CN109270923A - The real vehicle of LDW controller is in ring test method and system - Google Patents

The real vehicle of LDW controller is in ring test method and system Download PDF

Info

Publication number
CN109270923A
CN109270923A CN201811307491.9A CN201811307491A CN109270923A CN 109270923 A CN109270923 A CN 109270923A CN 201811307491 A CN201811307491 A CN 201811307491A CN 109270923 A CN109270923 A CN 109270923A
Authority
CN
China
Prior art keywords
vehicle
measured
ldw
real
controller
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201811307491.9A
Other languages
Chinese (zh)
Inventor
吴贤静
李娟�
张明福
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Anhui Jianghuai Automobile Group Corp
Original Assignee
Anhui Jianghuai Automobile Group Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Anhui Jianghuai Automobile Group Corp filed Critical Anhui Jianghuai Automobile Group Corp
Priority to CN201811307491.9A priority Critical patent/CN109270923A/en
Publication of CN109270923A publication Critical patent/CN109270923A/en
Pending legal-status Critical Current

Links

Classifications

    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B23/00Testing or monitoring of control systems or parts thereof
    • G05B23/02Electric testing or monitoring
    • G05B23/0205Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
    • G05B23/0208Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
    • G05B23/0213Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols

Abstract

The invention discloses a kind of real vehicles of LDW controller in ring test method and system, comprising: the speed traveling by vehicle to be measured to set;LDW controller is provided on the vehicle to be measured;Acquire the virtual video of lane line and the real-time status of vehicle to be measured;According to the real-time status of the virtual video and the vehicle to be measured, control the LDW controller whether alert.The real vehicle of LDW controller provided by the invention is in ring test method and system, by the way that virtual video is arranged, true lane line video is acquired without LDW, and the real-time status of vehicle to be measured is acquired using Inertial Measurement Unit, come control LDW whether alert, compared with prior art, it reduces costs, and avoids the limitation of engine bench test.

Description

The real vehicle of LDW controller is in ring test method and system
Technical field
The present invention relates to field of intelligent transportation technology more particularly to a kind of real vehicles of LDW controller in ring test method and System.
Background technique
With the development of Automobile Electronic Industry, automobile active safety more and more receives industry and the concern of client. It is different from traditional based on the passive safety system for carrying out driver, occupant protection after the accident, active safety system utilization The acquisition real time information of the sensing mechanisms such as camera or millimetre-wave radar is simultaneously identified by various algorithms, it is predicted that dangerous scene When sound-light alarm is carried out to driver or actively intervenes when driver's attonity vehicular chassis system progress active control To avoid the generation of accident.
Mainly have for the test verifying means of LDW (driveway deviation alarming system): real vehicle road test and hardware in loop Engine bench test.Real vehicle road test, which exists, needs manpower and time cost higher, test environmental structure and modifies extremely difficult, again Renaturation is poor;Hardware-in―the-loop test belongs to semi-hardware type simulation test, and only tested controller is true in a test system, with The systems such as dynamics of vehicle, road, driver, power, the transmission of the tested relevant automobile of controller be all it is virtual, approach true Real degree is poor, and real-time is not high.
Summary of the invention
The object of the present invention is to provide a kind of real vehicles of LDW controller in ring test method and system, to solve existing skill Need to place lane line, operation performance difficulty, the problems such as test result is untrue in art.
The present invention provides a kind of real vehicles of LDW controller in ring test method, wherein includes:
Speed traveling by vehicle to be measured to set;LDW controller is provided on the vehicle to be measured;
Acquire the virtual video of lane line and the real-time status of vehicle to be measured;
According to the real-time status of the virtual video and the vehicle to be measured, control whether the LDW controller issues report Alert information.
Preferably, before the virtual video of acquisition lane line and the real-time status of vehicle to be measured, the method also includes:
The virtual video of lane line is injected into the picture processing chip of LDW controller.
Preferably, the real-time status of the virtual video and vehicle to be measured that acquire lane line includes:
Acquire coordinate, speed, angular speed and the yaw angle of vehicle to be measured.
Preferably, the method also includes:
The LDW alarm condition message for reading OBD mouthfuls, lights alarm lamp in host computer interface.
Preferably, according to the real-time status of the virtual video and the vehicle to be measured, whether the LDW controller is controlled Alert includes:
When the speed of vehicle to be measured is lower than 60km/h, the LDW controller not alert;
When steering wheel angle signal value is greater than 45 °, LDW controller not alert;
When vehicle yaw angle signal value is greater than the set value ± 10 °/S, LDW controller not alert.
Preferably, the method also includes:
When windscreen wiper opens the top gear signal of setting, LDW controller stops working.
The present invention also provides a kind of real vehicles of LDW controller in ring test system, wherein controls including vehicle to be measured, LDW Device processed, real-time control apparatus, Inertial Measurement Unit;
The LDW controller is used to acquire the virtual video of lane line;
The Inertial Measurement Unit is used to acquire the real-time status of vehicle to be measured;
The real-time controlling unit is used for according to the real-time status of the virtual video and the vehicle to be measured, described in control LDW controller whether alert.
Preferably, the system also includes:
Video injected system, for the virtual video of lane line to be injected into the picture processing chip of LDW controller.
Preferably, the system also includes GPS antennas and differential GPS antenna;
The GPS antenna and differential GPS antenna are arranged on the vehicle to be measured, and with the Inertial Measurement Unit It is connected, for exporting the status information of the vehicle to be measured.
Preferably, the system also includes host computer, the host computer is used to light report according to LDW alarm condition message Warning lamp.
The real vehicle of LDW controller provided by the invention is not necessarily in ring test method and system by the way that virtual video is arranged LDW acquires true lane line video, and the real-time status of vehicle to be measured is acquired using Inertial Measurement Unit, is to control LDW No alert reduces costs compared with prior art, and avoids the limitation of engine bench test.
Detailed description of the invention
Fig. 1 is flow chart of the real vehicle in ring test method of LDW controller provided in an embodiment of the present invention;
Fig. 2 is structural block diagram of the real vehicle in ring test system of LDW controller provided in an embodiment of the present invention.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached The embodiment of figure description is exemplary, and for explaining only the invention, and is not construed as limiting the claims.
As shown in Figure 1, the embodiment of the invention provides a kind of real vehicles of LDW controller in ring test method, comprising:
S101, the speed traveling that vehicle to be measured is set.
Above-mentioned vehicle to be measured is the real vehicles for having LDW function, and three lanes are arranged, and vehicle to be measured is placed on Article 2 Lane, the traveling strategy of vehicle are as follows: travel speed > 60Km/h, straight-line travelling, weather are fine.
LDW controller is provided on the vehicle to be measured, LDW controller is typically mounted at the front windshield of above-mentioned vehicle Middle above.The LDW controller includes camera part, and the shooting of road ahead lane line is carried out using camera.Together When, it include picture processing chip, i.e., the information by camera input carries out algorithm identification, and detects input signal, binding function It is required that being analyzed and providing corresponding control information.Video injected system exports the Softcam in real-time control apparatus Image be transmitted to LDW control according to the communications protocol of the camera of LDW controller on vehicle to be measured and picture processing chip In device, this communications protocol is in order to allowing the information of injection to be to meet the mode of camera and picture processing chip to be edited.
Preferably, in the present embodiment, real camera is removed, the video data signal that Softcam is taken is straight It connects and is injected into picture processing chip.(virtual emulation software is certainly by camera injection module for the image of Softcam shooting Band) by image carry out different-format output.
S102 acquires the virtual video of lane line and the real-time status of vehicle to be measured.
Vehicle to be measured can load GPS antenna and differential GPS antenna, can be real-time by connecting with Inertial Measurement Unit Export the location status information of vehicle to be measured, including real-time coordinates, speed, angular speed, yaw angle.The location status of vehicle to be measured It controls information and real-time control apparatus is passed to by CAN line, ensure the motion information of virtual vehicle in real-time control apparatus in this way It is consistent with the motion information of practical vehicle to be measured.The location information of obtained real vehicles is loaded into virtual emulation software In virtual vehicle on, ensure that in this way, the movement of virtual vehicle and real vehicle are consistent in real time.
S103 controls whether the LDW controller is sent out according to the real-time status of the virtual video and the vehicle to be measured Warning message out.
Judged according to the image injected, if real vehicles LDW function, which is opened, (reads LDW report by OBD interface Text), and turn signal is invalid in the process of moving, when steering wheel is offset, can trigger the deviation alarm (instrument of real vehicles Display alarm information in table), real-time control apparatus passes through the LDW alarm condition message of OBD mouthfuls of reading, in host computer interface LDW Alarm lamp, which is lighted, (has virtual alert interface and true warning message to pass through the side of software Mapping in host computer interface Formula associates, and when true LDW warning message is effective, virtual value can be come out by False alarms interface display).
LDW controller be mainly used under certain conditions when vehicle deviate current driving lane when, mentioned by indicator light Wake up driver.Specifically:
When the run-off-road marking line of non-active property (not playing turn signal) occurs for vehicle, LDW controller can be reported immediately Alert prompt reduces and deviates the risk that accident occurs for Crane Rail in unconscious situation, when driver's active change lane cannot be sent out Warning message out.
LDW controller has different road conditions anti-interference functions, as long as lane markings line and road surface have enough contrasts, It can be in various weather (evils such as rainy day, greasy weather, which omit weather, allows performance to be declined), branch road, illumination condition (direct sunlight Performance can decline) it dislikes and slightly works under the conditions of road conditions.
When speed is lower than 60km/h, LDW controller will not alert when run-off-road.
When windscreen wiper opens top gear signal, LDW control system cannot will temporarily work.
When steering wheel angle signal value is greater than the set value 45 °, LDW controller will not alert.
Vehicle yaw angle signal value is greater than the set value ± 10 °/S, and LDW controller will not alert.
The discrimination of LDW controller will decline when bend (turning radius is less than 250m), when steering wheel angle signal value is big When 45 ° of setting value, LDW controller will not alert.
As shown in Fig. 2, the embodiment of the invention provides a kind of real vehicles of LDW controller in ring test system, including to be measured Vehicle, LDW controller, real-time control apparatus, Inertial Measurement Unit.
Wherein, the LDW controller is used to acquire the virtual video of lane line;The Inertial Measurement Unit for acquire to The real-time status of measuring car;The real-time controlling unit is used for the real-time shape according to the virtual video and the vehicle to be measured State, control the LDW controller whether alert.
Preferably, the system also includes video injected systems, for the virtual video of lane line to be injected into LDW control In the picture processing chip of device processed.
Further, the system also includes GPS antennas and differential GPS antenna;The GPS antenna and differential GPS antenna It is arranged on the vehicle to be measured, and be connected with the Inertial Measurement Unit, for exporting the state of the vehicle to be measured Information.
Further, the system also includes host computer, the host computer is used to be lighted according to LDW alarm condition message Alarm lamp.
Above system can also include power station, in vehicle stall, being real-time control apparatus and inertia measurement list Member power supply, ensures that they will not stop working.
The real vehicle of LDW controller provided in an embodiment of the present invention is in ring test method and system, by the way that virtual video is arranged, True lane line video is acquired without LDW, and acquires the real-time status of vehicle to be measured using Inertial Measurement Unit, to control Whether alert reduces costs LDW compared with prior art, and avoids the limitation of engine bench test, can be with The vehicle test for realizing different platform, is carried rapidly, failure can reappear, and test scene can reuse.
Structure, feature and effect of the invention, the above institute are described in detail based on the embodiments shown in the drawings Only presently preferred embodiments of the present invention is stated, but the present invention does not limit the scope of implementation as shown in the drawings, it is all according to structure of the invention Think made change or equivalent example modified to equivalent change, when not going beyond the spirit of the description and the drawings, It should all be within the scope of the present invention.

Claims (10)

1. a kind of real vehicle of LDW controller is in ring test method characterized by comprising
Speed traveling by vehicle to be measured to set;LDW controller is provided on the vehicle to be measured;
Acquire the virtual video of lane line and the real-time status of vehicle to be measured;
According to the real-time status of the virtual video and the vehicle to be measured, control whether the LDW controller issues alarm signal Breath.
2. the method according to claim 1, wherein in the virtual video of acquisition lane line and the reality of vehicle to be measured When state before, the method also includes:
The virtual video of lane line is injected into the picture processing chip of LDW controller.
3. the method according to claim 1, wherein acquisition lane line virtual video and vehicle to be measured it is real-time State includes:
Acquire coordinate, speed, angular speed and the yaw angle of vehicle to be measured.
4. the real vehicle of LDW controller according to claim 1 is in ring test method, which is characterized in that the method is also wrapped It includes:
The LDW alarm condition message for reading OBD mouthfuls, lights alarm lamp in host computer interface.
5. the method according to claim 1, wherein according to the real-time of the virtual video and the vehicle to be measured State, controlling the LDW controller, whether alert includes:
When the speed of vehicle to be measured is lower than 60km/h, the LDW controller not alert;
When steering wheel angle signal value is greater than 45 °, LDW controller not alert;
When vehicle yaw angle signal value is greater than the set value ± 10 °/S, LDW controller not alert.
6. the method according to claim 1, wherein the method also includes:
When windscreen wiper opens the top gear signal of setting, LDW controller stops working.
7. a kind of real vehicle of LDW controller is in ring test system, which is characterized in that including vehicle to be measured, LDW controller, in real time Control device, Inertial Measurement Unit;
The LDW controller is used to acquire the virtual video of lane line;
The Inertial Measurement Unit is used to acquire the real-time status of vehicle to be measured;
The real-time controlling unit is used for the real-time status according to the virtual video and the vehicle to be measured, controls the LDW Controller whether alert.
8. system according to claim 7, which is characterized in that the system also includes:
Video injected system, for the virtual video of lane line to be injected into the picture processing chip of LDW controller.
9. system according to claim 7, which is characterized in that the system also includes GPS antennas and differential GPS antenna;
The GPS antenna and differential GPS antenna are arranged on the vehicle to be measured, and with the Inertial Measurement Unit phase Even, for exporting the status information of the vehicle to be measured.
10. system according to claim 7, which is characterized in that the system also includes host computer, the host computer is used for According to LDW alarm condition message, alarm lamp is lighted.
CN201811307491.9A 2018-11-05 2018-11-05 The real vehicle of LDW controller is in ring test method and system Pending CN109270923A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201811307491.9A CN109270923A (en) 2018-11-05 2018-11-05 The real vehicle of LDW controller is in ring test method and system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201811307491.9A CN109270923A (en) 2018-11-05 2018-11-05 The real vehicle of LDW controller is in ring test method and system

Publications (1)

Publication Number Publication Date
CN109270923A true CN109270923A (en) 2019-01-25

Family

ID=65191960

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201811307491.9A Pending CN109270923A (en) 2018-11-05 2018-11-05 The real vehicle of LDW controller is in ring test method and system

Country Status (1)

Country Link
CN (1) CN109270923A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110006665A (en) * 2019-04-22 2019-07-12 中国汽车工程研究院股份有限公司 A kind of indoor lane departure warning test method using virtual lane line
CN110785718A (en) * 2019-09-29 2020-02-11 驭势科技(北京)有限公司 Vehicle-mounted automatic driving test system and test method

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104460349A (en) * 2014-11-28 2015-03-25 北京经纬恒润科技有限公司 Real automobile in-the-loop simulation testing method, real-time simulation machine and system
CN206627782U (en) * 2017-03-31 2017-11-10 北京经纬恒润科技有限公司 A kind of hardware-in-the-loop test system of automobile controller
CN108334056A (en) * 2018-02-02 2018-07-27 安徽江淮汽车集团股份有限公司 A kind of ADAS test system and test method
CN108630014A (en) * 2018-05-10 2018-10-09 苏州天瞳威视电子科技有限公司 A kind of lane deviates early warning system and method
CN108737955A (en) * 2018-04-28 2018-11-02 交通运输部公路科学研究所 LDW/LKA test evaluation system and methods based on virtual lane line

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104460349A (en) * 2014-11-28 2015-03-25 北京经纬恒润科技有限公司 Real automobile in-the-loop simulation testing method, real-time simulation machine and system
CN206627782U (en) * 2017-03-31 2017-11-10 北京经纬恒润科技有限公司 A kind of hardware-in-the-loop test system of automobile controller
CN108334056A (en) * 2018-02-02 2018-07-27 安徽江淮汽车集团股份有限公司 A kind of ADAS test system and test method
CN108737955A (en) * 2018-04-28 2018-11-02 交通运输部公路科学研究所 LDW/LKA test evaluation system and methods based on virtual lane line
CN108630014A (en) * 2018-05-10 2018-10-09 苏州天瞳威视电子科技有限公司 A kind of lane deviates early warning system and method

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110006665A (en) * 2019-04-22 2019-07-12 中国汽车工程研究院股份有限公司 A kind of indoor lane departure warning test method using virtual lane line
CN110785718A (en) * 2019-09-29 2020-02-11 驭势科技(北京)有限公司 Vehicle-mounted automatic driving test system and test method
WO2021056556A1 (en) * 2019-09-29 2021-04-01 驭势科技(北京)有限公司 Vehicle-mounted autonomous driving test system and test method

Similar Documents

Publication Publication Date Title
CN104217615B (en) A kind of pedestrian anti-collision system and method collaborative based on bus or train route
RU2657656C1 (en) Device and method of traffic control
US9493163B2 (en) Driving support apparatus for vehicle
CN102903258B (en) A kind of vehicle automatic navigation method, navigation pattern information preparation method and its apparatus for vehicle navigation
CN104115198B (en) Vehicle collaborates accessory system and method
CN109270923A (en) The real vehicle of LDW controller is in ring test method and system
CN107161146A (en) A kind of highway accessory system
CN204595513U (en) Based on the Intelligent transport fleet with theory of speeding
CN109062209A (en) A kind of intelligently auxiliary Ride Control System and its control method
CN109975035B (en) Whole-vehicle-level in-loop test bench system of L3-level automatic driving vehicle
Zheng et al. Toward intelligent driver-assistance and safety warning system
CN103786726A (en) Intuitive energy-saving driving assisting method and intuitive energy-saving driving assisting system
CN102582621A (en) Intelligent vehicle-mounted GPS (global positioning system) navigation anti-collision warning system
CN103204123A (en) Vehicle-pedestrian detecting, tracking and early-warning device and method
CN108986510A (en) A kind of local dynamic map of intelligence towards crossing realizes system and implementation method
CN208477372U (en) A kind of automated driving system
CN102081746B (en) Container truck information identification system based on collaboration of multiple sensors
CN106515728A (en) System and method for avoiding collision and obstacle for a driverless bus
CN109050405A (en) A kind of multi-functional augmented reality head-up-display system and method
CN109001743A (en) Tramcar anti-collision system
CN108986507A (en) A kind of vehicle-mounted weather auxiliary monitoring and variable speed-limit system for prompting
CN110031238B (en) Test method for whole-vehicle-level in-loop test bench of L3-level automatic driving vehicle
CN109421739A (en) Method and apparatus for monitoring autonomous vehicle
CN109606377A (en) A kind of emergency running behavior defence reminding method and system
RU2671457C1 (en) Device and method of traffic control

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
CB02 Change of applicant information
CB02 Change of applicant information

Address after: 230601 No. 99 Ziyun Road, Hefei Economic and Technological Development Zone, Anhui Province

Applicant after: Anhui Jianghuai Automobile Group Limited by Share Ltd

Address before: 230601 No. 669 Shixin Road, Taohua Industrial Park, Hefei City, Anhui Province

Applicant before: Anhui Jianghuai Automobile Group Limited by Share Ltd

Address after: 230601 No. 99 Ziyun Road, Hefei Economic and Technological Development Zone, Anhui Province

Applicant after: Anhui Jianghuai Automobile Group Limited by Share Ltd

Address before: 230601 No. 669 Shixin Road, Taohua Industrial Park, Hefei City, Anhui Province

Applicant before: Anhui Jianghuai Automobile Group Limited by Share Ltd

WD01 Invention patent application deemed withdrawn after publication
WD01 Invention patent application deemed withdrawn after publication

Application publication date: 20190125