CN113702066A - Evaluation system and evaluation method for lane departure warning system of commercial vehicle - Google Patents
Evaluation system and evaluation method for lane departure warning system of commercial vehicle Download PDFInfo
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- CN113702066A CN113702066A CN202111010167.2A CN202111010167A CN113702066A CN 113702066 A CN113702066 A CN 113702066A CN 202111010167 A CN202111010167 A CN 202111010167A CN 113702066 A CN113702066 A CN 113702066A
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Abstract
The invention relates to the technical field of vehicle-mounted system effectiveness evaluation, in particular to an evaluation system and an evaluation method for a lane departure alarm system of a commercial vehicle, wherein the system comprises a test scene module, a test vehicle module, a positioning module, a processing module, a data acquisition module and an evaluation module; the method comprises the steps of enabling a test vehicle to carry out a plurality of test tests under various test scenes, simultaneously detecting a plurality of items of information in the test process, enabling the test vehicle to keep a certain condition according to the detected information to carry out the tests, then detecting alarm information of the test vehicle when the test vehicle deviates from a lane, and then grading according to position information and the deviation direction when the alarm information is received. The invention improves the accuracy of judging the effectiveness of the lane departure warning system on the test vehicle.
Description
Technical Field
The invention relates to the technical field of vehicle-mounted system effectiveness evaluation, in particular to an evaluation system and an evaluation method for a lane departure warning system of a commercial vehicle.
Background
The commercial vehicle is an automobile for transporting personnel and goods, comprises all goods-carrying automobiles and passenger cars with more than 9 seats, and is divided into the passenger cars, the freight cars, the semi-trailer tractors, the incomplete passenger car vehicles and the incomplete freight car vehicles. For some commercial vehicles, relevant standards stipulate that Lane Departure Warning systems (LDW) must be installed, for example, trucks with a total mass of greater than 18000kg and a maximum vehicle speed of greater than 90km/h, in order to provide Warning when abnormal vehicle deviation is detected when the commercial vehicle is not turning on a turn signal.
In the actual driving process of the commercial vehicle, the lane departure early warning system has the advantages that the condition that the vehicle deviates abnormally without turning a steering lamp by a driver is less, and the use frequency of the lane departure early warning system is lower, so that the lane departure early warning system is very important for accurately and effectively warning and prompting the abnormal deviation condition. The system capable of evaluating the accuracy and effectiveness of the lane departure early warning system carried on the commercial vehicle is urgently needed so as to ensure the accuracy and effectiveness of the lane departure early warning system.
Disclosure of Invention
The invention aims to provide an evaluation system for a lane departure warning system of a commercial vehicle, so as to evaluate the lane departure warning system on the commercial vehicle.
The evaluation system for the lane departure warning system of the commercial vehicle comprises a test scene module, a test vehicle module, a positioning module, a processing module, a data acquisition module, an evaluation module and a display module;
the system comprises a test scene module, a processing module and a control module, wherein the test scene module is used for generating a plurality of test scenes and sending scene signals to the processing module, the test scenes comprise a curve alarm scene, a straight repeated scene and a false alarm scene, and one test lane corresponds to each test scene;
the test vehicle module is used for running for multiple times in a test scene to perform multiple tests;
the positioning module is used for detecting the positioning information of the test vehicle module;
the data acquisition module is used for acquiring alarm information of the lane departure alarm system in real time and sending the alarm information to the processing module;
the processing module is used for acquiring positioning information and sending the positioning information to the display module for displaying so as to provide feedback that the test vehicle module runs according to a running mode required by a test scene, and the processing module acquires alarm information and sends the positioning information to the evaluation module according to a scene signal;
and the evaluation module is used for generating a grading result according to the alarm information and the positioning information aiming at each test scene.
The beneficial effect of this scheme is:
the method comprises the steps of enabling a test vehicle module to carry out a plurality of test tests in a test scene, collecting positioning information through a positioning module, displaying the positioning information, enabling the test vehicle module to be capable of driving according to the driving mode feedback of the positioning information so as to keep the driving mode required by the test scene, enabling the test vehicle module to keep a certain condition according to detected information to carry out deviation tests, detecting alarm information when the test vehicle module deviates from a lane, generating a grading result according to the position information and the deviation direction when the alarm information is generated, and improving the accuracy of effectiveness judgment of a lane deviation alarm system on the test vehicle.
Further, the test scene module acquires the curvature radius of the test lane and generates the running speed of the test vehicle module, the running speed is set according to a curve alarm scene and a straight repeated scene, the running speed of the curve alarm scene is respectively located in a first speed range and a second speed range for testing, and the running speed of the straight repeated scene is respectively located in a third speed range and a fourth speed range for testing.
The beneficial effects are that: the test vehicle runs at different running speeds according to different curvature radiuses, so that the running speeds of the test vehicle in different speed ranges are tested, and the requirements on the test vehicle can be reduced.
Further, the evaluation module generates scoring information according to the alarm points of the position information corresponding to the alarm information in the preset position range.
The beneficial effects are that: whether the position generated by the evaluation module according to the alarm information is in a certain position or not is evaluated by the lane departure alarm system, so that the lane departure situation can be known in time.
The evaluation method for the lane departure warning system of the commercial vehicle comprises the following steps:
the method comprises the following steps that firstly, a test vehicle is subjected to a plurality of test tests in a plurality of test scenes, the position information of the test vehicle is positioned, and the deviation position, the deviation distance, the position information, the real-time speed, the deviation speed and the transverse acceleration of the test vehicle are detected;
judging whether the test vehicle enters a preset deviation area or not according to the position information, and enabling the test vehicle to perform deviation driving towards a preset deviation direction at a preset deviation speed when the test vehicle enters the deviation area;
and step three, acquiring alarm information of a lane departure alarm system on the test vehicle, storing corresponding position information and departure direction, and generating a grading result according to the alarm information and the positioning information in each test scene.
The beneficial effect of this scheme is:
the test vehicle is subjected to a plurality of test tests in various test scenes, a plurality of items of information in the test process are detected simultaneously, the test vehicle is kept under a certain condition according to the detected information to perform the test, the alarm information of the test vehicle when the test vehicle deviates from the lane is detected, and the score is performed according to the position information and the deviation direction when the alarm information is received, so that the accuracy of the effectiveness judgment of the lane deviation alarm system on the test vehicle is improved.
Further, the test scene comprises a curve alarm scene and a straight-road repeat scene, the test vehicle runs according to a preset vehicle speed according to the measured curvature radius in the curve alarm scene, and performs multiple curve deviation tests on the left side and the right side of the running direction at deviation speeds in a first speed range and a second speed range respectively, and performs multiple straight-road repeat tests on the left side and the right side of the running direction at deviation speeds in a third speed range and a fourth speed range respectively.
The beneficial effects are that: whether the lane departure warning system is effective and accurate is determined by monitoring the warning information by keeping the test environment of the vehicle under different scenes.
Further, the test scene comprises a false alarm scene, and the test vehicle runs in a non-alarm range of a lane with a preset length.
The beneficial effects are that: the vehicle runs in a non-alarm range, so that whether a false alarm occurs or not can be conveniently determined through alarm information, and a false alarm test is more visual.
Further, when the alarm information is received, scoring information is generated according to whether the position information is located in a preset position range.
The beneficial effects are that: and scoring is carried out according to the alarm in the preset position range, the alarm performance of the lane departure alarm system is quantized, and the evaluation is more visual.
Drawings
Fig. 1 is a schematic block diagram of an evaluation system for a lane departure warning system of a commercial vehicle according to an embodiment of the present invention.
Detailed Description
The following is a more detailed description of the present invention by way of specific embodiments.
Example one
An evaluation system for a lane departure warning system for a commercial vehicle, as shown in fig. 1: the vehicle testing system comprises a testing scene module, a testing vehicle module, a positioning module, a display module, a processing module, a data acquisition module and an evaluation module.
The test scene module is used for generating a plurality of test scenes and sending scene signals to the processing module, the test scenes comprise a curve alarm scene, a straight repeated scene and a false alarm scene, one test lane corresponds to each test scene, and the test scene module can pass through the test scenes; the test scene module acquires the curvature radius of a test lane and generates the running speed of the test vehicle module, the curvature radius is acquired according to the test scene, the curvature radius corresponds to the running speed, the running speed is set according to a curve alarm scene and a straight road repeating scene, the running speed of the curve alarm scene is respectively located in a first speed range and a second speed range for testing, and the running speed of the straight road repeating scene is respectively located in a third speed range and a fourth speed range for testing.
The test vehicle module is used for running for multiple times in a test scene to perform multiple tests, and the test vehicle module can use a corresponding vehicle. The positioning module is used for detecting positioning information of the test vehicle module, and the positioning information comprises deviation azimuth, deviation distance, position information, real-time speed and deviation speed. The positioning module comprises an inertial navigation positioning unit, a fixed base station unit and a GPS antenna unit, the inertial navigation positioning unit monitors the position information and the real-time speed of the test vehicle module, and the fixed base station unit and the GPS antenna unit perform differential positioning on the test vehicle module. The data acquisition module is used for acquiring alarm information of the lane departure alarm system in real time and sending the alarm information to the processing module, the data acquisition module comprises a sound collector and a camera, the sound collector acquires sound information of early warning prompt, the camera acquires image information of a vehicle instrument panel to be tested, and alarm information is identified from the image information and the sound information.
The processing module is used for acquiring the positioning information and sending the positioning information to the display module for displaying so as to provide feedback that the test vehicle module runs according to the running mode required by the test scene, and the processing module acquires the alarm information and sends the positioning information to the evaluation module according to the scene signal. The evaluation module is used for generating a grading result according to the alarm information and the positioning information for each test scene, and the evaluation module generates grading information according to alarm points of the position information corresponding to the alarm information in a preset position range.
The evaluation method for the lane departure warning system of the commercial vehicle comprises the following steps:
step one, a test vehicle is subjected to a plurality of test tests in a plurality of test scenes, wherein the test scenes comprise a curve alarm scene, a straight road repeated scene and a false alarm scene. The method comprises the steps that a test vehicle runs according to a measured curvature radius and a preset vehicle speed in a curve alarm scene, the test vehicle conducts multiple curve deviation tests on the left side and the right side of a running direction at deviation speeds in a first speed range and a second speed range respectively in each test scene, as shown in table 1, the first speed range is 0m/s and more than v and less than or equal to 0.4m/s, the second speed range is 0.4m/s and more than v and less than or equal to 0.8m/s, the test vehicle conducts multiple straight-road repeated tests on the left side and the right side of the running direction at deviation speeds in a third speed range and a fourth speed range respectively in each test scene, as shown in table 2, the third speed range is 0.1m/s and more than v and less than or equal to 0.3m/s, and the fourth speed range is 0.6m/s and more than v and less than or equal to 0.8 m/s; the method comprises the steps that a test vehicle runs in a non-alarm range of a lane with a preset length, the lane for a false alarm test is a straight lane, the total length of the lane is 1000m (a section of the straight lane with the length of 500m is subjected to a back-and-forth test), and when the vehicle is positioned between a left earliest alarm line and a right earliest alarm line (namely a non-alarm area), whether a lane departure alarm system gives an alarm or not is checked; and positioning the position information of the test vehicle, and detecting the deviation azimuth, the deviation distance, the position information, the real-time speed, the deviation speed and the transverse acceleration of the test vehicle. And in the test process, judging whether the test vehicle reaches the corresponding position according to the deviation direction, the deviation distance, the position information, the real-time speed and the deviation speed of the test vehicle.
Table 1 vehicle lane departure warning test table
Table 2 vehicle lane straight road repeat test table
And step two, judging whether the test vehicle enters a preset deviation area according to the position information, setting the deviation area according to relevant standard regulations, for example, the deviation area is within a range of a preset distance on two sides of a lane boundary, and enabling the test vehicle to perform deviation driving towards a preset deviation direction at a preset deviation speed when the test vehicle enters the deviation area.
And step three, acquiring alarm information of a lane departure alarm system on the test vehicle, storing corresponding position information and departure direction, generating a grading result according to the alarm information and the positioning information in each test scene, and generating the grading information according to whether the position information is located in a preset position range or not when the alarm information is received, wherein the grading result is shown in a table 3 and a table 4.
TABLE 3 Lane departure warning system evaluation mode
TABLE 4 Lane departure warning system scoring table
The various boundary lines mentioned above are set according to the relevant test standards. The first speed range, the second speed range, the third speed range and the fourth speed range are obtained by enabling the test vehicle module to perform a large number of curve deviation tests at different deviation speeds, and when the deviation speed of the test vehicle is out of the first speed range, the second speed range, the third speed range or the fourth speed range, the related performance of the test vehicle module is required to be very high to achieve the corresponding alarm function, while the performance of the conventional commercial vehicle cannot achieve the corresponding requirement.
In the first embodiment, the vehicle is subjected to test evaluation of the existing lane departure warning system on the vehicle under a set scene, division is performed according to departure distance, the warning effect is better after departure occurs in a lane than departure outside the lane, the abnormality of the existing lane departure warning system on the vehicle is found in time, and the effectiveness and the sensitivity of the lane departure warning system on the vehicle are maintained.
Example two
The evaluation system is different from the first embodiment in that the evaluation system is used for a lane departure warning system of a commercial vehicle, and further comprises a shooting module, a prompting module, an identification module and a storage module, wherein the shooting module is used for shooting road images in front of a test vehicle module, the processing module is used for acquiring the road images of the shooting module and sending the road images to the identification module, the identification module is used for identifying road profiles on foreground images and sending the road profiles to the processing module, the road profiles can be profiles of lane lines, the road profiles are identified through the existing Canny function, the processing module is used for identifying pixel positions of curved sections of the road profiles and judging test scenes according to the pixel positions, the processing module is used for judging whether the test scenes shot by scene signals are accurate, and when the test scenes are not accurate, the processing module is used for sending scene abnormity prompting information to the prompting module.
In the first step, when a processing module receives a scene signal, a road image in front of a test vehicle module is shot through a shooting module, the processing module acquires the road image and sends the road image to an identification module, the identification module identifies a road profile on the road image, the processing module identifies the pixel position of a curved section of the road profile and judges a test scene according to the pixel position, the processing module judges whether the test scene shot by the scene signal is accurate or not, and when the test scene is not accurate, scene abnormity prompt information is sent to a prompt module through the processing module.
The method comprises the steps of shooting a road image, identifying a road profile, judging the pixel position of a curved section of the road profile, judging a test scene according to the pixel position, judging whether the test scene shot by a scene signal is accurate, checking the scene, prompting when the scene is inaccurate, and avoiding test delay time in an error scene.
The foregoing is merely an example of the present invention and common general knowledge of known specific structures and features of the embodiments is not described herein in any greater detail. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.
Claims (7)
1. A evaluation system for commercial vehicle lane departure warning system which characterized in that: the system comprises a test scene module, a test vehicle module, a positioning module, a processing module, a data acquisition module, an evaluation module and a display module;
the system comprises a test scene module, a processing module and a control module, wherein the test scene module is used for generating a plurality of test scenes and sending scene signals to the processing module, the test scenes comprise a curve alarm scene, a straight repeated scene and a false alarm scene, and one test lane corresponds to each test scene;
the test vehicle module is used for running for multiple times in a test scene to perform multiple tests;
the positioning module is used for detecting the positioning information of the test vehicle module;
the data acquisition module is used for acquiring alarm information of the lane departure alarm system in real time and sending the alarm information to the processing module;
the processing module is used for acquiring positioning information and sending the positioning information to the display module for displaying so as to provide feedback that the test vehicle module runs according to a running mode required by a test scene, and the processing module acquires alarm information and sends the positioning information to the evaluation module according to a scene signal;
and the evaluation module is used for generating a grading result according to the alarm information and the positioning information aiming at each test scene.
2. The evaluation system for a lane departure warning system for a commercial vehicle according to claim 1, wherein: the test scene module obtains the curvature radius of a test lane and generates the running speed of the test vehicle module, the running speed is set according to a curve alarm scene and a straight-road repeated scene, the running speed of the curve alarm scene is respectively located in a first speed range and a second speed range for testing, and the running speed of the straight-road repeated scene is respectively located in a third speed range and a fourth speed range for testing.
3. The evaluation system for a lane departure warning system for a commercial vehicle according to claim 2, wherein: and the evaluation module generates scoring information according to the alarm points of the position information corresponding to the alarm information in the preset position range.
4. Method for evaluating a lane departure warning system for a commercial vehicle, characterized in that an evaluation system for a lane departure warning system for a commercial vehicle according to claim 1 is used, comprising the steps of:
the method comprises the following steps that firstly, a test vehicle is subjected to a plurality of test tests in a plurality of test scenes, the position information of the test vehicle is positioned, and the deviation position, the deviation distance, the position information, the real-time speed, the deviation speed and the transverse acceleration of the test vehicle are detected;
judging whether the test vehicle enters a preset deviation area or not according to the position information, and enabling the test vehicle to perform deviation driving towards a preset deviation direction at a preset deviation speed when the test vehicle enters the deviation area;
and step three, acquiring alarm information of a lane departure alarm system on the test vehicle, storing corresponding position information and departure direction, and generating a grading result according to the alarm information and the positioning information in each test scene.
5. The evaluation method for a lane departure warning system for a commercial vehicle according to claim 4, wherein: the test scene comprises a curve alarm scene and a straight-road repeat scene, the test vehicle runs according to the measured curvature radius and the preset vehicle speed in the curve alarm scene, multiple curve deviation tests on the left side and the right side of the running direction are respectively carried out at deviation speeds in a first speed range and a second speed range, and multiple straight-road repeat tests on the left side and the right side of the running direction are respectively carried out at deviation speeds in a third speed range and a fourth speed range.
6. The evaluation method for a lane departure warning system for a commercial vehicle according to claim 5, wherein: the test scene comprises a false alarm scene, and the test vehicle runs in a non-alarm range of a lane with a preset length.
7. The evaluation method for a lane departure warning system for a commercial vehicle according to claim 6, wherein: and when the alarm information is received, generating scoring information according to whether the position information is located in a preset position range.
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