CN113612673A - Automatic emergency braking data acquisition method and system and vehicle - Google Patents
Automatic emergency braking data acquisition method and system and vehicle Download PDFInfo
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- CN113612673A CN113612673A CN202111165572.1A CN202111165572A CN113612673A CN 113612673 A CN113612673 A CN 113612673A CN 202111165572 A CN202111165572 A CN 202111165572A CN 113612673 A CN113612673 A CN 113612673A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
- B60T17/18—Safety devices; Monitoring
- B60T17/22—Devices for monitoring or checking brake systems; Signal devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
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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
- G07C5/008—Registering or indicating the working of vehicles communicating information to a remotely located station
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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
- G07C5/0841—Registering performance data
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40215—Controller Area Network CAN
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40267—Bus for use in transportation systems
- H04L2012/40273—Bus for use in transportation systems the transportation system being a vehicle
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Abstract
The invention relates to an automatic emergency braking data acquisition method, an automatic emergency braking data acquisition system and a vehicle, belonging to the field of automatic emergency braking, wherein the method is applied to the automatic emergency braking data acquisition system, the automatic emergency braking data acquisition system comprises a platform, a T-BOX, a vehicle event data recorder and an advanced driving assistance system, and the method comprises the following steps: the platform sends a data acquisition instruction to the T-BOX under the condition that the platform determines that the vehicle enters a preset electronic fence; the T-BOX distributes the data acquisition instruction to the automobile data recorder and the advanced driving assistance system through a CAN bus under the condition of receiving the data acquisition instruction so as to acquire driving data; the T-BOX packs the acquired driving data and sends the driving data to the platform; and after receiving the driving data, the platform screens the driving data to obtain automatic emergency braking data in a target scene.
Description
Technical Field
The present disclosure relates to the field of automatic emergency braking, and in particular, to a method and a system for acquiring automatic emergency braking data, and a vehicle.
Background
The test results and mass production after-sale problems of the existing automatic emergency braking system are found, and the problems are mostly scenes such as special scene tunnels, bridges, bends covered by snow, complex intersections in rainy days, height-limiting rods in rainy days at night and the like.
Disclosure of Invention
The invention aims to provide an automatic emergency braking data acquisition method, an automatic emergency braking data acquisition system and a vehicle, and aims to solve the problems that in the related art, scene data acquisition of automatic emergency braking requires a special road test vehicle to be additionally provided with a professional data acquisition device, real-time recording is performed according to planning, the data volume is large, the real effective data accounts for a small amount, and the specific scene data in special weather is more available and unavailable.
In order to achieve the above object, in a first aspect, the present disclosure provides an automatic emergency braking data acquisition method applied to an automatic emergency braking data acquisition system including a platform, a T-BOX, a vehicle data recorder, and an advanced driving assistance system, the method including:
the platform sends a data acquisition instruction to the T-BOX under the condition that the platform determines that the vehicle enters a preset electronic fence;
the T-BOX distributes the data acquisition instruction to the automobile data recorder and the advanced driving assistance system through a CAN bus under the condition of receiving the data acquisition instruction so as to acquire driving data, wherein the driving data comprises driving videos, advanced driving assistance system data and vehicle body CAN message data;
the T-BOX packs the acquired driving data and sends the driving data to the platform;
and after receiving the driving data, the platform screens the driving data to obtain automatic emergency braking data in a target scene.
Optionally, the advanced driving assistance system includes a millimeter wave radar and an ADAS camera, and the method further includes:
the driving recorder switches from a product mode to a developer mode under the condition of receiving the data acquisition instruction, records driving videos under the developer mode and sends the driving videos to the T-BOX through the Ethernet;
under the condition that the millimeter wave radar receives the data acquisition instruction, switching from a product mode to a developer mode, and sending target information of the millimeter wave radar obtained by detection and recorded point cloud data to the T-BOX under the developer mode;
and under the condition that the ADAS camera receives the data acquisition instruction, switching the product mode to the developer mode, and sending the target information of the ADAS camera obtained by detection and the recorded video data of the ADAS camera to the T-BOX under the developer mode.
Optionally, the method further comprises:
the platform compares the ADAS camera target information in the automatic emergency braking data under the target scene with the vehicle body CAN message data to determine whether an automatic emergency braking system of the vehicle is triggered or not to obtain a triggering result; and the number of the first and second electrodes,
according to the triggering result, comparing the video data of the ADAS camera with the driving video, and determining whether the automatic emergency braking system has false triggering or missed triggering;
and under the condition that the automatic emergency braking system of the vehicle is determined to have false triggering or missed triggering, carrying out algorithm optimization on the automatic emergency braking system according to the automatic emergency braking data, and updating the optimized algorithm to the vehicle provided with the automatic emergency braking system.
Optionally, the performing, by the platform, algorithm optimization on the automatic emergency braking system according to the automatic emergency braking data includes:
the platform optimizes a radar perception algorithm of the millimeter wave radar according to point cloud data collected by the millimeter wave radar under the condition that the target information of the millimeter wave radar is determined to be unmatched with the target information in the driving video;
and the platform optimizes a camera perception algorithm of the ADAS camera according to the video data of the ADAS camera under the condition that the target information of the ADAS camera is determined not to be matched with the target information in the driving video.
Optionally, the driving data further includes a bus timestamp, and the screening, by the platform after receiving the driving data, of the driving data includes:
after receiving the driving data comprising the bus timestamp, the platform determines whether the driving data contains discontinuous data of the bus timestamp;
and in the case that the data with discontinuous bus time stamps exist in the running data, rejecting the running data from the data with discontinuous bus time stamps.
In a second aspect, the present disclosure provides an automatic emergency braking data acquisition system comprising a platform, a T-BOX, a tachograph, and an advanced driving assistance system;
the platform is used for sending a data acquisition instruction to the T-BOX under the condition that a vehicle is determined to enter a preset electronic fence;
the T-BOX is used for distributing the data acquisition instruction to the automobile data recorder and the advanced driving assistance system through a CAN bus under the condition of receiving the data acquisition instruction so as to acquire driving data, wherein the driving data at least comprises driving videos, advanced driving assistance system data and vehicle body CAN message data;
the T-BOX is used for sending the collected driving data to the platform;
and the platform is used for screening the driving data after receiving the driving data to obtain automatic emergency braking data in a target scene.
Optionally, the advanced driving assistance system includes a millimeter wave radar and an ADAS camera;
the driving recorder is used for switching from a product mode to a developer mode under the condition of receiving the data acquisition instruction, recording a driving video under the developer mode and sending the driving video to the T-BOX through the Ethernet;
the millimeter wave radar is used for switching from a product mode to a developer mode under the condition that the data acquisition instruction is received, and sending the detected millimeter wave radar target information and the recorded point cloud data to the T-BOX under the developer mode;
the ADAS camera is used for switching from a product mode to a developer mode under the condition that the data acquisition instruction is received, and sending the target information of the ADAS camera obtained through detection and the recorded ADAS camera video data to the T-BOX under the developer mode.
Optionally, the platform is further configured to:
comparing the ADAS camera target information in the automatic emergency braking data under the target scene with the vehicle body CAN message data, and determining whether an automatic emergency braking system of the vehicle is triggered or not to obtain a triggering result; and the number of the first and second electrodes,
according to the triggering result, comparing the video data of the ADAS camera with the driving video, and determining whether the automatic emergency braking system has false triggering or missed triggering;
and under the condition that the automatic emergency braking system of the vehicle is determined to have false triggering or missed triggering, carrying out algorithm optimization on the automatic emergency braking system according to the automatic emergency braking data, and updating the optimized algorithm to the vehicle provided with the automatic emergency braking system.
Optionally, the platform is further configured to:
under the condition that the target information of the millimeter wave radar is determined to be unmatched with the target information in the driving video, optimizing a radar perception algorithm of the millimeter wave radar according to point cloud data collected by the millimeter wave radar;
and under the condition that the target information of the ADAS camera is determined to be not matched with the target information in the driving video, optimizing a camera perception algorithm of the ADAS camera according to the video data of the ADAS camera.
In a third aspect, the present disclosure provides a vehicle comprising the T-BOX in the automatic emergency braking data acquisition system of the second aspect of the present disclosure, a vehicle data recorder, and an advanced driving assistance system, wherein the T-BOX is in communication connection with a platform in the automatic emergency braking data acquisition system.
Through the technical scheme, through setting up the fence, and obtain the vehicle driving video when the platform detects the vehicle and gets into the fence, senior driving auxiliary system data and automobile body CAN message data, the platform screens the back to the driving data that obtains again, CAN obtain the automatic emergency braking data of target scene, need not to install professional data acquisition equipment additional through special way examination car after, go and record in real time according to the planning route, CAN directly gather to the data of target scene, very big reduction the acquisition volume of data, and avoided the problem that the data of special scene are difficult to obtain.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
FIG. 1 is a block diagram illustrating an automatic emergency braking data collection system in accordance with an exemplary embodiment;
FIG. 2 is another block diagram illustrating an automatic emergency braking data collection system in accordance with an exemplary embodiment;
FIG. 3 is a flow chart illustrating a method of automatic emergency brake data collection in accordance with an exemplary embodiment;
FIG. 4 is another flow chart illustrating a method of automatic emergency brake data collection in accordance with an exemplary embodiment;
FIG. 5 is yet another flow chart illustrating a method of automatic emergency brake data collection in accordance with an exemplary embodiment;
FIG. 6 is a block diagram of a vehicle shown in accordance with an exemplary embodiment.
Detailed Description
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
Fig. 1 is a block diagram illustrating an automatic emergency brake data collection system 100 according to an exemplary embodiment, as shown in fig. 1, the automatic emergency brake data collection system 100 including a platform 110, a T-BOX120, a tachograph 130, and an advanced driving assistance system 140;
the T-BOX120, the event data recorder 130, and the advanced driving assistance system 140 are disposed at a vehicle end, the event data recorder 130 and the advanced driving assistance system 140 may be connected to the T-BOX120 through a CAN bus and an ethernet, and the platform 110 may be a server and is used as a cloud platform to perform data transmission in communication connection with the T-BOX 120.
The platform is used for sending a data acquisition instruction to the T-BOX120 under the condition that a vehicle is determined to enter a preset electronic fence;
the T-BOX120 is configured to, in a case where the data acquisition instruction is received, distribute the data acquisition instruction to the drive recorder 130 and the advanced driving assistance system 140 through a CAN bus to acquire driving data, where the driving data at least includes driving video, advanced driving assistance system data, and vehicle body CAN message data;
the T-BOX120 is used for sending the collected driving data to the platform;
and the platform is used for screening the driving data after receiving the driving data to obtain automatic emergency braking data in a target scene.
The electronic fence may be a special scene range preset by background staff, for example, a range corresponding to a complex intersection in rainy days, the corresponding target scene may be a complex intersection in rainy days, or a range corresponding to a complex intersection in rainy days detected by a platform server through a preset algorithm, and the specific setting mode is not limited in the disclosure. Determining that the vehicle enters the preset electronic fence may be sending the location of the vehicle to the platform in real time via a GPS device connected to the T-BOX120, and determining that the vehicle enters the preset electronic fence when the location of the vehicle indicates that the vehicle is within range of the electronic fence. Accordingly, a stop acquisition command may be sent to T-BOX120 upon determining that the vehicle is exiting the electronic fence.
In the embodiment of the disclosure, by setting the electronic fence, the vehicle driving video, the advanced driving assistance system data and the vehicle body CAN message data are acquired when the platform detects that the vehicle enters the electronic fence, the platform screens the acquired driving data to obtain the automatic emergency braking data of the target scene, the vehicle does not need to run according to a planned route and record in real time after a special data acquisition device is additionally arranged on a special road test vehicle, the data of the target scene CAN be directly acquired, the data acquisition amount is greatly reduced, and the problem that the data of the special scene is difficult to acquire is avoided.
In some optional implementations, the Advanced Driving Assistance System 140 includes a millimeter wave radar 141 and an ADAS (Advanced Driving Assistance System) camera 142 as shown in fig. 2;
the driving recorder 130 is configured to switch from a product mode to a developer mode when receiving the data acquisition instruction, record a driving video in the developer mode, and send the driving video to the T-BOX120 through an ethernet;
the millimeter wave radar 141 is used for switching from a product mode to a developer mode under the condition that the data acquisition instruction is received, and sending the detected millimeter wave radar target information and the recorded point cloud data to the T-BOX120 under the developer mode;
the ADAS camera 142 is configured to switch from a product mode to a developer mode when receiving the data acquisition instruction, and send target information of the ADAS camera obtained through detection and recorded video data of the ADAS camera to the T-BOX120 in the developer mode.
The millimeter wave radar target information includes information such as a distance, a speed, a position, a TTC (Time To Collision) of a target (for example, another vehicle or a pedestrian) detected by the millimeter wave radar 141, an acceleration, a confidence, a category, and a state. The ADAS camera target information may include information such as a distance, a speed, a position, a TTC time, an acceleration, a confidence, a category, and a state of a target (e.g., another vehicle or a pedestrian) detected by the ADAS camera 142, and may also be fusion target information obtained by fusing information of the detected target and lane line information.
In addition, the millimeter wave radar target information and the ADAS camera target information may be transmitted to the T-BOX120 through the CAN bus network, and the point cloud data and the ADAS camera video data may be transmitted to the T-BOX120 through the Ethernet network. In order to avoid the overlarge bearing capacity of the storage device of the T-BOX120, in the normal use process of a vehicle, data generated by the driving recorder 130, the millimeter wave radar 141 and the ADAS camera 142 are generally not sent to the T-BOX120, therefore, the scheme sets a product mode and a developer mode, and only sends the data acquired by the driving recorder 130, the millimeter wave radar 141 and the ADAS camera 142 to the T-BOX120 in the developer mode, so that the T-BOX120 can acquire driving data such as driving video, millimeter wave radar target information, point cloud data, ADAS camera target information and ADAS camera video data, and the bearing capacity of the storage device of the T-BOX120 can be reduced.
Correspondingly, when the T-BOX120 receives the acquisition stopping instruction, the T-BOX120 may further distribute the acquisition stopping instruction to the millimeter wave radar 141 and the ADAS camera 142, so that the millimeter wave radar 141 and the ADAS camera 142 exit the developer mode and enter the product mode.
In still other embodiments, the platform is further configured to:
comparing the ADAS camera target information in the automatic emergency braking data under the target scene with the vehicle body CAN message data, and determining whether an automatic emergency braking system of the vehicle is triggered or not to obtain a triggering result; and the number of the first and second electrodes,
according to the triggering result, comparing the video data of the ADAS camera with the driving video, and determining whether the automatic emergency braking system has false triggering or missed triggering;
and under the condition that the automatic emergency braking system of the vehicle is determined to have false triggering or missed triggering, carrying out algorithm optimization on the automatic emergency braking system according to the automatic emergency braking data, and updating the optimized algorithm to the vehicle provided with the automatic emergency braking system.
And comparing the ADAS camera target information with the vehicle body CAN message data to obtain a triggering result, and determining triggering basis of an automatic emergency braking system, such as which target, the target with the minimum TTC time and the like.
In a possible implementation manner, the platform 110 may also verify the optimized algorithm according to the collected automatic emergency data, and package the optimized algorithm into update data to send to the T-BOX configured with the automatic emergency braking system when the verification result indicates that the confidence is higher than the preset threshold.
By adopting the scheme, the triggering state of the automatic emergency braking system of the vehicle CAN be determined according to the ADAS camera target information and the vehicle body CAN message data, whether the automatic emergency braking system is triggered by mistake or missed is further determined according to the ADAS camera video data and the driving video, and the algorithm is optimized when the automatic emergency braking system is triggered by mistake or missed, so that the automatic emergency braking system CAN judge more accurately according to a target scene, and the reliability of the automatic emergency braking system is improved.
Further, the platform is further to:
under the condition that the target information of the millimeter wave radar is determined to be unmatched with the target information in the driving video, optimizing a radar perception algorithm of the millimeter wave radar 141 according to point cloud data collected by the millimeter wave radar 141;
and optimizing a camera perception algorithm of the ADAS camera 142 according to the ADAS camera video data under the condition that the ADAS camera target information is determined not to be matched with the target information in the driving video.
In addition, when the ADAS camera target information is information of a distance, a speed, a position, a TTC time, an acceleration, a confidence, a category, a state, and the like of a target (for example, another vehicle or a pedestrian) detected by the ADAS camera 142, and is fused with lane line information, if the ADAS camera target information is not matched with the millimeter wave radar target information and the target information in the driving video, it may be that a problem exists in the fusion algorithm, and the fusion algorithm may be optimized according to the ADAS camera target information, the millimeter wave radar target information, and the target information in the driving video.
By adopting the scheme, the radar perception algorithm of the millimeter wave radar 141 and the camera perception algorithm of the ADAS camera 142 can be optimized according to the really collected data, so that the optimized algorithm can better accord with a target scene, and the reliability of the automatic emergency braking system is improved.
In still other optional embodiments, updating the optimized algorithm to the vehicle configured with the automatic emergency braking system may be that the platform sends update data to T-BOX120 of all vehicles configured with the automatic emergency braking system, and after receiving the update data, when determining that the vehicle is not in a driving state, T-BOX120 freezes an ECU (Electronic Control Unit) that needs to be subjected to software update and sends the update data to the ECU that needs to be subjected to software update so that the ECU performs the update, or, when updating the perception algorithms of millimeter wave radar 141 and ADAS camera 142, millimeter wave radar 141 and ADAS camera 142 may switch from a product mode to a developer mode for updating.
In some embodiments, the travel data further comprises a bus timestamp, the platform further to:
after receiving the driving data comprising the bus timestamp, the platform determines whether the driving data contains discontinuous data of the bus timestamp;
and in the case that the data with discontinuous bus time stamps exist in the running data, rejecting the running data from the data with discontinuous bus time stamps.
The bus timestamp of the driving data may be added before being sent to the T-BOX120, for example, after the ADAS camera 142 adds the detected ADAS camera target information and the recorded ADAS camera video data, the ADAS camera target information and the ADAS camera video data are added to the bus timestamp, and then the bus timestamp is sent to the T-BOX 120; T-BOX120 may also add a bus timestamp when the travel data is received, which is not limited by this disclosure.
In addition, the running data is screened for the platform, and besides the running data is removed from the data with discontinuous bus timestamps, the data for a certain specific scene can be screened out in an artificial mode (the acquisition time of each scene can be between 60 seconds and 140 seconds, and the normal speed screening is completely feasible during the artificial screening), or the data for a certain specific scene in the running data can be extracted through an artificial intelligence algorithm, which is not limited by the disclosure.
By adopting the scheme, the bus time stamp is added into the driving data, so that the data collected by different modules and the sensors can be synchronized more easily, the data lost by some data can be eliminated according to the time stamp, the reliability of the collected automatic emergency braking data is improved, and the follow-up adjustment of the algorithm is more accurate.
Fig. 3 is a flowchart illustrating an automatic emergency brake data collection method according to an exemplary embodiment, which may be applied to the automatic emergency brake data collection system 100 shown in fig. 1, the automatic emergency brake data collection system 100 including a platform, a T-BOX120, a tachograph 130, and an advanced driving assistance system 140 shown in fig. 1, the method including the steps of:
s301, the platform sends a data acquisition instruction to the T-BOX120 under the condition that the platform determines that the vehicle enters a preset electronic fence;
s302, the T-BOX120 distributes the data acquisition instruction to the automobile data recorder 130 and the advanced driving assistance system 140 through a CAN bus under the condition that the data acquisition instruction is received so as to acquire running data, wherein the running data comprises running videos, advanced driving assistance system data and vehicle body CAN message data;
s303, the T-BOX120 packs the acquired driving data and sends the driving data to the platform;
s304, after the platform receives the driving data, screening the driving data to obtain automatic emergency braking data in a target scene.
Optionally, the advanced driving assistance system 140 includes a millimeter wave radar 141 and an ADAS camera 142 as shown in fig. 2, and the method further includes:
the driving recorder 130 switches from a product mode to a developer mode when receiving the data acquisition instruction, records a driving video in the developer mode, and sends the driving video to the T-BOX120 through an ethernet;
under the condition that the millimeter wave radar 141 receives the data acquisition instruction, switching from a product mode to a developer mode, and sending the detected millimeter wave radar target information and the recorded point cloud data to the T-BOX120 under the developer mode;
the ADAS camera 142 switches from the product mode to the developer mode when receiving the data acquisition instruction, and sends the target information of the ADAS camera and the recorded video data of the ADAS camera to the T-BOX120 in the developer mode.
Optionally, the method further comprises:
the platform compares the ADAS camera target information in the automatic emergency braking data under the target scene with the vehicle body CAN message data to determine whether an automatic emergency braking system of the vehicle is triggered or not to obtain a triggering result; and the number of the first and second electrodes,
according to the triggering result, comparing the video data of the ADAS camera with the driving video, and determining whether the automatic emergency braking system has false triggering or missed triggering;
and under the condition that the automatic emergency braking system of the vehicle is determined to have false triggering or missed triggering, carrying out algorithm optimization on the automatic emergency braking system according to the automatic emergency braking data, and updating the optimized algorithm to the vehicle provided with the automatic emergency braking system.
Optionally, the performing, by the platform, algorithm optimization on the automatic emergency braking system according to the automatic emergency braking data includes:
the platform optimizes a radar perception algorithm of the millimeter wave radar 141 according to point cloud data collected by the millimeter wave radar 141 under the condition that the target information of the millimeter wave radar is determined to be unmatched with the target information in the driving video;
and the platform optimizes the camera perception algorithm of the ADAS camera 142 according to the video data of the ADAS camera under the condition that the target information of the ADAS camera is determined not to be matched with the target information in the driving video.
Optionally, the driving data further includes a bus timestamp, and the screening, by the platform after receiving the driving data, of the driving data includes:
after receiving the driving data comprising the bus timestamp, the platform determines whether the driving data contains discontinuous data of the bus timestamp;
and in the case that the data with discontinuous bus time stamps exist in the running data, rejecting the running data from the data with discontinuous bus time stamps.
In order to make the solution provided by the present disclosure more understandable to those skilled in the art, fig. 4 is another flowchart of an automatic emergency braking data collection method according to an exemplary embodiment, which is applied to a vehicle including a T-BOX120, a vehicle recorder 130, a millimeter wave radar 141, and an ADAS camera 142 as shown in fig. 2, and the method includes the steps of:
s401, the T-BOX sends GPS positioning information to the platform in real time.
S402, responding to the received data acquisition instruction sent by the platform, and distributing the data acquisition instruction to the automobile data recorder, the millimeter wave radar and the ADAS camera by the T-BOX.
And S403, switching the product mode to the developer mode by the aid of the automobile data recorder, the millimeter wave radar and the ADAS camera.
S404, the ADAS camera writes the target information of the ADAS camera obtained through detection and the recorded video data of the ADAS camera into a bus timestamp and sends the target information and the recorded video data of the ADAS camera to the T-BOX.
And S405, the millimeter wave radar writes the detected millimeter wave radar target information and the recorded point cloud data into the bus timestamp and sends the bus timestamp to the T-BOX.
And S406, recording the driving video by the driving recorder, writing the driving video into a bus timestamp, and sending the bus timestamp to the T-BOX through the Ethernet.
S407, packing the collected driving data by the T-BOX and sending the packed driving data to a platform.
And S408, the T-BOX responds to the received update data sent by the platform and distributes the update data to the millimeter wave radar and the ADAS camera.
Wherein, the update data may also be applied to some ECUs that need to be updated, and the T-BOX may also send the update data to these ECUs that need to be updated in step S408.
S409, the millimeter wave radar and the ADAS camera are switched from a product mode to a developer mode and are updated according to the updating data.
The execution sequence of steps S404, S405, S406, and step S407 is not limited in the embodiment of the present disclosure. In the process of executing step S407, S404, S405, and S406 may be in an execution state. In addition, in the process of executing steps S404, S405, S406 and step S407, if the vehicle leaves the electronic fence, the platform may send a stop collecting instruction to the vehicle, so that the vehicle stops executing steps S404, S405, S406 and step S407, and for the sake of brevity, related steps are not shown in fig. 4 of the embodiment of the disclosure.
Further, the present disclosure provides another flowchart of an automatic emergency braking data collection method as shown in fig. 5, where the execution subject of the method may be the platform 110 as shown in fig. 1, as shown in fig. 5, and the method includes the steps of:
s501, receiving electronic fence information issued by workers according to requirements.
The electronic fence information may also be determined by a preset algorithm by the platform, for example, the platform server acquires a current rainy city according to the weather API interface, and determines an intersection with a complex road condition according to the map information, thereby obtaining an electronic fence of the complex intersection including a rainy day.
S502, receiving GPS positioning information sent by the T-BOX in real time, and sending a data acquisition instruction to the T-BOX when the positioning information represents that a vehicle enters the electronic fence.
S503, receiving the driving data collected by the T-BOX.
And S504, under the condition that the running data contains the data with discontinuous bus time stamps, rejecting the running data from the data with discontinuous bus time stamps.
And S505, responding to the screening operation of the staff, and obtaining automatic emergency braking data in a target scene.
S506, target information of the ADAS camera in the automatic emergency braking data and the CAN message data of the vehicle body are compared to obtain a triggering result.
And S507, comparing the video data of the ADAS camera with the driving video according to the triggering result.
And S508, judging whether the automatic emergency braking system has false triggering or missed triggering.
Step S509 and the following steps are performed if it is determined that there is a false trigger or a missed trigger of the automatic emergency braking system.
And S509, when the target information of the millimeter wave radar is not matched with the target information in the driving video, optimizing a radar perception algorithm of the millimeter wave radar according to the point cloud data collected by the millimeter wave radar.
And S510, when the target information of the ADAS camera is not matched with the target information in the driving video, optimizing a camera perception algorithm of the ADAS camera according to the video data of the ADAS camera.
And S511, verifying the optimized algorithm according to the collected automatic emergency data.
S512, packing the optimized algorithm into updating data and sending the updating data to the T-BOX configured with the automatic emergency braking system under the condition that the verification result representation confidence is higher than a preset threshold value.
Based on the same inventive concept, as shown in fig. 6, the present disclosure also provides a vehicle 60 according to an exemplary embodiment, the vehicle 60 includes a T-BOX120 in the automatic emergency braking data collection system 100, a drive recorder 130, and an advanced driving assistance system 140, and the T-BOX120 is communicatively connected with a platform in the automatic emergency braking data collection system 100. Those skilled in the art will appreciate that, in implementations, the vehicle may include other components, fig. 6 only shows the portions relevant to the embodiments of the present disclosure, and other necessary vehicle components are not shown.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that, in the foregoing embodiments, various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various combinations that are possible in the present disclosure are not described again.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.
Claims (10)
1. An automatic emergency braking data acquisition method, applied to an automatic emergency braking data acquisition system comprising a platform, a T-BOX, a tachograph and an advanced driving assistance system, the method comprising:
the platform sends a data acquisition instruction to the T-BOX under the condition that the platform determines that the vehicle enters a preset electronic fence;
the T-BOX distributes the data acquisition instruction to the automobile data recorder and the advanced driving assistance system through a CAN bus under the condition of receiving the data acquisition instruction so as to acquire driving data, wherein the driving data comprises driving videos, advanced driving assistance system data and vehicle body CAN message data;
the T-BOX packs the acquired driving data and sends the driving data to the platform;
and after receiving the driving data, the platform screens the driving data to obtain automatic emergency braking data in a target scene.
2. The method of claim 1, wherein the advanced driving assistance system comprises a millimeter wave radar and an ADAS camera, the method further comprising:
the driving recorder switches from a product mode to a developer mode under the condition of receiving the data acquisition instruction, records driving videos under the developer mode and sends the driving videos to the T-BOX through the Ethernet;
under the condition that the millimeter wave radar receives the data acquisition instruction, switching from a product mode to a developer mode, and sending target information of the millimeter wave radar obtained by detection and recorded point cloud data to the T-BOX under the developer mode;
and under the condition that the ADAS camera receives the data acquisition instruction, switching the product mode to the developer mode, and sending the target information of the ADAS camera obtained by detection and the recorded video data of the ADAS camera to the T-BOX under the developer mode.
3. The method of claim 2, further comprising:
the platform compares the ADAS camera target information in the automatic emergency braking data under the target scene with the vehicle body CAN message data to determine whether an automatic emergency braking system of the vehicle is triggered or not to obtain a triggering result; and the number of the first and second electrodes,
according to the triggering result, comparing the video data of the ADAS camera with the driving video, and determining whether the automatic emergency braking system has false triggering or missed triggering;
and under the condition that the automatic emergency braking system of the vehicle is determined to have false triggering or missed triggering, carrying out algorithm optimization on the automatic emergency braking system according to the automatic emergency braking data, and updating the optimized algorithm to the vehicle provided with the automatic emergency braking system.
4. The method of claim 3, wherein the platform algorithmically optimizing the automatic emergency braking system based on automatic emergency braking data comprises:
the platform optimizes a radar perception algorithm of the millimeter wave radar according to point cloud data collected by the millimeter wave radar under the condition that the target information of the millimeter wave radar is determined to be unmatched with the target information in the driving video;
and the platform optimizes a camera perception algorithm of the ADAS camera according to the video data of the ADAS camera under the condition that the target information of the ADAS camera is determined not to be matched with the target information in the driving video.
5. The method of claim 1, wherein the travel data further comprises a bus timestamp, and wherein the filtering of the travel data by the platform upon receipt thereof comprises:
after receiving the driving data comprising the bus timestamp, the platform determines whether the driving data contains discontinuous data of the bus timestamp;
and in the case that the data with discontinuous bus time stamps exist in the running data, rejecting the running data from the data with discontinuous bus time stamps.
6. An automatic emergency braking data acquisition system comprising a platform, a T-BOX, a tachograph, and an advanced driving assistance system;
the platform is used for sending a data acquisition instruction to the T-BOX under the condition that a vehicle is determined to enter a preset electronic fence;
the T-BOX is used for distributing the data acquisition instruction to the automobile data recorder and the advanced driving assistance system through a CAN bus under the condition of receiving the data acquisition instruction so as to acquire driving data, wherein the driving data at least comprises driving videos, advanced driving assistance system data and vehicle body CAN message data;
the T-BOX is used for sending the collected driving data to the platform;
and the platform is used for screening the driving data after receiving the driving data to obtain automatic emergency braking data in a target scene.
7. The system of claim 6, wherein the advanced driving assistance system comprises a millimeter wave radar and an ADAS camera;
the driving recorder is used for switching from a product mode to a developer mode under the condition of receiving the data acquisition instruction, recording a driving video under the developer mode and sending the driving video to the T-BOX through the Ethernet;
the millimeter wave radar is used for switching from a product mode to a developer mode under the condition that the data acquisition instruction is received, and sending the detected millimeter wave radar target information and the recorded point cloud data to the T-BOX under the developer mode;
the ADAS camera is used for switching from a product mode to a developer mode under the condition that the data acquisition instruction is received, and sending the target information of the ADAS camera obtained through detection and the recorded ADAS camera video data to the T-BOX under the developer mode.
8. The system of claim 7, wherein the platform is further configured to:
comparing the ADAS camera target information in the automatic emergency braking data under the target scene with the vehicle body CAN message data, and determining whether an automatic emergency braking system of the vehicle is triggered or not to obtain a triggering result; and the number of the first and second electrodes,
according to the triggering result, comparing the video data of the ADAS camera with the driving video, and determining whether the automatic emergency braking system has false triggering or missed triggering;
and under the condition that the automatic emergency braking system of the vehicle is determined to have false triggering or missed triggering, carrying out algorithm optimization on the automatic emergency braking system according to the automatic emergency braking data, and updating the optimized algorithm to the vehicle provided with the automatic emergency braking system.
9. The system of claim 8, wherein the platform is further configured to:
under the condition that the target information of the millimeter wave radar is determined to be unmatched with the target information in the driving video, optimizing a radar perception algorithm of the millimeter wave radar according to point cloud data collected by the millimeter wave radar;
and under the condition that the target information of the ADAS camera is determined to be not matched with the target information in the driving video, optimizing a camera perception algorithm of the ADAS camera according to the video data of the ADAS camera.
10. A vehicle comprising a T-BOX in an automatic emergency braking data acquisition system according to any one of claims 6 to 9, a drive recorder and an advanced driving assistance system, the T-BOX being communicatively connected to a platform in the automatic emergency braking data acquisition system.
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