CN109118760B - Comprehensive test system and method for unmanned vehicle traffic sign visual detection and response - Google Patents
Comprehensive test system and method for unmanned vehicle traffic sign visual detection and response Download PDFInfo
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- CN109118760B CN109118760B CN201810935190.4A CN201810935190A CN109118760B CN 109118760 B CN109118760 B CN 109118760B CN 201810935190 A CN201810935190 A CN 201810935190A CN 109118760 B CN109118760 B CN 109118760B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0116—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from roadside infrastructure, e.g. beacons
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096833—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route
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Abstract
The invention discloses a comprehensive test system and a comprehensive test method for visual detection and response of a traffic sign of an unmanned vehicle, which are used for recording the history record of the running of the unmanned vehicle to be tested and identifying motion parameters; recording the detection result of the unmanned vehicle on the traffic sign, and recording the distance between the position and the traffic sign after the detection is finished; collecting the current driving state of the unmanned vehicle; determining response time according to the position of the unmanned vehicle after the unmanned vehicle detects the traffic sign, the distance of the traffic sign and the current driving state; and comparing the detection accuracy of the unmanned vehicle to the traffic sign with the calculated response time and the response set threshold, calculating the relation between the response time and the set safety response time, and determining whether the traffic sign detection passes or not. The invention effectively determines the detection accuracy of the unmanned vehicle on the traffic sign and the response time of the unmanned vehicle on the corresponding traffic sign indication, and can comprehensively test and evaluate the traffic sign detection and response capability of the unmanned vehicle.
Description
Technical Field
The invention relates to a comprehensive test system and a comprehensive test method for visual detection and response of a traffic sign of an unmanned vehicle.
Background
In the process of advancing the unmanned vehicle on the road, various traffic signs on the driving road need to be automatically detected through a vision system, and the driving decision of the scene to be advanced is automatically determined by combining road information and self motion information. In the prior art, when testing the traffic sign detection function of the unmanned vehicle, only the accuracy of the traffic sign detection is usually concerned, and the test for the response time of the traffic sign indication information is not considered.
Disclosure of Invention
The invention provides a comprehensive test system and a comprehensive test method for visual detection and response of a traffic sign of an unmanned vehicle, aiming at solving the problems, the invention can greatly reduce the correlation between the unmanned vehicle and the test system, can effectively determine the detection accuracy of the unmanned vehicle on the traffic sign and the response time of the unmanned vehicle on the corresponding traffic sign indication through the unmanned vehicle motion parameter identification and the traffic sign detection result feedback, and can comprehensively test and evaluate the traffic sign detection and response capability of the unmanned vehicle.
In order to achieve the purpose, the invention adopts the following technical scheme:
a comprehensive test method for visual detection and response of traffic signs of unmanned vehicles comprises the following steps:
recording the history of the running of the unmanned vehicle to be tested, and identifying the motion parameters;
recording the detection result of the unmanned vehicle on the traffic sign, and recording the distance between the position and the traffic sign after the detection is finished;
collecting the current driving state of the unmanned vehicle;
determining response time according to the position of the unmanned vehicle after the unmanned vehicle detects the traffic sign, the distance of the traffic sign and the current driving state;
and comparing the detection accuracy of the unmanned vehicle to the traffic sign with the calculated response time and the response set threshold, calculating the relation between the response time and the set safety response time, and determining whether the traffic sign detection passes or not.
Furthermore, multiple sets of historical running data of the unmanned vehicle for advancing, steering, decelerating and accelerating under different testing road conditions, temperatures and humidities are collected, the motion parameters of the unmanned vehicle are identified according to the historical data, and the testing results are used for calculating the response time of the unmanned vehicle to the traffic sign indication in the testing stage.
Furthermore, the unmanned vehicle visually detects the traffic sign in the advancing process, feeds back the detection result, and detects the current speed, the road transverse position and the vehicle head orientation parameters of the unmanned vehicle.
Further, according to the road type, the road temperature, the road humidity, the unmanned vehicle motion parameters and the traffic sign type, calculating the response time of the unmanned vehicle to the traffic sign indication, and determining whether the test is passed or not by comparing the detection accuracy of the unmanned vehicle to the traffic sign with the calculated response time and a response setting threshold value.
An integrated unmanned vehicle traffic sign visual inspection and response testing system, comprising:
the vehicle-mounted detection data collection unit is configured to collect multiple groups of historical running data of advancing, steering, decelerating and accelerating of the unmanned vehicle under different test road conditions, temperatures and humidities and detect traffic signs at the same time;
the logic unit is configured to issue a detection instruction to the vehicle-mounted detection data collection unit and the road detection unit;
the road condition information collection unit is configured to detect the current speed, the road transverse position and the head orientation parameters of the unmanned vehicle;
a data recording unit configured to record various types of detection data;
the calculation unit is configured to calculate the response time of the unmanned vehicle to the traffic sign indication according to the road type, the road temperature, the road humidity, the unmanned vehicle motion parameters and the traffic sign type;
and the test unit is configured to compare the detection accuracy of the unmanned vehicle on the traffic sign with the calculated response time and the response setting threshold value, determine whether the test is passed or not, and obtain a test result.
Further, the vehicle-mounted detection data collection unit collects the operation data of the unmanned vehicle under different scene conditions.
Further, the calculation unit calculates the response time expense of the unmanned vehicle to the traffic sign according to the unmanned vehicle motion parameter identification result, the current unmanned vehicle motion parameter, the road temperature, the road humidity and the traffic sign.
Taking the speed limit sign as an example, the calculation method is mainly used for calculating the time from the detection of the speed limit sign to the speed limit value of the deceleration of the unmanned vehicle or below.
Compared with the prior art, the invention has the beneficial effects that:
the system and the method can greatly reduce the correlation between the unmanned vehicle and the test system, can effectively determine the detection accuracy of the unmanned vehicle on the traffic sign and the response time of the unmanned vehicle on the corresponding traffic sign indication through the unmanned vehicle motion parameter identification and the traffic sign detection result feedback, and can comprehensively test and evaluate the traffic sign detection and response capability of the unmanned vehicle.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
FIG. 1 is a schematic diagram of a test system of the present invention;
FIG. 2 is a flow chart of a testing method of the present invention.
The specific implementation mode is as follows:
the invention is further described with reference to the following figures and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
In the present invention, terms such as "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "side", "bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only terms of relationships determined for convenience of describing structural relationships of the parts or elements of the present invention, and are not intended to refer to any parts or elements of the present invention, and are not to be construed as limiting the present invention.
In the present invention, terms such as "fixedly connected", "connected", and the like are to be understood in a broad sense, and mean either a fixed connection or an integrally connected or detachable connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be determined according to specific situations by persons skilled in the relevant scientific or technical field, and are not to be construed as limiting the present invention.
As shown in fig. 1, a system and a method for testing the visual detection and response of a traffic sign of an unmanned vehicle comprehensively tests the detection and the corresponding response time of the unmanned vehicle to the traffic sign. The test system and method comprises:
the test system is composed of an unmanned vehicle historical operation data collection unit, an unmanned vehicle motion parameter identification unit, a test site and test traffic sign, an on-road measurement unit, an on-vehicle detection data collection unit, a road condition information collection unit, a data recording unit, a calculation unit and a test unit. The unmanned vehicle historical operation data collection unit is used for collecting the operation data of the unmanned vehicle under different scene conditions. The unmanned vehicle motion parameter identification unit is used for identifying the unmanned vehicle motion parameters. The road measuring unit is used for detecting the current speed, the road transverse position and the head orientation of the unmanned vehicle. The unmanned vehicle-mounted detection data collection unit is used for collecting the detection result of the unmanned vehicle vision system on the current traffic sign. And the calculation unit calculates the response time expense of the unmanned vehicle to the traffic sign according to the unmanned vehicle motion parameter identification result, the current unmanned vehicle motion parameter, the road temperature, the road humidity and the traffic sign. And the test unit determines whether the test is passed or not according to the detection result of the unmanned vehicle on the traffic sign, the calculated response time and the corresponding set threshold value.
The test method is a two-step test method, which is a preparation stage and a test stage before the test respectively.
Preparation before testing: before testing, the historical operation data of multiple groups of advancing, steering, decelerating, accelerating and the like of the unmanned automobile under different testing road conditions, temperatures and humidity are collected. And then, the unmanned vehicle motion parameter identification unit identifies the motion parameters of the unmanned vehicle according to the historical data, and the test result is used for calculating the response time of the unmanned vehicle to the traffic sign indication in the test stage.
And in the testing stage, the unmanned vehicle visually detects the traffic sign in the advancing process, and feeds back the detection result to the data recording unit through the vehicle-mounted detection data collecting unit. After the data recording unit receives the detection information, the logic unit sends a detection instruction to the on-path detection unit. The road detection unit detects the current speed, the road transverse position and the head orientation parameters of the unmanned vehicle and feeds detection data back to the data recording unit. The calculation unit calculates the response time of the unmanned vehicle to the traffic sign indication according to the road type, the road temperature, the road humidity, the unmanned vehicle motion parameters and the traffic sign type. The test unit determines whether the test is passed or not by comparing the detection accuracy of the unmanned vehicle to the traffic sign and calculating the response time and the response setting threshold.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.
Claims (4)
1. A comprehensive test method for visual detection and response of traffic signs of unmanned vehicles is characterized by comprising the following steps: the method comprises the following steps:
recording the history of the unmanned vehicle to be tested, identifying the motion parameters, and calculating the response time of the unmanned vehicle to the traffic sign indication in the testing stage according to the testing result;
collecting multiple groups of historical running data of the unmanned vehicle for advancing, steering, decelerating and accelerating under different testing road conditions, temperatures and humidities, identifying motion parameters of the unmanned vehicle according to the historical data, and calculating the response time of the unmanned vehicle to traffic sign indication in a testing stage according to a testing result;
recording the detection result of the unmanned vehicle on the traffic sign, and recording the distance between the position and the traffic sign after the detection is finished;
collecting the current running state of the unmanned vehicle;
determining response time according to the position of the unmanned vehicle after the traffic sign detection, the distance of the traffic sign and the current driving state;
comparing the detection accuracy rate of the unmanned vehicle to the traffic sign with the calculated response time and the response set threshold, calculating the relation between the response time and the set safety response time, and determining whether the traffic sign detection passes;
during the traveling process of the unmanned vehicle, visually detecting the traffic sign, feeding back a detection result, and detecting the current speed, the road transverse position and the vehicle head orientation parameters of the unmanned vehicle;
calculating the response time of the unmanned vehicle to the traffic sign indication according to the road type, the road temperature, the road humidity, the unmanned vehicle motion parameters and the traffic sign type, and determining whether the test is passed or not by comparing the detection accuracy of the unmanned vehicle to the traffic sign with the calculated response time and a response setting threshold;
the detection accuracy of the unmanned vehicle on the traffic signs and the response time of the unmanned vehicle on corresponding traffic sign indications are determined through the unmanned vehicle motion parameter identification and the traffic sign detection result feedback, and the traffic sign detection and response capability of the unmanned vehicle can be comprehensively tested and evaluated.
2. A comprehensive test system for visual detection and response of traffic signs of unmanned vehicles is characterized in that: the method comprises the following steps:
the vehicle-mounted detection data collection unit is configured to collect multiple groups of historical running data of advancing, steering, decelerating and accelerating of the unmanned vehicle under different test road conditions, temperatures and humidities and detect traffic signs at the same time;
the logic unit is configured to issue a detection instruction to the vehicle-mounted detection data collection unit and the road detection unit;
the road condition information collection unit is configured to detect the current speed, the road transverse position and the head orientation parameters of the unmanned vehicle;
a data recording unit configured to record various types of detection data;
the calculation unit is configured to calculate the response time of the unmanned vehicle to the traffic sign indication according to the road type, the road temperature, the road humidity, the unmanned vehicle motion parameters and the traffic sign type;
the test unit is configured to compare the detection accuracy rate of the unmanned vehicle on the traffic sign with the calculated response time and the response setting threshold value, determine whether the test is passed or not, and obtain a test result;
the detection accuracy of the unmanned vehicle on the traffic signs and the response time of the unmanned vehicle on corresponding traffic sign indications are determined through the unmanned vehicle motion parameter identification and the traffic sign detection result feedback, and the traffic sign detection and response capability of the unmanned vehicle can be comprehensively tested and evaluated.
3. The integrated unmanned vehicle traffic sign vision inspection and response testing system of claim 2, wherein: the vehicle-mounted detection data collection unit collects the operation data of the unmanned vehicle under different scene conditions.
4. The integrated unmanned vehicle traffic sign vision inspection and response testing system of claim 2, wherein: the calculation unit calculates the response time of the unmanned vehicle to the traffic sign according to the unmanned vehicle motion parameter identification result, the current unmanned vehicle operation parameter, the road temperature, the road humidity and the traffic sign.
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| US10379007B2 (en) * | 2015-06-24 | 2019-08-13 | Perrone Robotics, Inc. | Automated robotic test system for automated driving systems |
| CN105699095B (en) * | 2016-01-27 | 2018-11-13 | 常州加美科技有限公司 | A kind of test method of automatic driving vehicle |
| CN105954040B (en) * | 2016-04-22 | 2019-02-12 | 百度在线网络技术（北京）有限公司 | Test method and device applied to pilotless automobile |
| CN106017949B (en) * | 2016-07-28 | 2019-05-10 | 百度在线网络技术（北京）有限公司 | A kind of test method and device of unmanned vehicle emergency response time |
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