CN111210623B - Test method, device, equipment and storage medium applied to V2X - Google Patents
Test method, device, equipment and storage medium applied to V2X Download PDFInfo
- Publication number
- CN111210623B CN111210623B CN202010006628.8A CN202010006628A CN111210623B CN 111210623 B CN111210623 B CN 111210623B CN 202010006628 A CN202010006628 A CN 202010006628A CN 111210623 B CN111210623 B CN 111210623B
- Authority
- CN
- China
- Prior art keywords
- traffic signal
- information
- roadside
- light color
- message
- 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.)
- Active
Links
Images
Classifications
-
- 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
-
- 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
-
- 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
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
-
- 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
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096783—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a roadside individual element
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Atmospheric Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Traffic Control Systems (AREA)
Abstract
The embodiment of the application discloses a test method, a test device, test equipment and a storage medium applied to V2X, and relates to the technical field of intelligent transportation. The specific implementation scheme is as follows: receiving a traffic signal roadside message of V2X transmitted by roadside equipment through a vehicle-mounted unit in an unmanned vehicle; determining traffic signal perception information according to the map data in the unmanned vehicle and/or the environmental data perceived by the unmanned vehicle; and verifying the transmission function of the V2X traffic signal according to the comparison result between the roadside message of the V2X traffic signal and the traffic signal perception information. According to the embodiment of the application, the unmanned vehicle technology and the V2X technology are combined, the test data form a closed loop based on functions such as lane level high-precision maps and environment perception of the unmanned vehicle, the automatic test of the V2X traffic signal transmission function is realized, manual participation is greatly reduced, and the test efficiency and accuracy are improved.
Description
Technical Field
The embodiment of the application relates to the technical field of computers, in particular to the technical field of intelligent transportation, and specifically relates to a test method, a test device, test equipment and a storage medium applied to V2X.
Background
With the development and progress of the V2X (Vehicle to Vehicle wireless communication) technology, it is particularly important for the function test and verification of the RSU (Road Side Unit) based on the network broadcast V2X traffic signal roadside message.
At present, a V2X traffic signal lamp roadside message received by an OBU (On board Unit) is acquired manually, meanwhile, human eyes check the actual information of a traffic signal lamp at a crossing, and manually compare whether the roadside message is consistent with the actual information or not, so that verification of the V2X function is realized. However, in the prior art, the test data link completely depends on manual testing, a closed loop cannot be formed, only manual butt joint and comparison testing can be performed, the testing efficiency is reduced, and the testing cost after large-scale deployment is increased.
Disclosure of Invention
The embodiment of the application provides a test method, a test device, test equipment and a storage medium applied to V2X, which can realize automatic test of a V2X traffic signal transmission function, greatly reduce manual participation and improve test efficiency and accuracy.
In a first aspect, an embodiment of the present application provides a test method applied to V2X, including:
receiving a traffic signal roadside message of V2X transmitted by roadside equipment through a vehicle-mounted unit in an unmanned vehicle;
determining traffic signal perception information according to the map data in the unmanned vehicle and/or the environment data perceived by the unmanned vehicle;
and verifying the transmission function of the V2X traffic signal according to the comparison result between the roadside message of the V2X traffic signal and the traffic signal perception information.
One embodiment in the above application has the following advantages or benefits: by combining the unmanned vehicle technology and the V2X technology, the test data form a closed loop based on the functions of a lane level high-precision map, environment perception and the like of the unmanned vehicle, the automatic test of the V2X traffic signal transmission function is realized, the manual participation is greatly reduced, and the test efficiency and the accuracy are improved.
Optionally, the verifying the transmission function of the V2X traffic signal according to the comparison result between the V2X traffic signal roadside message and the traffic signal sensing information includes:
comparing the V2X traffic signal roadside message with the traffic signal perception information to obtain a comparison result; wherein the V2X traffic signal roadside message at least comprises at least one of a map roadside message, a light color roadside message and a light color remaining time roadside message;
and verifying the V2X traffic signal transmission function according to the comparison result.
One embodiment in the above application has the following advantages or benefits: based on the map roadside message, the light color roadside message, and the light color remaining time roadside message included in the V2X traffic signal roadside message, functions such as map information, traffic signal phase, light color remaining time, and light color switching delay time can be verified.
Optionally, the verifying the transmission function of the V2X traffic signal according to the comparison result includes:
and if the traffic signal perception information is inconsistent with the V2X traffic signal roadside message according to the comparison result, verifying the transmission function of the V2X traffic signal according to the V2X traffic signal roadside message and the environment data perceived by the unmanned vehicle.
One embodiment in the above application has the following advantages or benefits: and when the roadside message is compared and determined to be consistent with the perception information, the verification of the transmission power of the V2X traffic signal can be determined to pass. And when the traffic signals are inconsistent, the environment data collected by the unmanned vehicle, such as a road image, is compared with the roadside message to realize the verification of the V2X traffic signal transmission function. Therefore, the environment data sensed by the unmanned vehicle can be re-verified even if the environment data are not consistent in verification, manual data collection is not needed, and the testing efficiency is further improved.
Optionally, the comparing the V2X traffic signal roadside message with the traffic signal perception information includes:
extracting position information and attribute information of lanes and traffic signal lamp phase information from a map roadside message of the V2X traffic signal roadside message;
extracting position information and attribute information of lanes and traffic signal lamp phase information from the map data according to the positioning information of the unmanned vehicle;
and respectively comparing the attribute information of the lane and the phase information of the traffic signal lamp according to the position information of the lane.
One embodiment in the above application has the following advantages or benefits: based on high-precision map data integrated in the unmanned vehicle, the map information in the road side information and the traffic signal lamp phase information in the map can be tested, so that automatic verification of the map and phase functions is realized.
Optionally, the comparing the V2X traffic signal roadside message with the traffic signal perception information includes:
determining the light color perception information of the flow direction of the target lane according to the traffic signal perception information;
and comparing the light color roadside information with the same lane flow direction as the target lane in the V2X traffic signal roadside message with the light color perception information of the target lane flow direction.
One embodiment in the above application has the following advantages or benefits: the light color perception information of the traffic signal lamp based on the perception of the unmanned vehicle can test the light color in the road side information so as to realize the automatic verification of the light color function.
Optionally, the comparing the V2X traffic signal roadside message with the traffic signal perception information includes:
determining light color remaining time road side information according to the light color remaining time message in the V2X traffic signal road side message;
determining the perception information of the remaining time of the light color according to the perception information of the traffic signal;
determining a difference result between the road side information of the light color remaining time and the perception information of the light color remaining time;
and comparing the difference result with a residual time threshold.
One embodiment in the above application has the following advantages or benefits: based on the light color remaining time perception information perceived by the unmanned vehicle, the light color remaining time in the roadside message can be tested, so that the automatic verification of the light color remaining time function is realized.
Optionally, the comparing the traffic signal perception information with the traffic signal roadside message of the V2X traffic signal includes:
if the fact that the light colors in the two light color roadside messages are changed is detected according to the V2X traffic signal roadside message, determining a roadside time difference value of the two light color roadside messages according to the timestamp of the light color roadside message;
if the change of the light colors in the two frames of images is detected according to the traffic signal perception information, determining a perception time difference value of the two frames of images according to the acquisition time of the image frames;
determining a difference result between the roadside time difference value and the perception time difference value;
and comparing the difference result with a switching time threshold.
One embodiment in the above application has the following advantages or benefits: the roadside time difference value recorded by the roadside message when the light color changes can be tested based on the perception time difference value when the light color changes perceived by the unmanned vehicle, so that the automatic verification of the light color switching time delay function is realized.
In a second aspect, an embodiment of the present application provides a test apparatus applied to V2X, including:
the roadside message receiving module is used for receiving a roadside message of the V2X traffic signal transmitted by roadside equipment through a vehicle-mounted unit in the unmanned vehicle;
the perception information determining module is used for determining traffic signal perception information according to the map data in the unmanned vehicle and/or the environment data perceived by the unmanned vehicle;
and the function test module is used for verifying the transmission function of the V2X traffic signal according to the comparison result between the road side message of the V2X traffic signal and the traffic signal perception information.
In a third aspect, an embodiment of the present application provides an electronic device, including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein, the first and the second end of the pipe are connected with each other,
the memory stores instructions executable by the at least one processor to cause the at least one processor to perform a test method for V2X as described in any embodiment of the present application.
In a fourth aspect, embodiments of the present application provide a non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform a test method applied to V2X as described in any of the embodiments of the present application.
One embodiment in the above application has the following advantages or benefits: the method comprises the steps of receiving traffic signal roadside information of V2X transmitted by roadside equipment through a vehicle-mounted unit in an unmanned vehicle, determining traffic signal sensing information according to map data in the unmanned vehicle and/or environmental data sensed by the unmanned vehicle, and verifying the transmission function of the traffic signal of V2X by comparing the roadside information with the sensing information by the unmanned vehicle. According to the embodiment of the application, the unmanned vehicle technology and the V2X technology are combined, the test data form a closed loop based on functions such as lane level high-precision maps and environment perception of the unmanned vehicle, the automatic test of the V2X traffic signal transmission function is realized, manual participation is greatly reduced, and the test efficiency and accuracy are improved.
Other effects of the above-described alternative will be described below with reference to specific embodiments.
Drawings
The drawings are included to provide a better understanding of the present solution and are not intended to limit the present application. Wherein:
FIG. 1 is a flow chart of a test method applied to V2X according to a first embodiment of the present application;
FIG. 2 is a flow chart of a test method applied to V2X according to a second embodiment of the present application;
FIG. 3 is a flow chart of a test map and phase function according to a second embodiment of the present application;
FIG. 4 is a flow chart of a test lamp color function according to a second embodiment of the present application;
FIG. 5 is a flow chart of a test lamp color remaining time function according to a second embodiment of the present application;
FIG. 6 is a flow chart for testing the lamp color switching delay function according to the second embodiment of the present application;
FIG. 7 is a schematic structural diagram of a test apparatus applied to V2X according to a third embodiment of the present application;
fig. 8 is a block diagram of an electronic device for implementing the test method applied to V2X according to the embodiment of the present application.
Detailed Description
The following description of the exemplary embodiments of the present application, taken in conjunction with the accompanying drawings, includes various details of the embodiments of the application to assist in understanding, which are to be considered exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present application. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
First embodiment
Fig. 1 is a flowchart of a V2X test method according to a first embodiment of the present application, which is applicable to a situation where a V2X traffic signal transmission function is verified based on intersection traffic signals, and which can be executed by a test device implemented in software and/or hardware, and preferably configured in an electronic device, such as an on-board terminal of an unmanned vehicle. As shown in fig. 1, the method specifically includes the following steps:
s110, receiving a traffic signal road side message transmitted by road side equipment through an on-board unit in the unmanned vehicle.
In the embodiment of the present application, V2X refers to a wireless communication technology for vehicles, which enables communication between vehicles, between vehicles and base stations, and between base stations. Therefore, a series of traffic information such as real-time road conditions, road information, pedestrian information and the like is obtained, the driving safety is improved, the congestion is reduced, the traffic efficiency is improved, and vehicle-mounted entertainment information and the like are provided. The V2X technology can be applied to various vehicles, and a vehicle equipped with a device related to the V2X technology can receive roadside messages.
In this embodiment, the roadside apparatus RSU is installed on both sides of the road, and serves as a transmission medium for the messages, so as to transmit roadside messages such as road traffic collected by the roadside apparatus RSU, and assist the vehicle in safely driving. The roadside device RSU generally broadcasts the roadside message at a certain frequency in a broadcast manner.
In this embodiment, the V2X traffic signal roadside message is a roadside message that is transmitted by a roadside device RSU and at least includes intersection traffic signal lamp state information, such as a lighting color of a traffic light, a remaining time of the traffic light, and the like. The V2X traffic signal roadside message may further include map information about positions and attributes of intersections and lanes, and may further include a timestamp of transmission of the roadside device RSU. Correspondingly, in the embodiment, a mode of testing the road side message of the V2X traffic signal transmitted by the road side device RSU is adopted to verify the transmission function of the V2X traffic signal, such as a map and phase function, a light color remaining time function, a light color switching delay function, and the like.
In view of the fact that the number of the road junctions and the number of the lanes in the actual traffic scene are large, in order to form the test data into a closed loop to realize the automatic test, the automatic test of the V2X traffic signal transmission function is realized by means of the function of receiving roadside messages by the unmanned vehicle and the basic functions of high-precision maps, environment perception and the like integrated in the unmanned vehicle.
Specifically, an on-board unit (OBU) borne in the unmanned vehicle has a function of communicating with a road side device (RSU). At least one intersection to be tested can be appointed in advance, and an unmanned vehicle is utilized to traverse the lane to which the intersection to be tested belongs, so that roadside messages are collected. In this case, the lanes in the same flow direction may traverse only one lane, for example, traverse only one lane among 3 parallel straight lanes. In the process that the unmanned vehicle traverses the lane, the vehicle-mounted unit OBU receives the V2X traffic signal road side message transmitted by the road side equipment, so that the traffic signal lamp state information, the map information, the time information and the like transmitted in the V2X traffic signal road side message are obtained.
And S120, determining traffic signal perception information according to the map data in the unmanned vehicle and/or the environment data perceived by the unmanned vehicle.
In the specific embodiment of the present application, in view of the precise driving of the unmanned vehicle, a lane-level high-precision map is generally integrated in the unmanned vehicle, wherein the lane-level high-precision map includes not only lane information but also traffic signal light information on roads and the like. Accordingly, the present embodiment uses the lane-level high-precision map in the unmanned vehicle as map data, so as to perform subsequent verification of map information and matching of positions.
In the present embodiment, in view of safe driving of the unmanned vehicle, various sensors are generally integrated in the unmanned vehicle to sense a surrounding driving environment and avoid dangerous behaviors such as collision of the vehicle. Correspondingly, the traffic signal lamp state is sensed based on the environment sensing function of the unmanned vehicle, and traffic signal sensing information sensed by the unmanned vehicle, such as the brightness and the color of the traffic light, the remaining time of the traffic light and the like, is generated.
The video images of the traffic signal lamps are collected through the vision sensor or collected according to a certain frequency in the process that the unmanned vehicle traverses the lane, and the images are stored in the unmanned vehicle or uploaded to a cloud terminal for later-stage rechecking or manual verification. Correspondingly, the unmanned vehicle processes the traffic signal lamp image based on a visual algorithm such as an image recognition algorithm and the like to generate traffic signal perception information. The traffic signal lamp images all have corresponding acquisition time, and correspondingly, the traffic signal perception information is also added with the corresponding acquisition time.
S130, verifying the transmission function of the V2X traffic signal according to the comparison result between the roadside message of the V2X traffic signal and the traffic signal sensing information.
In the specific embodiment of the application, for the same type of data, based on the time alignment and position alignment principles, data corresponding to the same lane position at the same time point in the V2X traffic signal roadside message and the traffic signal perception information are compared to obtain a comparison result, and the V2X traffic signal transmission function is verified according to the comparison result. Since the roadside message is sent out based on a certain frequency and the environmental data can be collected based on a certain frequency, it is difficult to ensure that the roadside message of the V2X traffic signal and the traffic signal sensing information are completely time-synchronized, and further time alignment can be performed based on the principle of minimum time difference.
Specifically, the position information and attribute information of the lane, and traffic signal phase information may be extracted from a map roadside message of the V2X traffic signal roadside message. Position information and attribute information of the lane, and traffic signal phase information are extracted from the map data also based on the positioning information of the unmanned vehicle. The map and phase function verification is realized by respectively comparing the attribute information of the same lane at the same time point with the phase information of the traffic signal lamp.
In this embodiment, the light color perception information of the target lane flow direction may also be determined according to the traffic signal perception information, and the light color roadside information of the lane flow direction that is the same as the target lane flow direction in the V2X traffic signal roadside message is compared with the light color perception information of the target lane flow direction, so as to implement the verification of the light color function.
The embodiment may also determine the light color remaining time roadside information according to the light color remaining time message in the V2X traffic signal roadside message. And determining the remaining time perception information of the lamp color according to the traffic signal perception information. And calculating a difference result between the road side information of the light color remaining time and the perception information of the light color remaining time, and comparing the difference result with a remaining time threshold value to realize the verification of the function of the light color remaining time.
In addition, in this embodiment, the roadside time difference of the two light color roadside messages may also be determined according to the two light color roadside messages whose light colors change in the V2X traffic signal roadside message. And determining the perception time difference value of the two frames of images according to the two frames of images with changed light colors in the traffic signal perception information. And calculating a difference result between the roadside time difference value and the perception time difference value, and comparing the difference result with a switching time threshold value to realize the verification of the light color switching time delay function. It is noted that, for the traffic signal lamp, the verification of the V2X traffic signal transmission function may include at least one of the above four functions, or may not be limited to the above four functions.
In this embodiment, after comparison, if it is determined that the roadside message of the V2X traffic signal is consistent with the traffic signal sensing information, it is determined that the verification of the transmission function of the V2X traffic signal is passed. If the V2X traffic signal roadside message is determined to be inconsistent with the traffic signal perception information, the V2X traffic signal transmission function is verified based on the basic environment data collected by the unmanned vehicle, such as video images and the like, and the record information in the V2X traffic signal roadside message.
According to the technical scheme of the embodiment, the vehicle-mounted unit in the unmanned vehicle receives the traffic signal road-side information of V2X transmitted by the road-side equipment, the traffic signal perception information is determined according to the map data in the unmanned vehicle and/or the environment data perceived by the unmanned vehicle, and the traffic signal transmission function of V2X is verified by means of comparison of the road-side information and the perception information by the unmanned vehicle. According to the embodiment of the application, the unmanned vehicle technology and the V2X technology are combined, the test data form a closed loop based on functions such as lane level high-precision maps and environment perception of the unmanned vehicle, the automatic test of the V2X traffic signal transmission function is realized, manual participation is greatly reduced, and the test efficiency and accuracy are improved.
Second embodiment
Fig. 2 is a flowchart of a testing method applied to V2X according to a second embodiment of the present application, and this embodiment further explains a process of an automatic comparison test on the basis of the first embodiment, so as to verify at least one of a map and phase function, a lamp color remaining time function, and a lamp color switching delay function in V2X. As shown in fig. 2, the method specifically includes the following steps:
s210, receiving the traffic signal roadside message of V2X transmitted by the roadside device through the vehicle-mounted unit in the unmanned vehicle.
And S220, determining traffic signal perception information according to the map data in the unmanned vehicle and/or the environment data perceived by the unmanned vehicle.
S230, comparing the road side information of the V2X traffic signal with the traffic signal perception information to obtain a comparison result; the V2X traffic signal road side message at least comprises at least one of a map road side message, a light color road side message and a light color remaining time road side message.
In the specific embodiment of the application, for the same type of data, based on the time alignment and position alignment principles, the data corresponding to the same lane position at the same time point in the V2X traffic signal roadside message and the traffic signal perception information are compared to obtain a comparison result. According to the map road side message, the light color road side message and the light color remaining time road side message in the V2X traffic signal road side message, verification of the map and phase function, the light color remaining time function and the light color switching time delay function in the V2X traffic signal road side message can be achieved.
Fig. 3 is a flowchart of testing the map and phase function, and the present embodiment further explains the test of the map and phase function on the basis of the first embodiment. As shown in fig. 3, the verification process specifically includes the following steps:
s2311, extracting position information and attribute information of lanes and traffic signal lamp phase information from a map roadside message of the V2X traffic signal roadside message.
In this embodiment, the map roadside message is information for explaining the geographic location and attributes of various traffic facilities. Specifically, the map roadside message generally indicates various types of traffic facility information on an intersection to which the vehicle is about to arrive, and mainly includes, for example, position and attribute information of traffic facilities such as a road side unit RSU at the intersection, a traffic signal, a lane, and the like. Correspondingly, position information and attribute information of the lanes and traffic signal lamp phase information are extracted from the map roadside message.
The position information of the lane may be coordinate information of a center line of the lane, which is not limited in this embodiment, and any way of marking the position of the lane may be applied to this embodiment. The attribute information of the lane includes left turn, right turn, execution, end-cut, and the like. The traffic signal phase refers to each control state (right of way) of the traffic signal, i.e., a combination of different light colors displayed in different directions of various entrance lanes, and is called a signal phase. Accordingly, the traffic signal phase information may include phase number information of the traffic signal, control direction information, control state information of each direction, and the like.
And S2312, extracting position information and attribute information of the lane and traffic signal lamp phase information from the map data according to the positioning information of the unmanned vehicle.
In this embodiment, the positioning information of the unmanned vehicle can be obtained according to the combined inertial navigation positioning system integrated in the unmanned vehicle, and the positioning information can also be determined according to the environmental data sensed by the unmanned vehicle and the lane-level high-precision map. Therefore, according to the positioning information of the unmanned vehicle, the position information and the attribute information of the current lane of the unmanned vehicle are extracted from the map data such as the lane level high-precision map and the like, and the phase information of the traffic signal lamp of the intersection where the unmanned vehicle drives is extracted.
And S2313, respectively comparing the attribute information of the lane and the phase information of the traffic lights according to the position information of the lane.
In this embodiment, according to the position information of the lane, based on time alignment and lane position alignment, the attribute information of the lane flowing in the same lane at the same time point in the map roadside message and the map data is compared to determine abnormal lanes such as an unmatched lane, a missing lane, and the like in the map roadside message. And comparing the phase information of the traffic signal lamps to judge the traffic signal lamps with abnormal phases.
Fig. 4 is a flowchart of the function of testing the lamp color, and the present embodiment further explains the test of the function of the lamp color on the basis of the first embodiment. As shown in fig. 4, the verification process specifically includes the following steps:
s2321, determining the traffic signal perception information according to the traffic signal perception information.
In this embodiment, according to the current positioning information of the unmanned vehicle, the current traffic direction of the current driving lane of the unmanned vehicle is taken as the traffic direction of the target lane. Since the traffic signal perception information may be the traffic signal perception information of all the lanes after traversing a plurality of lanes, the light color perception information of the target lane flow direction may be extracted from the traffic signal perception information according to time.
S2322, comparing the light color roadside information in the V2X traffic signal roadside message, which has the same traffic lane flow direction as the target traffic lane, with the light color perception information in the traffic lane flow direction of the target traffic lane.
In this embodiment, the flow direction of the target lane in the V2X traffic signal roadside message is determined based on lane position alignment, and light roadside information of the flow direction of the target lane is extracted from the V2X traffic signal roadside message based on time alignment. Therefore, the light color perception information is compared with the light color road side information to judge whether the light color perception information and the light color road side information are consistent or not.
Fig. 5 is a flowchart of the function of testing the remaining time of the light color, and this embodiment further explains the test of the function of the remaining time of the light color on the basis of the first embodiment. As shown in fig. 5, the verification process specifically includes the following steps:
s2331, according to the light color remaining time information in the V2X traffic signal road side information, determining light color remaining time road side information.
In this embodiment, for a traffic signal lamp with a countdown function, the light color remaining time message includes information of a currently lit light color and information of a countdown remaining time of the current light color. And extracting the light color information and the remaining time information from the light color remaining time message as light color remaining time road side information based on the time alignment and the lane position alignment.
S2332, determining the sensing information of the remaining time of the light color according to the sensing information of the traffic signals.
In this embodiment, based on time alignment and lane position alignment, the light color and the remaining time of the traffic signal light in the same lane flow at the same time point are extracted from the traffic signal perception information as light color remaining time perception information.
And S2333, determining a difference result between the road side information of the light color remaining time and the perception information of the light color remaining time.
In this embodiment, for the roadside information of the light color remaining time and the perception information of the light color remaining time of the traffic signal light in the same lane flow at the same time point, it is first determined whether the light colors are consistent, and if the light colors are consistent, a difference result between the roadside information of the light color remaining time and the perception information of the light color remaining time is calculated. In the one-time complete countdown process of the traffic signal lamp, only one light color remaining time road side information and light color remaining time perception information can be extracted for processing, a plurality of light color remaining time road side information and light color remaining time perception information can also be extracted, and the average value of a plurality of differences is taken as a difference result.
S2334, comparing the difference result with the remaining time threshold.
In this embodiment, the remaining time threshold, for example, 1S, may be set in advance based on the visual time difference that is not perceivable by the human eye. The difference result is then compared to the remaining time threshold. If the difference result is smaller than the remaining time threshold, namely the error between the road side and the perception cannot be perceived by human eyes, the functional verification of the remaining time of the light color can be determined to be passed.
Fig. 6 is a flowchart of testing the lamp color switching delay function, and this embodiment further explains the test of the lamp color switching delay function on the basis of the first embodiment. As shown in fig. 6, the verification process specifically includes the following steps:
s2341, if it is detected that the light colors in the two light color road side messages are changed according to the V2X traffic signal road side messages, determining road side time difference values of the two light color road side messages according to the time stamps of the light color road side messages.
In this embodiment, after receiving the traffic signal roadside message of V2X, the unmanned vehicle extracts the light color roadside messages at each time point, and compares the plurality of light color roadside messages that are adjacent in time. If it is detected that there are at least two light color roadside messages with the light color changed, for example, the green light is switched to the yellow light; or switching from green to off with no light color and from off to yellow. And the at least two light color road side messages are the light color road side messages with the shortest time interval in all the light color road side messages with the changed light color. Thereby extracting two light color messages having the light colors, for example, the light color roadside message of the last green light detected and the light color roadside message of the first yellow light detected, from the at least two light color messages. And according to the time stamps of the two light color road side messages, the time stamps of the two light color road side messages are differenced to obtain a road side time difference value which represents the light color switching time interval of the traffic signal lamp under the V2X function detection.
For example, it is assumed that, among 5 adjacent light color messages, on a time-sequential basis, a first light color message lights up green, a second light color message lights up green, a third light color message lights up no, a fourth light color message lights up yellow, and a fifth light color message lights up yellow. A light color change is detected in the three light color messages, the second light color message, the third light color message and the fourth light color message. And then extracting the second light color message and the fourth light color message, and obtaining a roadside time difference value according to the time stamp difference.
And S2342, if the change of the light colors in the two frames of images is detected according to the traffic signal perception information, determining a perception time difference value of the two frames of images according to the acquisition time of the image frames.
In this embodiment, in a manner similar to the determination of the roadside time difference, after the unmanned vehicle generates the traffic signal perception information, the light color perception information at each time point is extracted, and a plurality of temporally adjacent light color perception information are compared. If the change of the light color in at least two frames of images is detected, for example, the green light is switched to the yellow light; or switching from green to off with no light and from off to yellow. And the at least two frames of images are all the light color perception information which sends the light color change, and the time interval is the shortest. Thereby, from the at least two frame images, two frame images having the light color, for example, the image frame of the last detected green light, and the image frame of the first detected yellow light, are extracted. And according to the acquisition time of the image frames, the acquisition time of the two image frames is differed to obtain a perception time difference value, which represents the light color switching time interval of the traffic signal lamp under the perception of no-man vehicles.
And S2343, determining a difference result between the road side time difference value and the sensing time difference value.
In this embodiment, based on the principle of time alignment and lane position alignment, for the light color road side information and the light color perception information of the traffic signal light in the same lane flow direction at the same time point, it is first determined whether the light colors are consistent, and if the light colors are consistent, the road side time difference value and the perception time difference value are subtracted to obtain a difference result.
And S2344, comparing the difference result with a switching time threshold.
In this embodiment, the switching time threshold may be set in advance based on the visual time difference imperceptible to the human eye, for example, 1S. The difference result is then compared to a switching time threshold. If the difference result is smaller than the switching time threshold, that is, the error between the road side and the perception cannot be perceived by human eyes, it can be determined that the function verification of the lamp color switching delay is passed.
And S240, verifying the V2X traffic signal transmission function according to the comparison result.
In the specific embodiment of the application, if it is determined that the roadside message of the V2X traffic signal is consistent with the traffic signal sensing information according to the comparison result, it is determined that the verification of the transmission function of the V2X traffic signal is passed. Specifically, if the map roadside message of the V2X traffic signal message is consistent with the traffic signal sensing information, and the lane attribute information and the traffic signal phase information in the map roadside message are consistent with each other, it is determined that the map and phase function verification is passed. And if the light color perception information is consistent with the light color road side information, determining that the light color function verification is passed. And if the remaining time difference result between the road side information of the light color remaining time and the perception information of the light color remaining time is smaller than the remaining time threshold, determining that the function verification of the light color remaining time is passed. And if the difference result between the road side time difference value and the perception time difference value is smaller than the switching time threshold, determining that the lamp color switching time delay function passes verification.
Optionally, if it is determined that the traffic signal roadside message of the V2X traffic signal is inconsistent with the traffic signal sensing information according to the comparison result, the V2X traffic signal transmission function is verified according to the traffic signal roadside message of the V2X traffic signal and the environment data sensed by the unmanned vehicle.
In this embodiment, if it is determined that the comparison result is inconsistent or greater than the threshold value according to the comparison result, it indicates that at least one of the roadside message and the awareness information is erroneous. In view of the fact that environment data such as images and the like collected by the unmanned vehicle when the unmanned vehicle traverses the lane actually exist, the V2X traffic signal roadside message can be retested with the environment data sensed by the unmanned vehicle as a reference. Therefore, even if the verification is inconsistent, the environmental data sensed by the unmanned vehicle can be verified again, manual data collection is not needed, and the testing efficiency is further improved.
According to the technical scheme of the embodiment, the vehicle-mounted unit in the unmanned vehicle receives the traffic signal road-side information of V2X transmitted by the road-side equipment, the traffic signal perception information is determined according to the map data and/or the environment data perceived by the unmanned vehicle, and at least one of the map and phase function, the lamp color remaining time function and the lamp color switching time delay function in the V2X is verified by comparing the traffic signal road-side information of V2X with the traffic signal perception information by the unmanned vehicle. According to the embodiment of the application, the unmanned vehicle technology and the V2X technology are combined, the test data form a closed loop based on functions such as lane level high-precision maps and environment perception of the unmanned vehicle, the automatic test of the V2X traffic signal transmission function is realized, manual participation is greatly reduced, and the test efficiency and accuracy are improved.
Third embodiment
Fig. 7 is a schematic structural diagram of a testing apparatus applied to V2X according to a third embodiment of the present application, where this embodiment is applicable to a situation where a traffic signal lamp based on an intersection verifies a transmission function of a V2X traffic signal, and the apparatus can implement the testing method applied to V2X according to any embodiment of the present application. The apparatus 700 specifically includes the following:
a roadside message receiving module 710, configured to receive, through a vehicle-mounted unit in an unmanned vehicle, a roadside message of the V2X traffic signal transmitted by roadside equipment;
the perception information determining module 720 is configured to determine traffic signal perception information according to the map data in the unmanned vehicle and/or the environmental data perceived by the unmanned vehicle;
the function test module 730 is configured to verify a transmission function of the V2X traffic signal according to a comparison result between the V2X traffic signal roadside message and the traffic signal perception information.
Optionally, the functional test module 730 is specifically configured to:
comparing the V2X traffic signal roadside message with the traffic signal perception information to obtain a comparison result; wherein the V2X traffic signal roadside message at least comprises at least one of a map roadside message, a light color roadside message and a light color remaining time roadside message;
and verifying the V2X traffic signal transmission function according to the comparison result.
Optionally, the functional test module 730 is specifically configured to:
and if the traffic signal perception information is inconsistent with the V2X traffic signal roadside message according to the comparison result, verifying the transmission function of the V2X traffic signal according to the V2X traffic signal roadside message and the environment data perceived by the unmanned vehicle.
Optionally, the functional test module 730 is specifically configured to:
extracting position information and attribute information of lanes and traffic signal lamp phase information from a map roadside message of the V2X traffic signal roadside message;
according to the positioning information of the unmanned vehicle, extracting position information and attribute information of a lane and phase information of a traffic signal lamp from the map data;
and respectively comparing the attribute information of the lane and the phase information of the traffic signal lamp according to the position information of the lane.
Optionally, the functional test module 730 is specifically configured to:
determining the light color perception information of the flow direction of the target lane according to the traffic signal perception information;
and comparing the light color roadside information with the same lane flow direction as the target lane in the V2X traffic signal roadside message with the light color perception information with the target lane flow direction.
Optionally, the functional test module 730 is specifically configured to:
determining the road side information of the light color remaining time according to the light color remaining time information in the road side information of the V2X traffic signal;
determining the sensing information of the remaining time of the lamp color according to the sensing information of the traffic signal;
determining a difference result between the light color remaining time road side information and the light color remaining time perception information;
and comparing the difference result with a residual time threshold.
Optionally, the functional test module 730 is specifically configured to:
if the road side information of the two light color road side information is detected to have the light color change according to the V2X traffic signal road side information, determining the road side time difference value of the two light color road side information according to the time stamp of the light color road side information;
if the change of the light colors in the two frames of images is detected according to the traffic signal perception information, determining a perception time difference value of the two frames of images according to the acquisition time of the image frames;
determining a difference result between the roadside time difference value and the perception time difference value;
and comparing the difference result with a switching time threshold.
According to the technical scheme of the embodiment, through mutual cooperation of all the functional modules, the functions of receiving roadside messages, collecting environmental data, generating perception information, extracting and comparing traffic signal information, verifying a V2X function and the like are achieved. According to the embodiment of the application, the unmanned vehicle technology and the V2X technology are combined, the test data form a closed loop based on functions such as lane level high-precision maps and environment perception of the unmanned vehicle, the automatic test of the V2X traffic signal transmission function is realized, manual participation is greatly reduced, and the test efficiency and accuracy are improved.
Fourth embodiment
According to an embodiment of the present application, an electronic device and a readable storage medium are also provided.
Fig. 8 is a block diagram of an electronic device applied to a V2X test method according to an embodiment of the present application. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the present application that are described and/or claimed herein.
As shown in fig. 8, the electronic apparatus includes: one or more processors 801, memory 802, and interfaces for connecting the various components, including a high speed interface and a low speed interface. The various components are interconnected using different buses and may be mounted on a common motherboard or in other manners as desired. The processor may process instructions for execution within the electronic device, including instructions stored in or on the memory to display Graphical information for a Graphical User Interface (GUI) on an external input/output device, such as a display device coupled to the Interface. In other embodiments, multiple processors and/or multiple buses may be used, along with multiple memories and multiple memories, as desired. Also, multiple electronic devices may be connected, with each device providing some of the necessary operations, e.g., as an array of servers, a group of blade servers, or a multi-processor system. Fig. 8 illustrates an example of a processor 801.
The memory 802 is a non-transitory computer readable storage medium as provided herein. Wherein the memory stores instructions executable by the at least one processor to cause the at least one processor to perform the test method applied to V2X provided herein. The non-transitory computer readable storage medium of the present application stores computer instructions for causing a computer to perform the test method applied to V2X provided herein.
The memory 802, as a non-transitory computer readable storage medium, may be used to store non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules corresponding to the test method applied to V2X in the embodiment of the present application, for example, the roadside message receiving module 710, the perception information determining module 720, and the function testing module 730 shown in fig. 7. The processor 801 executes various functional applications of the server and data processing, i.e., implements the test method applied to V2X in the above method embodiment, by running non-transitory software programs, instructions, and modules stored in the memory 802.
The memory 802 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of the electronic device to which the test method of V2X is applied, and the like. Further, the memory 802 may include high speed random access memory and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory 802 optionally includes memory located remotely from the processor 801, which may be connected over a network to the electronics of the test method applied to V2X. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The electronic device applied to the test method of V2X may further include: an input device 803 and an output device 804. The processor 801, the memory 802, the input device 803, and the output device 804 may be connected by a bus or other means, and are exemplified by a bus in fig. 8.
The input device 803 may receive input numeric or character information and generate key signal inputs related to user settings and function control of the electronic apparatus applied to the test method of V2X, such as a touch screen, a keypad, a mouse, a track pad, a touch pad, a pointing stick, one or more mouse buttons, a track ball, a joystick, or the like. The output device 804 may include a display apparatus, an auxiliary lighting device such as a Light Emitting Diode (LED), a tactile feedback device, and the like; the tactile feedback device is, for example, a vibration motor or the like. The Display device may include, but is not limited to, a Liquid Crystal Display (LCD), an LED Display, and a plasma Display. In some implementations, the display device can be a touch screen.
Various implementations of the systems and techniques described here can be realized in digital electronic circuitry, integrated circuitry, application Specific Integrated Circuits (ASICs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
These computer programs, also known as programs, software applications, or code, include machine instructions for a programmable processor, and may be implemented using high-level procedural and/or object-oriented programming languages, and/or assembly/machine languages. As used herein, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, apparatus, and/or Device for providing machine instructions and/or data to a Programmable processor, such as a magnetic disk, optical disk, memory, programmable Logic Device (PLD), including a machine-readable medium that receives machine instructions as a machine-readable signal. The term "machine-readable signal" refers to any signal used to provide machine instructions and/or data to a programmable processor.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device for displaying information to a user, for example, a Cathode Ray Tube (CRT) or an LCD monitor; and a keyboard and a pointing device, such as a mouse or a trackball, by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback, e.g., visual feedback, auditory feedback, or tactile feedback; and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component, e.g., as a data server, or that includes a middleware component, e.g., an application server, or that includes a front-end component, e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here, or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication, e.g., a communication network. Examples of communication networks include: local Area Network (LAN), wide Area Network (WAN), blockchain Network, and the internet.
The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other.
According to the technical scheme of the embodiment of the application, the unmanned vehicle technology and the V2X technology are combined, the test data form a closed loop based on the functions of a lane level high-precision map, environmental perception and the like of the unmanned vehicle, the automatic test of the V2X traffic signal transmission function is realized, the manual participation is greatly reduced, and the test efficiency and the accuracy are improved.
In addition, based on the map roadside message, the light color roadside message, and the light color remaining time roadside message included in the V2X traffic signal roadside message, functions such as map information, traffic signal phase, light color remaining time, and light color switching delay time can be verified.
In addition, when the roadside message is determined to be consistent with the perception information through comparison, the verification of the transmission power of the V2X traffic signal can be determined to be passed. And when the traffic signals are inconsistent, the environmental data collected by the unmanned vehicles, such as road images, can be compared with roadside messages to realize the verification of the V2X traffic signal transmission function. Therefore, even if the verification is inconsistent, the environmental data sensed by the unmanned vehicle can be verified again, manual data collection is not needed, and the testing efficiency is further improved.
In addition, based on high-precision map data integrated in the unmanned vehicle, the map information in the road side message and the traffic signal lamp phase information in the map can be tested, so that automatic verification of the map and phase functions is realized.
In addition, the light color in the road side message can be tested based on the light color perception information of the traffic signal lamp perceived by the unmanned vehicle, so that the automatic verification of the light color function is realized.
In addition, the light color remaining time in the roadside message can be tested based on the light color remaining time perception information perceived by the unmanned vehicle, so that the automatic verification of the light color remaining time function is realized.
In addition, the roadside time difference value recorded by the roadside message when the light color changes can be tested based on the perception time difference value when the light color changes perceived by the unmanned vehicle, so that the automatic verification of the light color switching time delay function is realized.
It should be understood that various forms of the flows shown above, reordering, adding or deleting steps, may be used. For example, the steps described in the present application may be executed in parallel, sequentially, or in different orders, as long as the desired results of the technical solutions disclosed in the present application can be achieved, and the present invention is not limited herein.
The above-described embodiments should not be construed as limiting the scope of the present application. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made, depending on design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (7)
1. A test method applied to V2X is executed by a vehicle-mounted terminal of an unmanned vehicle, and is characterized by comprising the following steps:
receiving a traffic signal roadside message of V2X transmitted by roadside equipment through a vehicle-mounted unit in an unmanned vehicle;
determining traffic signal perception information according to the map data in the unmanned vehicle and/or the environment data perceived by the unmanned vehicle;
for the same kind of data, comparing the V2X traffic signal roadside message with the data corresponding to the same lane position at the same time point in the traffic signal perception information based on the time alignment and position alignment principles to obtain a comparison result; verifying the V2X traffic signal transmission function according to the comparison result;
the V2X traffic signal transmission function comprises at least one of a map and phase function, a lamp color remaining time function and a lamp color switching time delay function;
for the same kind of data, based on the time alignment and position alignment principle, comparing the data corresponding to the same lane position at the same time point in the V2X traffic signal roadside message and the traffic signal perception information, including:
extracting position information and attribute information of lanes and traffic signal lamp phase information from a map roadside message of the V2X traffic signal roadside message;
according to the positioning information of the unmanned vehicle, extracting position information and attribute information of a lane and phase information of a traffic signal lamp from the map data;
respectively comparing the attribute information of the lane and the phase information of the traffic signal lamp according to the position information of the lane; and/or the presence of a gas in the gas,
determining the light color perception information of the flow direction of a target lane according to the traffic signal perception information;
and comparing the light color roadside information with the same lane flow direction as the target lane in the V2X traffic signal roadside message with the light color perception information of the target lane flow direction.
2. The method of claim 1, wherein the verifying the transmission function of the V2X traffic signal according to the comparison result comprises:
and if the traffic signal perception information is inconsistent with the V2X traffic signal roadside message according to the comparison result, verifying the transmission function of the V2X traffic signal according to the V2X traffic signal roadside message and the environment data perceived by the unmanned vehicle.
3. The method according to claim 1, wherein for the same kind of data, comparing the data corresponding to the same lane position at the same time point in the V2X traffic signal roadside message and the traffic signal perception information based on the time alignment and position alignment principles comprises:
determining light color remaining time road side information according to the light color remaining time message in the V2X traffic signal road side message;
determining the perception information of the remaining time of the light color according to the perception information of the traffic signal;
determining a difference result between the light color remaining time road side information and the light color remaining time perception information;
and comparing the difference result with a residual time threshold.
4. The method according to claim 1, wherein comparing the data corresponding to the same lane position at the same time point in the V2X traffic signal roadside message and the traffic signal perception information based on the time alignment and position alignment principles for the same data comprises:
if the fact that the light colors in the two light color roadside messages are changed is detected according to the V2X traffic signal roadside message, determining a roadside time difference value of the two light color roadside messages according to the timestamp of the light color roadside message;
if the change of the light colors in the two frames of images is detected according to the traffic signal perception information, determining a perception time difference value of the two frames of images according to the acquisition time of the image frames;
determining a difference result between the roadside time difference value and the perception time difference value;
and comparing the difference result with a switching time threshold.
5. A test device applied to V2X is configured at a vehicle-mounted terminal of an unmanned vehicle, and is characterized by comprising:
the roadside message receiving module is used for receiving a roadside message of the V2X traffic signal transmitted by roadside equipment through a vehicle-mounted unit in the unmanned vehicle;
the perception information determining module is used for determining traffic signal perception information according to map data in the unmanned vehicle and/or environmental data perceived by the unmanned vehicle;
the function testing module is used for verifying the transmission function of the V2X traffic signal according to the comparison result between the road side message of the V2X traffic signal and the traffic signal perception information;
the V2X traffic signal transmission function comprises at least one of a map and phase function, a lamp color remaining time function and a lamp color switching time delay function;
the function testing module is specifically used for comparing data corresponding to the same lane position at the same time point in the V2X traffic signal roadside message and the traffic signal perception information based on the time alignment and position alignment principles for the same kind of data to obtain a comparison result;
verifying the V2X traffic signal transmission function according to the comparison result;
the function test module is specifically configured to: extracting position information and attribute information of lanes and traffic signal lamp phase information from a map roadside message of the V2X traffic signal roadside message;
according to the positioning information of the unmanned vehicle, extracting position information and attribute information of a lane and phase information of a traffic signal lamp from the map data;
respectively comparing the attribute information of the lane and the phase information of the traffic signal lamp according to the position information of the lane; and/or the presence of a gas in the gas,
determining the light color perception information of the flow direction of the target lane according to the traffic signal perception information;
and comparing the light color roadside information with the same lane flow direction as the target lane in the V2X traffic signal roadside message with the light color perception information of the target lane flow direction.
6. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the test method for V2X of any one of claims 1-4.
7. A non-transitory computer readable storage medium storing computer instructions for causing a computer to perform the test method for V2X of any one of claims 1-4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010006628.8A CN111210623B (en) | 2020-01-03 | 2020-01-03 | Test method, device, equipment and storage medium applied to V2X |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010006628.8A CN111210623B (en) | 2020-01-03 | 2020-01-03 | Test method, device, equipment and storage medium applied to V2X |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111210623A CN111210623A (en) | 2020-05-29 |
| CN111210623B true CN111210623B (en) | 2022-11-15 |
Family
ID=70787807
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010006628.8A Active CN111210623B (en) | 2020-01-03 | 2020-01-03 | Test method, device, equipment and storage medium applied to V2X |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111210623B (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111857094B (en) * | 2020-07-17 | 2021-10-22 | 联陆智能交通科技(上海)有限公司 | System and method for testing software by vehicle-mounted unit |
| CN113094275B (en) * | 2021-04-15 | 2024-06-04 | 北京星云互联科技有限公司 | Data processing method, device, electronic equipment and medium |
| CN113340325B (en) * | 2021-06-01 | 2022-11-15 | 上海智能网联汽车技术中心有限公司 | System, method and medium for verifying vehicle-road cooperative roadside perception fusion precision |
| CN115565396A (en) * | 2021-07-02 | 2023-01-03 | 华为技术有限公司 | Information processing method and device |
| CN113505687A (en) * | 2021-07-08 | 2021-10-15 | 北京星云互联科技有限公司 | Equipment test method, device, electronic equipment, system and storage medium |
| CN113654566A (en) * | 2021-07-27 | 2021-11-16 | 上海智能网联汽车技术中心有限公司 | Positioning performance evaluation method of road side system, storage medium and vehicle-road cooperative system |
| CN115691099A (en) * | 2021-07-30 | 2023-02-03 | 华为技术有限公司 | Sensing capability information generation method, using method and device |
| CN114374624B (en) * | 2021-12-17 | 2024-06-14 | 信通院车联网创新中心(成都)有限公司 | V2X road side terminal functional information issuing function simulation test method |
| CN114383649A (en) * | 2021-12-29 | 2022-04-22 | 信通院车联网创新中心(成都)有限公司 | Roadside sensing system testing method based on high-precision positioning |
| CN115083190B (en) * | 2022-06-17 | 2023-04-25 | 东风汽车集团股份有限公司 | Automatic driving system and method for multi-lane traffic intersection |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9096228B2 (en) * | 2010-06-23 | 2015-08-04 | Continental Teves Ag & Co. Ohg | Method and system for accelerated object recognition and/or accelerated object attribute recognition and use of said method |
| CN105991314A (en) * | 2015-02-04 | 2016-10-05 | 迈普通信技术股份有限公司 | Information receiving reliability testing method and system |
| KR101982504B1 (en) * | 2017-03-13 | 2019-05-27 | 주식회사 아이티텔레콤 | Vehicle to everything communication conforming device |
| WO2018182315A1 (en) * | 2017-03-30 | 2018-10-04 | 주식회사 웨이티즈 | Method for analyzing vehicle-to-everything communication system and analysis system using same |
| CN107728491B (en) * | 2017-09-27 | 2020-09-29 | 重庆邮电大学 | V2X car networking is at ring simulation system |
| CN108961798B (en) * | 2018-08-10 | 2021-05-18 | 长安大学 | Unmanned vehicle traffic signal lamp autonomous perception capability test system and test method |
| CN109067617B (en) * | 2018-08-27 | 2020-12-01 | 东软集团（北京）有限公司 | V2X protocol consistency test method, device and system |
| CN109324539A (en) * | 2018-08-28 | 2019-02-12 | 山东省科学院自动化研究所 | The intelligent control platform and method of a kind of automatic Pilot closed test field |
| CN109362096A (en) * | 2018-12-12 | 2019-02-19 | 安徽江淮汽车集团股份有限公司 | A kind of driver test system and method for V2X road test |
| CN110224888B (en) * | 2019-06-10 | 2023-03-07 | 公安部交通管理科学研究所 | Test method, device and system for vehicle-mounted V2X communication equipment |
| CN110248311B (en) * | 2019-06-17 | 2021-01-01 | 重庆西部汽车试验场管理有限公司 | V2I application function testing method based on intelligent networking platform |
-
2020
- 2020-01-03 CN CN202010006628.8A patent/CN111210623B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN111210623A (en) | 2020-05-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111210623B (en) | Test method, device, equipment and storage medium applied to V2X | |
| US11636764B2 (en) | Vehicle-to-infrastructure cooperation information processing method, apparatus, device and autonomous vehicle | |
| CN110991320B (en) | Road condition detection method and device, electronic equipment and storage medium | |
| CN111739344B (en) | Early warning method and device and electronic equipment | |
| CN112634611B (en) | Method, device, equipment and storage medium for identifying road conditions | |
| CN110910665B (en) | Signal lamp control method and device and computer equipment | |
| CN112581763A (en) | Method, device, equipment and storage medium for detecting road event | |
| CN111784837B (en) | High-precision map generation method, apparatus, device, storage medium, and program product | |
| JP7267250B2 (en) | AR navigation method and device | |
| US20210110168A1 (en) | Object tracking method and apparatus | |
| CN111583668A (en) | Traffic jam detection method and device, electronic equipment and storage medium | |
| CN111324115A (en) | Obstacle position detection fusion method and device, electronic equipment and storage medium | |
| CN110689747B (en) | Control method and device of automatic driving vehicle and automatic driving vehicle | |
| CN111536984A (en) | Positioning method and device, vehicle-end equipment, vehicle, electronic equipment and positioning system | |
| KR20210038462A (en) | Method for reminding driving in dedicated lane, apparatus, device and storage medium | |
| CN112287806A (en) | Road information detection method, system, electronic equipment and storage medium | |
| CN111523471A (en) | Method, device and equipment for determining lane where vehicle is located and storage medium | |
| CN105679064A (en) | Vehicle terminal and system used for road condition monitoring, and automobile | |
| CN112101223A (en) | Detection method, device, equipment and computer storage medium | |
| CN111540010B (en) | Road monitoring method and device, electronic equipment and storage medium | |
| CN111681420A (en) | Road surface information detection method, device, equipment and storage medium | |
| CN1904557B (en) | Apparatus and method for deciding traveling direction of navigation system | |
| CN114419590A (en) | High-precision map verification method, device, equipment and storage medium | |
| CN113011298B (en) | Truncated object sample generation, target detection method, road side equipment and cloud control platform | |
| CN116978246A (en) | Vehicle prompting method, device, vehicle and readable storage medium |
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 | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20211018 Address after: 105 / F, building 1, No. 10, Shangdi 10th Street, Haidian District, Beijing 100085 Applicant after: Apollo Intelligent Technology (Beijing) Co.,Ltd. Address before: 2 / F, baidu building, 10 Shangdi 10th Street, Haidian District, Beijing 100085 Applicant before: BEIJING BAIDU NETCOM SCIENCE AND TECHNOLOGY Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |