CN109540175A - A kind of LDW test macro and method - Google Patents
A kind of LDW test macro and method Download PDFInfo
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- CN109540175A CN109540175A CN201811447368.7A CN201811447368A CN109540175A CN 109540175 A CN109540175 A CN 109540175A CN 201811447368 A CN201811447368 A CN 201811447368A CN 109540175 A CN109540175 A CN 109540175A
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- base stations
- fixed base
- vehicle
- data processing
- ldw
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
Abstract
A kind of LDW test macro and method, fixed base stations are by receiving satellite GPS signal come position location；Communication module receives the positioning signal that fixed base stations are sent and establishes absolute fix coordinate system；GPS antenna is used to determine the position of lane line and establishes lane line model；Data processing host carries out communication with fixed base stations and inertial navigation respectively and does comparison feedback to the information of acquisition, it forms closed loop feedback and calibrates positioning accuracy, it is with absolute coordinate system and is supplied to lane line positioning principle formation LDW test macro, the very high region of relative accuracy is formed, and then evaluates the LDW performance of vehicle.
Description
Technical field
The present invention is about a kind of LDW test macro and method.
Background technique
As automobile industry grows stronger day by day, vehicle kind is increasingly come more, and LDW system can be in tired driver or attention
When power is not concentrated, when direction of traffic has lane change trend, sound and light signal is reminded to remind driver, so that reaching reduction drives wind
Danger, the probability for avoiding car accident from occurring.
Associated thumbnail language in this field:
LDW:(Lane Departure Warning Lane Departure Warning System)；It is regarded using camera acquisition vehicle front
Frequency picture obtains vehicle opposite lane position after image processor is handled, and when automobile is without lane change request and run-off-road, leads to
It crosses alarm signal and carrys out alerting drivers.
The advanced auxiliary system of ADAS:(Automatic Data Acquisition System)；It utilizes and is installed on vehicle
The environmental data of various sensor collection motor vehicle environments carries out operational analysis, is that driver can have found in advance and evade danger,
Improve safety and the comfort of driver.
In the prior art, LDW system is corrected using video technique, a technical grade is reinstalled on vehicle and is taken the photograph
As head, video pictures collection analysis is carried out to vehicle front picture, the camera according to the data that analysis obtains, with LDW system
The data obtained compare and analyze, and obtain test result.
But in the prior art: 1. measuring accuracies are not high；2. test process rigging up and debugging difficulty is big.
Summary of the invention
The purpose of the present invention is: fundamentally solve the problems, such as a relative positional relationship between vehicle and lane line,
The system for forming the LDW performance of a relative accuracy very high praise vehicle.
To realize the above-mentioned technical purpose, the present invention provides a kind of LDW test macro comprising: inertial navigation, the communication mould of vehicle
Block and data processing host further include fixed base stations and GPS antenna；The fixed base stations by receive satellite GPS signal come
Position the position of presently described fixed base stations；The communication module receives the positioning signal that the fixed base stations are sent, to establish
Play the absolute fix coordinate system of vehicle and the fixed base stations；The GPS antenna is used to determine the position of lane line, and described
Lane line model is established under absolute fix coordinate system；The data processing host is communicated with the fixed base stations, has been obtained
Coordinate system information of vehicles under the absolute fix coordinate system, the data processing host are communicated with the inertial navigation, with
Obtain the inertial navigation information of vehicles of the inertial navigation acquisition；The data processing host is by the coordinate system information of vehicles and the inertial navigation
Information of vehicles does comparison feedback, and forms closed loop feedback calibration positioning accuracy.
The present invention passes through the absolute coordinate system of fixed base stations and is supplied to lane line positioning principle, forms LDW test macro,
In order to fundamentally solve the problems, such as a relative positional relationship between vehicle and lane line, determine to design a set of absolute fix
System, additional corresponding communication locating module, to form one relative to the position of lane line during the test to vehicle
The very high region of relative accuracy, and then evaluate the LDW performance of vehicle.
As a further improvement, the fixed base stations are by GPS Differential positioning, by the absolute essence of the fixed base stations
Degree navigates to 2cm rank.
As a further improvement, it is fixed relative to the position of rectilinear stretch, the GPS antenna uses two o'clock alignment mode
And positioning is more than or equal to 2 points on the lane line.
As a further improvement, the coordinate system information of vehicles includes: vehicle location and lane line position, and further
Form coordinate system speed and coordinate system acceleration；The inertial navigation information of vehicles include: vehicle-posture information, three axial speed and
Inertial navigation acceleration.
It as a further improvement, further include the CAN box to communicate with the data processing host, the CAN box is adopted
Collect vehicle bus signal, the signal of the CAN box passes to the data processing host.
It as a further improvement, further include host computer, the host computer connects the data processing host, and by institute
The parameter for stating data processing host is shown and is handled in the screen of the host computer.
As a further improvement, the vehicle is equipped with camera, and the video record in the camera passes through described
It is synchronous that data processing host carries out signal time, and then carries out video scene record and problem record calibration.
As a further improvement, the camera includes: that vehicle front camera, vehicle left side camera and vehicle are right
Side camera.
The present invention also correspondingly provides a kind of LDW test method simultaneously comprising provides: inertial navigation, the communication module of vehicle
And data processing host, step include: to provide: fixed base stations and GPS antenna；By the fixed base stations by receiving satellite
GPS signal positions the positions of presently described fixed base stations；The communication module is received into the positioning that the fixed base stations are sent
Signal, to set up the absolute fix coordinate system of vehicle Yu the fixed base stations；The GPS antenna is used to determine lane line
Position, and lane line model is established under the absolute fix coordinate system；By the data processing host and the fixed base stations
It is communicated, has obtained the coordinate system information of vehicles under the absolute fix coordinate system, by the data processing host and institute
It states inertial navigation to be communicated, to obtain the inertial navigation information of vehicles of the inertial navigation acquisition；By the data processing host by the coordinate
It is that information of vehicles and the inertial navigation information of vehicles do comparison feedback, and form closed loop feedback calibration positioning accuracy.
The LDW test macro and method that the present invention designs, can accurately position the opposite position of vehicle location and lane line
Set relationship.
Specific embodiment
The present invention provides a kind of LDW test macro comprising: inertial navigation, the communication module and data processing host of vehicle,
It further include fixed base stations and GPS antenna；The fixed base stations position presently described fixed base stations by receiving satellite GPS signal
Position；The communication module receives the positioning signal that the fixed base stations are sent, to set up vehicle and the fixed base stations
Absolute fix coordinate system；The GPS antenna is used to determine the position of lane line, and establishes under the absolute fix coordinate system
Lane line model；The data processing host is communicated with the fixed base stations, has been obtained in the absolute fix coordinate system
Under coordinate system information of vehicles, the data processing host communicated with the inertial navigation, to obtain the used of the inertial navigation acquisition
Lead information of vehicles；The coordinate system information of vehicles and the inertial navigation information of vehicles are done comparison feedback by the data processing host,
And form closed loop feedback calibration positioning accuracy.
The present invention passes through the absolute coordinate system of fixed base stations and is supplied to lane line positioning principle, forms LDW test macro,
In order to fundamentally solve the problems, such as a relative positional relationship between vehicle and lane line, determine to design a set of absolute fix
System, additional corresponding communication locating module, to form one relative to the position of lane line during the test to vehicle
The very high region of relative accuracy, and then evaluate the LDW performance of vehicle.
As a further improvement, the fixed base stations are by GPS Differential positioning, by the absolute essence of the fixed base stations
Degree navigates to 2cm rank.
As a further improvement, it is fixed relative to the position of rectilinear stretch, the GPS antenna uses two o'clock alignment mode
And positioning is more than or equal to 2 points on the lane line.
As a further improvement, the coordinate system information of vehicles includes: vehicle location and lane line position, and further
Form coordinate system speed and coordinate system acceleration；The inertial navigation information of vehicles include: vehicle-posture information, three axial speed and
Inertial navigation acceleration.
It as a further improvement, further include the CAN box to communicate with the data processing host, the CAN box is adopted
Collect vehicle bus signal, the signal of the CAN box passes to the data processing host.
It as a further improvement, further include host computer, the host computer connects the data processing host, and by institute
The parameter for stating data processing host is shown and is handled in the screen of the host computer.
As a further improvement, the vehicle is equipped with camera, and the video record in the camera passes through described
It is synchronous that data processing host carries out signal time, and then carries out video scene record and problem record calibration.
As a further improvement, the camera includes: that vehicle front camera, vehicle left side camera and vehicle are right
Side camera.
The present invention also correspondingly provides a kind of LDW test method simultaneously comprising provides: inertial navigation, the communication module of vehicle
And data processing host, step include: to provide: fixed base stations and GPS antenna；By the fixed base stations by receiving satellite
GPS signal positions the positions of presently described fixed base stations；The communication module is received into the positioning that the fixed base stations are sent
Signal, to set up the absolute fix coordinate system of vehicle Yu the fixed base stations；The GPS antenna is used to determine lane line
Position, and lane line model is established under the absolute fix coordinate system；By the data processing host and the fixed base stations
It is communicated, has obtained the coordinate system information of vehicles under the absolute fix coordinate system, by the data processing host and institute
It states inertial navigation to be communicated, to obtain the inertial navigation information of vehicles of the inertial navigation acquisition；By the data processing host by the coordinate
It is that information of vehicles and the inertial navigation information of vehicles do comparison feedback, and form closed loop feedback calibration positioning accuracy.
The LDW test macro and method that the present invention designs, can accurately position the opposite position of vehicle location and lane line
Set relationship.
As the preferred embodiment of the present invention, to carry out test evaluation to LDW system, the present invention designs a set of LDW test
System and method can accurately position the relative positional relationship of vehicle location and lane line.
Test macro includes: the communication module of fixed base stations, base station and vehicle, GPS antenna, data processing host, CAN
Box, inertial navigation, host computer；
The fixed base stations are to pass through GPS difference base station, by receiving satellite GPS signal, Lai Dingwei current base station
Position.The absolute precision of fixed base stations can be navigated into 2cm rank by Differential positioning；
The communication module of the base station and vehicle is the positioning signal for receiving fixed base stations and sending, by communication module,
The absolute location coordinate of vehicle and base station can be set up；
The GPS antenna is the position for being used to determine lane line, and since the position of rectilinear stretch is fixed, two o'clock can determine
Line is positioned on lane line by GPS antenna and is more than or equal to 2 points, can fasten foundation in the absolute coordinate of fixed base stations
Lane line model, to complete high precision measurement；
The data processing host is the core of whole system, data processing host can with fixed base stations, inertial navigation,
CAN box is communicated, to read the vehicle location and lane line position under absolute coordinate system, vehicle attitude signal and exhausted bus
CAN signal；
The CNA box acquires vehicle bus signals, and CAN signal is passed to system host；
The inertial navigation can acquire vehicle-posture information, three axial speed, acceleration signals, the number read by inertial navigation
Comparison feedback is done according to speed, acceleration information of the vehicle under fixed base stations, carrys out closed loop feedback calibration positioning accuracy, reaches high
Precision positions purpose；
The host computer connects data processing host, and relevant parameter is shown and located in screen by host computer
Reason.
This system can install three road cameras on host, and to vehicle front, left and right sides carries out video record, and passes through
It is synchronous that Host Process Module carries out signal time, to carry out video scene record and the record calibration of problem problem.
Steps are as follows for test method:
S1: fixed base stations are placed in void spaces；Base station is opened to receive satellite-signal and carry out difference debugging；
S2: using GPS antenna to straight line get ready alignment (if it is bend, can be by the way of pipeline purging to GPS days
The path of line scanning positioned)；
S3: installing relevant device on vehicle, such as CAN box, system host, and inertial navigation, communication module etc., and use cigar lighter
It powers on；
S4: it drives vehicle and carries out relevant measurement condition, such as fixed lateral run-out speed operating condition, in test process
In, data can be monitored and be handled by host computer；
S5: Data Post has carried out high-precision positioning and measurement for vehicle-state during the test, can obtain
Position and relevant posture information of the vehicle before and after LDW system alarm relative to lane line can be right according to this information out
The LDW of vehicle carries out detailed data explanation and comparative analysis.
It should be appreciated that invention which is intended to be protected is not limited to non-limiting embodiments, it should be understood that non-limiting embodiment party
Case is illustrated as just example.The protection scope of the desired essence of the application is more embodied in independent claims offer
Range and its dependent claims.
Claims (9)
1. a kind of LDW test macro comprising: inertial navigation, the communication module and data processing host of vehicle, it is characterised in that: its
It further include fixed base stations and GPS antenna；
The fixed base stations position the position of presently described fixed base stations by receiving satellite GPS signal；
The communication module receives the positioning signal that the fixed base stations are sent, to set up the exhausted of vehicle and the fixed base stations
To location coordinate；
The GPS antenna is used to determine the position of lane line, and establishes lane line model under the absolute fix coordinate system；
The data processing host is communicated with the fixed base stations, has obtained the coordinate under the absolute fix coordinate system
It is information of vehicles, the data processing host is communicated with the inertial navigation, to obtain the inertial navigation vehicle letter of the inertial navigation acquisition
Breath；
The coordinate system information of vehicles and the inertial navigation information of vehicles are done comparison feedback by the data processing host, and are formed and closed
Ring feedback calibration positioning accuracy.
2. a kind of LDW test macro as described in claim 1, it is characterised in that: the fixed base stations are fixed by GPS difference
Position, navigates to 2cm rank for the absolute precision of the fixed base stations.
3. a kind of LDW test macro as described in claim 1, it is characterised in that: the position relative to rectilinear stretch is fixed, institute
GPS antenna is stated using two o'clock alignment mode and is positioned on the lane line and is more than or equal to 2 points.
4. a kind of LDW test macro as described in claim 1, it is characterised in that:
The coordinate system information of vehicles includes: vehicle location and lane line position, and is further formed coordinate system speed and coordinate
It is acceleration；
The inertial navigation information of vehicles includes: vehicle-posture information, three axial speed and inertial navigation acceleration.
5. a kind of LDW test macro as described in claim 1, it is characterised in that: it further includes and the data processing host
The CAN box to communicate, the CAN box acquire vehicle bus signals, and the signal of the CAN box passes to the data processing master
Machine.
6. a kind of LDW test macro as described in claim 1, it is characterised in that: it further includes host computer, and the host computer connects
The data processing host is connect, and the parameter of the data processing host is shown and located in the screen of the host computer
Reason.
7. a kind of LDW test macro as described in claim 1, it is characterised in that: the vehicle is equipped with camera, described to take the photograph
As by the data processing host to carry out signal time synchronous for the video record in head, so carry out video scene record and
Problem record calibration.
8. a kind of LDW test macro as claimed in claim 7, it is characterised in that: the camera includes: vehicle front camera shooting
Head, vehicle left side camera and vehicle right side camera.
9. a kind of LDW test method comprising provide: inertial navigation, the communication module and data processing host of vehicle, feature exist
In: its step includes:
It provides: fixed base stations and GPS antenna；
The fixed base stations are positioned into the position of presently described fixed base stations by receiving satellite GPS signal；
The communication module is received into the positioning signal that the fixed base stations are sent, to set up vehicle and the fixed base stations
Absolute fix coordinate system；
The GPS antenna is used to determine the position of lane line, and establishes lane line model under the absolute fix coordinate system；
The data processing host and the fixed base stations are communicated, the seat under the absolute fix coordinate system has been obtained
Mark system information of vehicles, the data processing host and the inertial navigation are communicated, to obtain the inertial navigation vehicle of the inertial navigation acquisition
Information；
The coordinate system information of vehicles and the inertial navigation information of vehicles are done into comparison feedback by the data processing host, and formed
Closed loop feedback calibrates positioning accuracy.
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| CN201811447368.7A CN109540175A (en) | 2018-11-29 | 2018-11-29 | A kind of LDW test macro and method |
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| CN201811447368.7A CN109540175A (en) | 2018-11-29 | 2018-11-29 | A kind of LDW test macro and method |
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