being come by means of properly programmed computer real
It is existing.In the unit claims listing several devices, several in these devices can be by the same hardware branch
To embody.The use of word first, second, and third does not indicate that any sequence.These words can be explained and be run after fame
Claim.
The above description is merely a specific embodiment or to the explanation of specific implementation mode, protection of the invention
Range is not limited thereto, and any one skilled in the art in the technical scope disclosed by the present invention, can be easily
Expect change or replacement, should be covered by the protection scope of the present invention.Protection scope of the present invention should be with claim
Subject to protection domain.
Claims (10)
1. a kind of off-line test system for intelligent driving system cabinet-type air conditioner, including：
Input source, for providing default environment；
Sensor, the environmental information for acquiring the default environment, and the environmental information is transferred to intelligent driving system
Cabinet-type air conditioner, wherein the intelligent driving system cabinet-type air conditioner is used to determine environment sensing information based on the environmental information, wherein described
Environment sensing information includes following one or more：It is the car status information of virtual vehicle corresponding to the sensor, described
The location information of road information in default environment, the target object in the default environment；And
Processor, the quality for judging the intelligent driving system cabinet-type air conditioner based on the environment sensing information.
2. test system as described in claim 1, wherein the input source includes the first display, and the sensor includes
Camera is tested,
First display is for showing the ambient image for including the default environment；
The test camera is used to carry out Image Acquisition for the ambient image shown by first display, to obtain
Obtain image to be detected, wherein the environmental information includes the image information of described image to be detected.
3. test system as claimed in claim 2, wherein the type of the default environment is one or more, the environment
The number of image is one or more, and one or more of ambient images separately include one or more default environment,
The number of described image to be detected is one or more,
First display is specifically used for showing one or more of ambient images successively；
The test camera is specifically used for acquiring respectively one correspondingly with one or more of ambient images
Or multiple image to be detected；
The processor judges the quality of the intelligent driving system cabinet-type air conditioner in the following manner：
For each in one or more of image to be detected, it is to be detected that the intelligent driving system cabinet-type air conditioner is based on this
The known perception information of default environment in the environment sensing information ambient image corresponding with the image to be detected that image determines
It compares, the perceptual error of the corresponding ambient image of the image to be detected is directed to the determination intelligent driving system cabinet-type air conditioner；
Perceptual error based on the intelligent driving system cabinet-type air conditioner for one or more of ambient images judges the intelligence
Whether the quality of control loop cabinet-type air conditioner is qualified.
4. test system as claimed in claim 3, wherein the processor is based on the intelligent driving system in the following manner
System cabinet-type air conditioner for one or more of ambient images perceptual error judge the intelligent driving system cabinet-type air conditioner quality whether
It is qualified：
For each in one or more of ambient images, if the intelligent driving system cabinet-type air conditioner is directed to the environment map
The perceptual error of picture is less than error threshold, it is determined that the intelligent driving system cabinet-type air conditioner is logical for the environment sensing of the ambient image
It crosses, otherwise determines that the intelligent driving system cabinet-type air conditioner does not pass through for the environment sensing of the ambient image；
If the intelligent driving system cabinet-type air conditioner is more than for the percent of pass of the environment sensing of one or more of ambient images
Percent of pass threshold value, it is determined that the intelligent driving system cabinet-type air conditioner it is up-to-standard, otherwise determine the intelligent driving system cabinet-type air conditioner
It is off quality.
5. test system as claimed in claim 2, wherein the test system further includes second display, and described second is aobvious
Show device for being connect with the intelligent driving system cabinet-type air conditioner, the second display is for showing described image to be detected.
6. test system as claimed in claim 5, wherein first display is additionally operable to when showing the ambient image
Display is used to indicate the first identifier symbol of the optical center of standard camera head, and the second display is additionally operable to described to be detected in display
Display is used to indicate the second identifier symbol of the optical center of the test camera when image, wherein the standard camera head is to be used for
Acquire the camera of the ambient image.
7. test system as claimed in claim 2, wherein the test system further includes：
Data processing equipment is connect with first display, for controlling the ambient image in first display
Display.
8. a kind of off-line test method for intelligent driving system cabinet-type air conditioner, it is applied to a kind of for intelligent driving system cabinet-type air conditioner
Off-line test system, the test system include input source, sensor and processor, and the test method includes：
It is provided using the input source and presets environment；
The environmental information of the default environment is acquired using the sensor, and the environmental information is transferred to intelligent driving system
System cabinet-type air conditioner, wherein the intelligent driving system cabinet-type air conditioner is used to determine environment sensing information based on the environmental information, wherein institute
It includes following one or more to state environment sensing information：The car status information of virtual vehicle corresponding to the sensor, institute
State the location information of the road information in default environment, the target object in the default environment；And
The quality of the intelligent driving system cabinet-type air conditioner is judged based on the environment sensing information using the processor.
9. a kind of off-line test system for sensor, including：
Input source, for providing default environment；
Intelligent driving system cabinet-type air conditioner, the environmental information of the default environment for receiving sensor acquisition, and it is based on the ring
Border information determines environment sensing information, wherein the environment sensing information includes following one or more：Corresponding to sensor
The position of the car status information of virtual vehicle, the road information in the default environment, the target object in the default environment
Confidence ceases；And
Processor, the quality for judging the sensor based on the environment sensing information.
10. a kind of off-line test method for sensor is applied to a kind of off-line test system for sensor, the survey
Test system includes input source, intelligent driving system cabinet-type air conditioner and processor, and the test method includes：
It is provided using the input source and presets environment；
Using the environmental information of the default environment of intelligent driving system cabinet-type air conditioner receiving sensor acquisition, and based on described
Environmental information determines environment sensing information, wherein the environment sensing information includes following one or more：Corresponding to sensor
The car status information of virtual vehicle, the road information in the default environment, the target object in the default environment
Location information；And
The quality of the sensor is judged based on the environment sensing information using the processor.
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