CN111220197B - Test system and test method for lane line deviation alarm system - Google Patents
Test system and test method for lane line deviation alarm system Download PDFInfo
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- CN111220197B CN111220197B CN202010118442.1A CN202010118442A CN111220197B CN 111220197 B CN111220197 B CN 111220197B CN 202010118442 A CN202010118442 A CN 202010118442A CN 111220197 B CN111220197 B CN 111220197B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D18/00—Testing or calibrating apparatus or arrangements provided for in groups G01D1/00 - G01D15/00
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
- G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
- G01B21/042—Calibration or calibration artifacts
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
- G07C5/0808—Diagnosing performance data
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Abstract
The invention provides a test system of a lane line deviation alarm system, which comprises a data acquisition device, a data processing device and an interaction device for enabling the data acquisition device and the data processing device to be communicated with each other, wherein the data acquisition device comprises: two cameras respectively mounted on a vehicle body above left and right front wheels of a subject vehicle, the cameras being for obtaining image data including a contact point of a corresponding one of the left and right front wheels with a ground surface and a lane line on a corresponding side; a steering wheel angle sensor and a steering wheel acceleration sensor mounted to a steering wheel of the target vehicle; and an on-board diagnosis system provided for the target vehicle itself for obtaining status information of the target vehicle, the data processing device being configured to obtain a position of a contact point of the corresponding wheel with the ground based on the image data, perform lane line recognition, calculate a lane line width, and a vertical distance between the contact point and the lane line.
Description
The application is a divisional application of an invention patent application with the application date of 2016, 9, 12 and the application number of 201610817591.0, and the name of the invention is 'test system and test method of lane line deviation alarm system'.
Technical Field
The invention relates to a test system and a test method of a lane line deviation alarm system.
Background
With the development of global urbanization and the mass popularization of automobiles, the problems of transportation are more and more valued and concerned by people. The reason for the occurrence of a large number of fatal traffic accidents is analyzed and found as follows: casualty accidents caused by lane line deviation caused by subjective factors such as driver fatigue and negligence account for a large proportion. Therefore, a stable intelligent auxiliary driving system with a correct early warning function, namely a lane line deviation warning system (LDW system), is developed for a driver, and the intelligent auxiliary driving system acquires road data ahead through a visual sensor and judges whether the automobile has a tendency of deviating from a driving lane or not by combining the driving state of the automobile such as the speed and the like and the early warning time set by the driver and other related parameters. When the potential tendency of departure exists, a lane departure warning is sent to the driver through image display, sound or vibration and the like, so that the driver is assisted to avoid or reduce lane departure accidents.
However, to ensure the reliability of the lane departure warning system, the lane departure warning system needs to be tested and performance evaluated before use so that it can promptly and accurately warn the driver when a vehicle deviates and has as low a false warning rate as possible.
Disclosure of Invention
The invention aims to provide a test system capable of more accurately testing a lane departure warning system and a test method using the test system.
To this end, according to an aspect of the present invention, there is provided a lane line deviation alarm system testing system including a data collecting device, a data processing device, and an interaction device for enabling the data collecting device and the data processing device to communicate with each other, wherein the data collecting device includes: two cameras respectively mounted on a vehicle body above left and right front wheels of a subject vehicle, the cameras being for obtaining image data including a contact point of a corresponding one of the left and right front wheels with a ground surface and a lane line on a corresponding side; a steering wheel angle sensor and a steering wheel acceleration sensor mounted to a steering wheel of the target vehicle; and an on-board diagnostic system provided with the target vehicle itself for obtaining status information of the target vehicle, the data processing device being configured to obtain a position of a contact point of the corresponding wheel with the ground based on the image data, perform lane line recognition, calculate a lane line width, and a vertical distance between the contact point and the lane line. Compared with the system in the prior art, the camera is mounted on the vehicle body above the wheels of the vehicle, the contact point between the wheels and the ground and the image of the lane line on the corresponding side are collected, the mounting position of the camera is closer to the reference point of the system to be measured, and the accuracy is higher. In the technical scheme of the invention, the measured parameters comprise steering wheel turning angle and acceleration signals besides the lane line, the parameters of the vehicle, such as vehicle speed, LDW trigger signals, vehicle body lateral acceleration and other vehicle state information, thereby further improving the reliability of the test result.
According to one embodiment, the vehicle state information includes at least one of a vehicle speed, a LDW trigger signal, and a vehicle lateral acceleration.
According to one embodiment, the test system comprises a calibration board for calibrating the two cameras. In particular, the calibration plate may be a high precision custom calibration plate of micrometer scale. Advantages of the invention also include providing a camera lens distortion correction step that overcomes the negative effects of camera lens distortion known in the art, eliminating camera pose errors and human mounting errors associated with camera mounting.
According to one embodiment, the test system includes a power supply for powering the data acquisition device. According to one embodiment, the power source is an onboard power source or an external power source. Any other form of power source may be provided.
According to one embodiment, the data processing device comprises a first data processing device and a second data processing device which are independent of each other and communicate with each other, wherein the calculation of the test result of the lane line departure warning system is performed in the second data processing device. The data processing process with huge resource consumption is separated from the data acquisition process, and the data processing device is arranged on different data processing devices to execute, so that the data processing speed is increased, the real-time processing and real-time display of data are realized, and the data acquisition process is not influenced.
According to one embodiment, the test system comprises a memory for storing data collected from the data collection device and/or data calculated from the data processing device. The collected original data and the calculated data are stored for later use, so that data playback and delayed test report generation are possible, and data support is provided for research and analysis of related subjects and related fields.
According to one embodiment, the reference error of the lane line width is obtained by comparing the lane line width calculated in the data processing device with the actual lane line width manually measured.
According to another aspect of the present invention, there is provided a method of testing a lane line deviation warning system, comprising: installing the test system, wherein the installation step comprises the steps of mechanically installing a data acquisition device of the test system, and electrically connecting the data acquisition device and a data processing device of the test system through an interaction device; calibrating the camera to correct the distortion of the camera lens; executing a test process, including a data acquisition process, a data processing process and a data storage process; and ending the test or returning to the step of executing the test process.
According to one embodiment, the data acquisition process includes obtaining the image data with the two cameras, obtaining a steering wheel angle and a steering wheel acceleration with the steering wheel angle sensor and the steering wheel acceleration sensor; and obtaining state data of the target vehicle using the on-board diagnostic system.
According to one embodiment, the data processing process comprises, based on the image data:
obtaining the positions of contact points of the corresponding wheels and the ground;
recognizing lane lines;
converting the image coordinate points into world coordinates by using the calibration image;
calculating the lane line width; and
and calculating the vertical distance between the contact point and the lane line.
According to one embodiment, the method further comprises manually measuring the lane line width, and comparing the manually measured lane line width with the lane line width calculated during the data processing to derive a reference error.
According to one embodiment, the method further comprises selecting the type of lane line before performing the data processing procedure of the lane line identification arrangement.
According to one embodiment, the types of lane lines include at least solid line lane lines and dashed line lane lines.
According to one embodiment, in the case of a dashed lane line being selected, the data processing comprises calculating the position of the vehicle and the lane line in combination with: a plurality of frames of the image data that have been obtained; and the speed and acceleration of the target vehicle at the time when each frame of image data is acquired.
According to one embodiment, the data saving process includes saving data obtained during the data acquisition process and data obtained during the data processing process.
According to one embodiment, the data processing device comprises a first data processing device and a second data processing device, the data processing process is performed in the second data processing device, and the data acquisition process and the step of calibrating the camera are performed in the first data processing device.
According to one embodiment, the method further comprises the steps of data playback and test report generation.
According to the testing system and the testing method of the lane line deviation alarming system, the cameras installed on the wheels are adopted, and the step of calibrating the cameras is added before the testing is executed, so that the accuracy of the testing result is greatly improved, and the favorable results of real-time processing, real-time display, complete storage and later standby of data are realized.
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The above and other features and advantages of the present application will be better understood from the following description of preferred embodiments of the present application taken in conjunction with the accompanying drawings, in which:
fig. 1 is a block diagram of a test system for a lane departure warning system according to the present invention;
fig. 2 is a flow chart of a test method for a lane departure warning system according to the present invention.
Detailed Description
The following describes in detail a test system and a test method of a lane departure warning system according to the present invention with reference to fig. 1 and 2, in which fig. 1 is a block diagram of the test system and fig. 2 is a flowchart of the test method.
According to the present invention, the method of testing the lane departure system is first to install the test system 100 according to the present invention shown in fig. 1, i.e., step S12 in fig. 2. The mounting includes mechanical mounting of the respective components in the test system 100 to the target vehicle, and electrical connections between the respective components in the test system.
According to the present invention, as shown in fig. 1, the test system 100 generally comprises a data acquisition device 31 and a data processing device 11 and an interaction device 21 for interactive communication between the data acquisition device 31 and the data processing device 11. The data acquisition device 31 includes an image data acquisition device and a parameter data acquisition device.
Typically, the image data acquisition device may be a camera or any other image acquisition device known in the art. In the present invention, the image data acquisition means includes two cameras 317 and 319, which are respectively mounted on the vehicle body directly above the two front wheels of the vehicle, for generating image data including at least the corresponding wheel and the corresponding lane line beside the wheel. Accordingly, the test system 100 also includes a camera mounting structure for mounting the camera to the vehicle body, which may be of any suitable form known in the art and will not be described in detail herein.
The parameter data acquisition means first includes parameter sensors for obtaining relevant parameters, which are mounted on corresponding portions of the vehicle for the purpose of testing of the present invention, and, for example, in the present invention, includes a steering wheel angle sensor 311 for obtaining a steering wheel angle of the vehicle and a steering wheel acceleration sensor 313 for obtaining an acceleration of the steering wheel of the vehicle. The parameter data acquisition means also include an on-board diagnostic system 315, which is equipped with the vehicle itself, for example, for obtaining vehicle status information, including, but not limited to, vehicle speed, LDW trigger, vehicle lateral acceleration, and the like. It will be appreciated by those skilled in the art that the parameter data acquisition means of the present invention are not limited to those listed above, but may also comprise any other means for obtaining any other desired parameter.
According to the invention, the interaction means 21 comprise a network switch 215 which passes image data from the image data acquisition means to the data processing means 11, an on-board bus communication system 213 which passes parameter data from the on-board diagnostic system 315 to the data processing means 11, and a sensing unit access module 211 which passes on steering wheel angle and steering wheel acceleration from a steering wheel angle sensor 311 and a steering wheel acceleration sensor 313 to the data processing means 11.
The data processing device 11 includes a first data processing device and a second data processing device mainly used for image processing. For example, in the present invention, the first data processing apparatus and the second data processing apparatus may be a PC and a processing unit, respectively. However, it should be understood by those skilled in the art that the first data processing apparatus and the second data processing apparatus according to the present invention are obviously not limited to such a configuration method.
In this first step S12, the installation of the test system 100 includes the following mechanical installation: the two cameras 317 and 319 are mounted to the vehicle body above the left and right front wheels of the vehicle, respectively, using camera mounting structures; mounting a steering wheel acceleration sensor 313 and a steering wheel angle sensor 311 to a steering wheel of a subject vehicle; and a calibration board 51 is ready to be placed under the camera to be calibrated.
The installation of the test system 100 also includes the following electrical connection operations: the steering wheel angle sensor 311, the steering wheel acceleration sensor 313, the in-vehicle diagnosis system 315, and the above-described two cameras 317 and 319 are electrically connected to the power supply 41. The power source may be any off-the-shelf on-board power source, such as a cigarette lighter, or any externally available additional power source.
Communication between the data processing device 11 and the sensor unit access module 211 and the on-board bus communication system 213 may be accomplished via a conventional USB interface, while communication between the data processing device 11 and the network switch 215 is accomplished via gigabit ethernet.
In this step S12, the mechanical mounting of the test system to the vehicle body, the communication between the data acquisition device 31 and the data processing device 11 of the test system 100, the placement of the calibration board 51, and other necessary auxiliary mounting operations are completed.
Step S14 is next performed: and calibrating the camera to correct the distortion of the lens of the camera. The calibration of the camera is performed by the calibration board 51 disposed in step S12. The calibration plate 51 may be any type of calibration plate known in the art. As an example, a 20 micron high precision custom calibration board may be used to calibrate camera lens parameters. According to the invention, the camera calibration step realizes the distortion correction function of the camera lens, so that the camera is easier and more flexible to install, and only the wheels and the lane lines are required to be ensured to be in the visual field range of the camera lens. This eliminates any human error associated with camera mounting, allowing the invention to obtain image results that avoid interference factors with camera mounting height, camera mounting attitude, etc., resulting in more accurate image results.
After the step S14 of calibrating the camera, the test method according to the invention may proceed to S16: start of the test?
Confirming the start of the test, a data acquisition step S18 is performed, which includes sub-step S182: obtaining a target image from a camera; substep S184: obtaining respective sensor measurements from respective sensors; and substep S186: and collecting CAN card data.
The target image obtained in sub-step S182 should clearly contain at least the contact point of the wheel on the same side of the vehicle as the camera with the ground, and the image of the corresponding lane line on the wheel side; the data obtained in sub-step S184 should include at least a steering wheel angle and a steering wheel acceleration; and the data obtained in sub-step S186 should include at least vehicle speed, lateral acceleration, and LDW trigger signal including whether to trigger or not, trigger time T, and the like.
After the above data is collected and stored, the test method according to the present invention proceeds to step S20: and (5) image processing. This step is performed in the second data processing device, unlike the other steps.
The image processing step 20 comprises a sub-step S202: selecting a lane line type; substep S204: obtaining a position of a contact point of each wheel with the ground from image data from each camera; substep S206: recognizing lane lines; substep S208: utilizing the calibration image to point the image coordinates into world coordinates; substep S210: calculating the vertical distance between the contact point of the wheels and the ground and the lane line; and a substep S212: and calculating the lane line width.
As an advantage of the present invention, the testing method of the present invention includes a sub-step S202 of selecting a lane line type, solving the problem of image recognition of a dashed lane line. In particular, the lane types may include at least solid lane lines, e.g., yellow and white solid lane lines, or dashed lane lines, e.g., yellow and white dashed lane lines. For example, the selection of the lane type may be selected by the tester through a human-machine interface, such as through a touch screen, mouse, keyboard, or the like.
If the selected lane line is a solid lane line, the image obtained from the camera always includes the lane line, and the recognition is simple. If the dotted lane line is selected, the situation that the lane line cannot be found in the image of the camera exists, and at the moment, the recognition of the lane line is realized by adopting a memory algorithm. Specifically, the memory algorithm includes comprehensively considering the positions of the lane lines in the camera images of the previous frames in the coordinate system, the speed and the acceleration of the target vehicle at the corresponding moment of each frame image, and other parameters to calculate the motion trail of the target vehicle, so as to obtain the position information of the target vehicle and the lane lines in the images.
Optionally, the test method according to the present invention further comprises manually measuring the lane line width and comparing the actually measured lane line width with the calculated lane line width to derive a reference error of the lane line width.
After the image processing step S20 is completed, a result storing step S22 is performed. The stored result includes the data acquired in step S18 and the data calculated in step S20.
Step S22: stop testing? If stopped, the process proceeds to the end step S24, and if retesting is necessary, the process returns to step S18.
As described above, according to the test system and the test method of the present invention, since the camera is mounted above the front wheel of the vehicle, the contact point of the wheel with the ground is directly obtained with the wheel as the measurement target, which is more accurate and closer to the reference point of the LDW function than the prior art in which the camera is mounted at the head of the vehicle or the like to measure the distance between the camera mounting point and the lane line.
In addition, the used parameters of the test system comprise the position of the installation point of the camera, and also need to measure the data of the steering wheel angle, the steering wheel acceleration and the like, so that more physical quantities are measured as reference points of the LDW function, and the reliability of the test result is improved.
According to the invention, the step of calibrating the camera before the test is started enables the test of the invention not to be influenced by the focal length of the camera lens and the installation posture of the camera. From the known distance between physical points on the high-precision calibration plate, the vertical distance between the lane line and the wheel grounding point can be calculated in real time. The camera lens parameters calibrated by using the calibration plate can easily calculate the target value.
According to the invention, the acquisition of data (including image data and parameter data), the storage of the acquired data, and the calibration of camera lens parameters are performed in a first data processing device. The image processing step 20, which is computationally complex, requires large-capacity storage and high computing power and thus requires a higher configuration, is performed within the second data processing device. The second data processing means are independent of the first data processing means, enabling real-time calculation and optionally real-time display of the data acquired in the first data processing means, including image data and parameter data, and very advantageously without affecting the next round of data acquisition in the first data processing means.
Alternatively, the data processing apparatus according to the present invention, i.e., at least one of the first data processing apparatus and the second data processing apparatus or both, includes a mass memory for storing data in step S22. Optionally, extrinsic memory may be provided as necessary.
Furthermore, because the test system of the invention realizes real-time calculation, the data acquired or technically obtained in each stage can be effectively stored, so that the stored data can be extracted or recalled after the test process is finished, and further subsequent research can be carried out or a test report can be formed later.
The above description has been presented in the form of a number of embodiments of the invention, but the invention is not limited to the embodiments described above and illustrated in the drawings. Features described in relation to one embodiment are equally applicable to other embodiments of the invention, and features of different embodiments may be combined with each other to form new embodiments. Various modifications and variations may occur to those skilled in the art, without departing from the spirit and scope of the present invention as defined by the following claims.
Claims (8)
1. A test system for lane departure warning system includes a data acquisition device, a data processing device, and an interaction device for communicating the data acquisition device and the data processing device with each other,
wherein, the data acquisition device includes:
two cameras respectively mounted on a vehicle body above left and right front wheels of a subject vehicle, the cameras being for obtaining image data including a contact point of a corresponding one of the left and right front wheels with a ground surface and a lane line on a corresponding side;
a steering wheel angle sensor and a steering wheel acceleration sensor of a steering wheel mounted to a steering wheel of the target vehicle to obtain a steering wheel angle and a steering wheel acceleration of the target vehicle; and
an on-board diagnostic system provided for the target vehicle itself for obtaining status information of the target vehicle,
the data processing device is configured for obtaining, based on the image data, respective wheel-to-ground contact point positions, performing lane line recognition, calculating lane line widths, and vertical distances between the contact points and lane lines, and is configured for being able to deduce the position of the vehicle and the dashed lane lines in the case of selecting the dashed lane lines in combination with: the position of the broken-line lane line in the coordinate system in the plurality of frames of image data that have been obtained and the speed and acceleration of the target vehicle at the time when each frame of image data is acquired,
the test system also comprises a memory for storing the data acquired by the data acquisition device and the data calculated by the data processing device so as to play back the data and generate a test report.
2. The test system of claim 1, wherein the status information includes at least one of a vehicle speed of the target vehicle, a LDW trigger signal, and a lateral acceleration of the target vehicle.
3. The test system of claim 1, wherein the test system comprises a calibration board for calibrating the two cameras.
4. The test system of claim 3, wherein the calibration plate is a high precision custom calibration plate on the micron scale.
5. The test system of claim 1, wherein the test system comprises a power supply for powering the data acquisition device.
6. The test system of claim 5, wherein the power source is an onboard power source or a power source additionally mounted to a vehicle.
7. A test system according to any one of claims 1-6, wherein the data processing means comprise a first data processing means and a second data processing means independent of each other and communicating with each other, wherein the test results of calculating the lane line departure warning system are performed in the second data processing means.
8. A test system according to any one of claims 1-6, wherein the reference error of the lane line width is obtained by comparing the lane line width calculated in the data processing device with the manually measured actual lane line width.
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| CN202010118442.1A CN111220197B (en) | 2016-09-12 | 2016-09-12 | Test system and test method for lane line deviation alarm system |
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| CN201610817591.0A CN107817018B (en) | 2016-09-12 | 2016-09-12 | Test system and test method for lane line deviation alarm system |
| CN202010118442.1A CN111220197B (en) | 2016-09-12 | 2016-09-12 | Test system and test method for lane line deviation alarm system |
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| CN112798293B (en) * | 2019-11-14 | 2023-03-17 | 北京车和家信息技术有限公司 | Test method and device of lane departure early warning system |
| CN111402335B (en) * | 2020-03-18 | 2023-07-28 | 东软睿驰汽车技术（沈阳）有限公司 | Evaluation method and device of deep learning model, electronic equipment and storage medium |
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| CN111220197A (en) | 2020-06-02 |
| CN107817018B (en) | 2020-03-03 |
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