CN114323693A - Test method, device, equipment and storage medium for vehicle road cloud perception system - Google Patents
Test method, device, equipment and storage medium for vehicle road cloud perception system Download PDFInfo
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Abstract
The embodiment of the invention discloses a method and a device for testing a vehicle road cloud sensing system, electronic equipment and a storage medium. The method comprises the following steps: acquiring test perception information of a preset test area generated by a cloud; the test perception information comprises information fusion of test images acquired by a cloud side on the basis of a vehicle-mounted sensor and a roadside sensor respectively, wherein the test perception information is obtained by carrying out information fusion on the test images acquired by a test area; determining test data of each test item of the vehicle road cloud sensing system based on the test sensing information and pre-stored actual sensing information of the test area; wherein the test item comprises at least one of location perception accuracy, recall rate and regular case perception accuracy. According to the technical scheme of the embodiment of the invention, the whole system can be tested from the aspects of perception precision, recall rate and the like, so that the test error caused by accumulation of the test results of the individual components is avoided, the accuracy of the test results is improved, and the system can be better evaluated.
Description
Technical Field
The embodiment of the invention relates to the technical field of vehicle perception, in particular to a method, a device, equipment and a storage medium for testing a vehicle road cloud perception system.
Background
With the industrial upgrading of the new automobile and the new automobile, the intelligent networked automobile becomes the development direction of the future automobile, and the establishment of the cooperative capacity of the 'human-vehicle-road-cloud' system is an important target of the demonstration application work of the future intelligent automobile. How to carry out comprehensive and sufficient function verification and performance evaluation on the vehicle road cloud sensing system becomes a very important link for ensuring the performance of the vehicle road cloud sensing system.
In the prior art, vehicle testing is mainly directed to a single vehicle sensing system, and a method for testing a whole vehicle carrying a vehicle path cloud sensing system is lacked. Or, a common test mode is to test corresponding sensing hardware in a vehicle in a built test environment, but the test result of an individual component cannot embody the performance of the whole vehicle, and the vehicle road cloud sensing system cannot be accurately evaluated based on the test result of the individual component.
Disclosure of Invention
The embodiment of the invention provides a method and a device for testing a vehicle road cloud sensing system, electronic equipment and a storage medium, so that the whole system can be tested from the aspects of sensing precision, recall rate and the like, the accuracy of a test result is improved, and the system can be better evaluated.
In a first aspect, an embodiment of the present invention provides a method for testing a vehicle road cloud sensing system, where test sensing information generated by a cloud end for a preset test area is acquired; the test perception information comprises information fusion of test images acquired by the test area respectively by the cloud based on the vehicle-mounted sensor and the road side sensor;
determining test data of each test item of the vehicle road cloud sensing system based on the test sensing information and pre-stored actual sensing information of the test area;
wherein the test items comprise at least one of location awareness accuracy, recall rate and regular case awareness accuracy.
In a second aspect, an embodiment of the present invention further provides a device for testing a vehicle road cloud sensing system, where the device includes:
the system comprises an acquisition test perception information module, a display module and a display module, wherein the acquisition test perception information module is used for acquiring test perception information of a preset test area generated by a cloud end; the test perception information comprises information fusion of test images acquired by the test area respectively by the cloud based on the vehicle-mounted sensor and the road side sensor;
the test data determining module is used for determining test data of each test item of the vehicle road cloud sensing system based on the test perception information and pre-stored actual perception information of the test area;
wherein the test items comprise at least one of location awareness accuracy, recall rate and regular case awareness accuracy.
In a third aspect, an embodiment of the present invention further provides an electronic device, where the electronic device includes:
one or more processors;
a storage device for storing one or more programs,
when the one or more programs are executed by the one or more processors, the one or more processors are enabled to implement the testing method of the vehicle road cloud sensing system provided by any embodiment of the invention.
In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the method for testing the vehicle road cloud sensing system provided in any embodiment of the present invention.
According to the test method of the vehicle road cloud sensing system provided by the embodiment of the invention, the cloud end carries out information fusion on the test images acquired by the test area respectively based on the vehicle-mounted sensor and the road side sensor to obtain the test sensing information, the test sensing information generated by the cloud end is obtained, the test data of each test item of the vehicle road cloud sensing system is determined through the test sensing information and the pre-stored actual sensing information of the test area, and the test of the vehicle road cloud sensing system is realized, wherein the test item comprises at least one of position sensing precision, recall rate and regular case sensing precision. The test method of the vehicle road cloud sensing system provided by the embodiment of the invention can test the whole system from the aspects of sensing precision, recall rate and the like, avoids test errors caused by accumulation of test results of individual components, improves the accuracy of the test results, and can better evaluate the system.
In addition, the testing device, the electronic equipment and the storage medium of the vehicle road cloud perception system provided by the invention correspond to the method, and have the same beneficial effects.
Drawings
In order to illustrate the embodiments of the present invention more clearly, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings can be obtained by those skilled in the art without inventive effort.
Fig. 1 is a flowchart of a testing method of a vehicle road cloud sensing system according to an embodiment of the present invention;
fig. 2 is a flowchart of another testing method for a vehicle road cloud sensing system according to an embodiment of the present invention;
fig. 3 is a structural diagram of a vehicle road cloud sensing system according to an embodiment of the present invention;
FIG. 4 is a block diagram of a vehicle according to an embodiment of the present invention;
fig. 5 is a structural diagram of a roadside apparatus provided in an embodiment of the present invention;
fig. 6 is a structural diagram of a cloud control platform according to an embodiment of the present invention;
fig. 7 is a structural diagram of a testing apparatus of a vehicle road cloud sensing system according to an embodiment of the present invention;
fig. 8 is a structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
It should be further noted that, for the convenience of description, only some but not all of the relevant aspects of the present invention are shown in the drawings. Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently or simultaneously. In addition, the order of the operations may be re-arranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like.
In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Example one
Fig. 1 is a flowchart of a method for testing a vehicle road cloud sensing system according to an embodiment of the present invention. The method can be executed by a testing device of the vehicle road cloud sensing system, the device can be realized by software and/or hardware, and the device can be configured in a terminal and/or a server to realize the testing method of the vehicle road cloud sensing system in the embodiment of the invention.
As shown in fig. 1, the method of the embodiment may specifically include:
s101, test perception information of a preset test area generated by a cloud is obtained.
Optionally, the test sensing information includes that the cloud carries out information fusion on the test image acquired by the test area based on the vehicle-mounted sensor and the road side sensor respectively. In a particular implementation, the vehicle-end sensor and the roadside sensor each include at least one of a vision sensor, a lidar, a millimeter-wave radar, and an ultrasonic radar. The vehicle end sensor can acquire vehicle end sensing information of the test area, and the road side sensor can acquire road side sensing information of the test area. The cloud end can acquire vehicle end sensing information sent by the vehicle end sensor and road side sensing information sent by the road side sensor, and performs information fusion processing on the vehicle end sensing information and the road side sensing information, so that test sensing information is generated. The test area is a road surface area including a set obstacle. One skilled in the art can select the test area according to the actual application, and the embodiment of the present invention is not limited thereto.
The obstacle information in the test area can be comprehensively determined from two angles of the vehicle end and the road side end through testing the sensing information. The obstacle includes a pedestrian, a bicycle, a motor vehicle, a transportation facility, etc., and the obstacle information includes an obstacle position, a size, a speed, an acceleration, a heading angle, a distance, etc.
S102, determining test data of each test item of the vehicle road cloud sensing system based on the test sensing information and pre-stored actual sensing information of the test area.
In specific implementation, the actual sensing information of the test area can be predetermined in an artificial determination mode and stored. It should be noted that the actual sensing information is information of an obstacle actually present in the test area. And comparing the test perception information with the actual perception information to determine test data corresponding to each test item of the vehicle road cloud perception system in the test area.
Optionally, the test item includes at least one of location perception accuracy, recall rate, and regular perception accuracy. The position perception precision can reflect the accuracy of the position of the obstacle perceived by the vehicle road cloud perception system.
Optionally, the test sensing information includes sensing position information of each sensing target in the test area, and the actual sensing information includes actual position information of each sensing target in the test area; wherein, based on the actual perception information to the test region of test perception information and pre-storage, determine the test data of each test item of vehicle way cloud perception system, include: calculating intersection ratio between the perception position information and the actual position information of each perception target in each test area; and determining test data of the position sensing precision of the vehicle road cloud sensing system based on the intersection ratio corresponding to each sensing target.
In a specific implementation, the perception target is an obstacle in the test area. The perceptual location information includes a location and a size of the perceptual target. When the position of the perception target in the test area is determined, the edge cutting line of the perception target can be determined in an edge cutting mode, and the position information of the perception target is determined based on the edge cutting line. Furthermore, the actual position information of the perception target can be determined through the actually determined actual cutting line of the perception target in the test area.
Specifically, when the test area contains two or more than two perception targets, one test data for calculating the position perception accuracy of the vehicle cloud perception system can be determined in each perception target; and calculating test data of the position perception accuracy for each perception target, and averaging the test data to obtain the test data of the position perception accuracy of the vehicle road cloud perception system.
Furthermore, the intersection ratio between the perception position information and the actual position information of each perception target in each test area can be calculated; and determining test data of the position sensing precision of the vehicle road cloud sensing system based on the intersection ratio corresponding to each sensing target. Exemplarily, calculating an intersection ratio between a sensing cutting line of a sensing target in a sensing result and an actual cutting line, and determining the intersection ratio as test data of position sensing precision; the higher the intersection ratio is, the more accurate the sensing result of the sensing target is.
Furthermore, when the test data of the position sensing precision of the vehicle road cloud sensing system are determined, the intersection ratio between the sensing area formed by the cutting lines and the actual area formed by the actual cutting lines can be sensed, and the intersection ratio is determined as the test data of the position sensing precision of the vehicle road cloud sensing system.
Optionally, the test sensing information includes sensing positive example information and sensing negative example information of each sensing target in the test region, and the actual sensing information includes actual positive example information and actual negative example information of each sensing target in the test region; wherein, based on the actual perception information to the test region of test perception information and pre-storage, determine the test data of each test item of vehicle way cloud perception system, include: determining a first number of correctly divided positive examples and a second number of incorrectly divided negative examples of each perception target based on actual positive example information, perception positive example information and perception negative example information; and calculating the sum of the first quantity and the second quantity, and determining the ratio of the first quantity to the sum as test data of the recall rate of the vehicle road cloud sensing system.
In an implementation, assuming that the first number is TP and the second number is FN, it can be determined that:
recall ratio TP/(TP + FN)
Optionally, the actual sensing information further includes actual negative example information, where based on the test sensing information and the pre-stored actual sensing information for the test area, the test data of each test item of the vehicle road cloud sensing system is determined, including: determining a third number of positive examples into which each sensing target is wrongly divided based on the actual positive example information, the actual negative example information, the sensing positive example information and the sensing negative example information; and calculating the sum of the first quantity and the third quantity, and determining the ratio of the first quantity to the sum of the first quantity and the third quantity as test data of the just example perception accuracy of the vehicle road cloud perception system.
Specifically, the third number is FP, which indicates the number of positive cases, but is mistaken for a negative case. Based on the first number TP and the third number FP it may be determined:
positive example perception accuracy TP/(TP + FP)
According to the test method of the vehicle road cloud sensing system provided by the embodiment of the invention, the cloud end carries out information fusion on the test images acquired by the test area respectively based on the vehicle-mounted sensor and the road side sensor to obtain the test sensing information, the test sensing information generated by the cloud end is obtained, the test data of each test item of the vehicle road cloud sensing system is determined through the test sensing information and the pre-stored actual sensing information of the test area, and the test of the vehicle road cloud sensing system is realized, wherein the test item comprises at least one of position sensing precision, recall rate and regular case sensing precision. The test method of the vehicle road cloud sensing system provided by the embodiment of the invention can test the whole system from the aspects of sensing precision, recall rate and the like, avoids test errors caused by accumulation of test results of individual components, improves the accuracy of the test results, and better evaluates the system.
Example two
Fig. 2 is a flowchart of another testing method for a vehicle road cloud sensing system according to an embodiment of the present invention. The present embodiment is optimized based on the above technical solutions. Optionally, the method provided in the embodiment of the present invention further includes: acquiring sensing data received by a vehicle end and transmitted by a cloud end; the sensing data comprises acquisition data which are uploaded to a cloud end in advance by a vehicle end and a corresponding uploading timestamp; and determining the local time of the vehicle end when the vehicle end receives the sensing data, calculating the time difference between the uploading timestamp in the sensing data and the local time of the vehicle end, and determining the time difference as vehicle cloud sensing communication delay. The same or corresponding terms as those in the above embodiments are not explained in detail herein.
As shown in fig. 2, the method of the embodiment may specifically include:
s201, test perception information of a preset test area generated by a cloud is obtained.
S202, determining test data of each test item of the vehicle road cloud sensing system based on the test sensing information and pre-stored actual sensing information of the test area.
S203, obtaining the sensing data received by the vehicle end and transmitted by the cloud end.
Optionally, the sensing data includes the collected data that the vehicle end uploaded to the cloud in advance and the corresponding uploading timestamp. The data collection can be the test image that vehicle end sensor gathered, when uploading test image to high in the clouds promptly, can confirm to go up the timestamp, sends the timestamp of uploading to the high in the clouds simultaneously.
After the cloud end determines the test perception information based on the uploaded test image, the test perception information can be fed back to the vehicle end for guiding the vehicle to run. For example, the test sensing information and the uploading timestamp may be packaged into a JSON string and sent to the vehicle end.
And S204, determining the local time of the vehicle end when the vehicle end receives the sensing data, calculating the time difference between the uploading timestamp in the sensing data and the local time of the vehicle end, and determining the time difference as vehicle cloud sensing communication delay.
Specifically, the vehicle end local time when the vehicle end receives the sensing data is determined, the uploading timestamp is determined based on the JSON string received by the vehicle end, the time difference between the uploading timestamp and the vehicle end local time is calculated, and the time difference is determined as vehicle cloud sensing communication delay. Through communication delay, the capability of processing information of the vehicle road cloud sensing system is tested.
Furthermore, in order to improve the accuracy of determining the communication delay, the time difference between the vehicle-end local time of the multiple groups of sensing data and the uploading time stamp can be calculated, the average value of the multiple groups of time differences is calculated, and the average value is determined as the communication delay of the vehicle-road cloud sensing system, so that the calculation error is reduced.
Furthermore, perception data received by the road side and transmitted by the cloud can be obtained. The method comprises the steps of determining roadside local time when the roadside receives sensing data, calculating a time difference between an uploading timestamp and the roadside local time when the roadside uploads collected data in the sensing data, and determining the time difference as road cloud sensing communication delay.
Optionally, the method provided in the embodiment of the present invention further includes: determining a current sensing range according to a preset step length by taking the position of the vehicle-mounted sensor or the roadside sensor as a central position; calculating a recall rate corresponding to the current sensing range of the vehicle road cloud sensing system, and determining whether the recall rate is smaller than a preset threshold value; if not, expanding the current sensing range according to a preset step length, and determining the recall rate corresponding to the expanded current sensing range; if so, determining that the current sensing range is the maximum sensing range of the vehicle road cloud sensing system.
Specifically, the position of the vehicle-mounted sensor or the roadside sensor can be set as a central position, and the current sensing range can be determined according to the preset step length. For example, the preset step length may be 20 meters, the center position is set as a circle center, and a circular area with the preset step length as a radius is determined as the current sensing range. And determining a recall rate corresponding to the current sensing range, and determining whether the recall rate is smaller than a preset threshold, wherein the preset threshold can be 90%. If not, the perception range of the vehicle road cloud perception system can be enlarged under the condition that the recall rate requirement is ensured to be met; the current sensing range may be expanded again by a preset step size, for example, from a radius of 20 meters to a circular area of 40 meters; and determining the recall rate of the current sensing range again; and determining the current sensing range at the moment as the maximum sensing range until the determined recall rate is less than the preset threshold value for the first time.
Optionally, the method provided in the embodiment of the present invention further includes: determining the maximum sensing range determined when the single-ended sensor senses; the single-ended sensor comprises a vehicle-mounted sensor and a road side sensor; calculating a difference value between the maximum sensing range corresponding to the vehicle road cloud sensing system and the maximum sensing range corresponding to the single-ended sensor; and calculating the ratio of the difference value to the maximum sensing range corresponding to the single-ended sensor, and determining the ratio as the sensing range increasing rate of the vehicle road cloud sensing system relative to the single-ended sensor. Furthermore, the perception range improvement rate can be embodied in a percentile system mode.
Further, the system right case sensing precision, the vehicle end right case sensing precision and the road side right case sensing precision can be determined. The vehicle end positive case sensing precision and the road side positive case sensing precision can be called single-end positive case sensing precision; the perceptual accuracy improvement rate calculation formula of the system is as follows:
specifically, the perception performance of the vehicle road cloud perception system can be evaluated from two angles of perception range improvement rate and perception precision improvement rate.
The embodiment of the invention can also test the vehicle road cloud sensing system from two angles of communication delay and maximum sensing range, so that the performance of the vehicle road cloud sensing system can be better embodied; and based on the determined perception range improvement rate and perception precision improvement rate, the vehicle road cloud perception system is better compared with single-end perception, and the vehicle road cloud perception system is visually and clearly evaluated.
EXAMPLE III
In the above, the embodiment corresponding to the test method of the vehicle road cloud sensing system is described in detail, and in order to make the technical scheme of the method further clear to those skilled in the art, the following describes each component structure in the vehicle road cloud sensing system in detail.
Fig. 3 is a structural diagram of a vehicle road cloud sensing system according to an embodiment of the present invention; as shown in fig. 3, the vehicle road cloud sensing system provided by the embodiment of the present invention includes: driving vehicle, roadside equipment and cloud accuse platform. The vehicle can be networked, has the capabilities of sensing, decision-making, controlling, communicating and the like, and sends vehicle condition data, sensing data, fault information and the like to the cloud control platform. The cloud control platform has the capabilities of networking equipment access, distributed computing, distributed storage and the like, and feeds back the determined sensing data, decision results, control instructions and the like to the vehicle; the roadside equipment has the capabilities of perception, decision-making, communication and the like, and sends perceived perception data, traffic information, road information and the like to the cloud control platform; information communication of vehicle condition data, perception data, traffic information, road information and the like can be realized between the driving vehicle and the road side equipment.
FIG. 4 is a block diagram of a vehicle according to an embodiment of the present invention; as shown in fig. 4, the vehicle is equipped with a sensing component, a control component, an execution component, an on-vehicle computing unit, a communication unit, a positioning unit, and the like, and each component performs routing communication through an in-vehicle gateway. The sensing component generally refers to a visual sensor, a laser radar, a millimeter wave radar, an ultrasonic radar and the like, and is used for sensing the surrounding environment of the vehicle, identifying surrounding obstacle information including obstacle positions, sizes, speeds, accelerations, course angles, distances and the like, and assisting the vehicle in making path planning decisions and motion control; the control component generally refers to a vehicle control unit, a vehicle body controller and the like, and is mainly used for executing corresponding control logic according to a received instruction to realize control over the execution component; the execution component mainly executes control instructions sent by the controller, such as left steering, turning on of a vehicle lamp and the like; the vehicle-mounted computing unit is an operation center of algorithms such as perception, decision, planning and the like, mainly realizes the functions of video processing, point cloud processing, multi-source data fusion, target identification, target tracking, target prediction and the like, fuses perception data, decision information or control instructions received by a vehicle, and finally obtains control information of the vehicle through computing; the communication unit is mainly used for communication between the vehicle and a remote vehicle, road side equipment and a cloud control platform, data transmission and interaction are achieved, and the communication unit has communication capabilities of 4G, 5G, V2X and the like according to different application scenes; the positioning unit is used for providing vehicle position information, and accurate positioning of the vehicle can be realized through single positioning or multiple positioning mode fusion technologies such as GNSS (global navigation satellite system), inertial navigation and 5G positioning.
Fig. 5 is a structural diagram of a roadside apparatus provided in an embodiment of the present invention; as shown in fig. 5, the roadside device is used for providing roadside sensing information, traffic information, and road information, and the roadside device is equipped with a sensing component, a computing unit, a communication unit, a positioning unit, a traffic light unit, and the like. The sensing component is generally a vision sensor, a laser radar, a millimeter wave radar, an ultrasonic radar and the like, is mainly used for sensing roads and traffic environments, and comprises information such as identification of road traffic events (such as traffic accidents and the like), abnormal behaviors (such as overspeed and driving away from lanes) of vehicles, road obstacles (such as rockfall, dry branches and the like) and road conditions (such as water accumulation, icing and the like), traffic jam states and the like so as to compensate vehicle sensing blind areas and provide road and traffic information to assist vehicle driving; the computing unit is mainly used for realizing sensor data processing, multi-sensor data fusion, traffic event judgment, traffic jam state calculation and the like; the communication unit is mainly used for communication between the road side equipment and the vehicle and between the road side equipment and the cloud control platform, data transmission and interaction are achieved, and the communication unit needs to have communication capabilities of 4G, 5G, V2X and the like according to different application scenes; the positioning unit is used for providing roadside position information, and accurate positioning of roadside equipment can be realized through single positioning or multiple positioning mode fusion technologies such as GNSS, inertial navigation and 5G positioning; the traffic light unit is mainly used for providing traffic light phase information, and sending the traffic light information to the cloud platform or vehicles passing through the intersection through the communication unit, so that the traffic light information is sensed in advance.
Fig. 6 is a structural diagram of a cloud control platform according to an embodiment of the present invention; as shown in fig. 6, the cloud control platform is used for performing operations such as networking device access, distributed computing, distributed storage, and the like, and a micro-service architecture and a distributed computing cluster are adopted to implement cloud service development and integrated deployment, so as to provide a vehicle road cloud sensing system with powerful computing capability and storage capability at the cloud end. The cloud control platform mainly comprises a device access gateway, micro-service management, public establishment, application service, an interface and the like. The equipment access gateway is mainly used for accessing networking equipment such as vehicles and road side equipment, safety authentication, request routing and load balancing, and can quickly realize reliable and highly concurrent data communication among the vehicles, the road side and cloud services. The micro-service management platform is mainly used for providing full-life-cycle management of application, and realizing functions of service registration and discovery, service calling and continuous tracking, service monitoring and the like; the public component is mainly used for providing basic services such as message subscription, data storage, log acquisition and the like for upper-layer application services and is realized by integrating components such as kafka, Redis, Mysql, ELK and the like which are suitable for a distributed system; the application services are mainly used for realizing application development of data acquisition, data fusion, space-time synchronization, cooperative sensing, data issuing and the like, a micro service architecture is adopted, each application is an independent micro service, the micro services are communicated by adopting a lightweight protocol, and each service independently provides an API (application programming interface) for service access of a client.
The vehicle road cloud sensing system provided by the embodiment of the invention has the advantages that the obstacles in the environment can be identified based on the environment information acquired by the vehicle end and the road side, and the identification accuracy and effectiveness are improved.
Example four
Fig. 7 is a structural diagram of a testing apparatus for a vehicle road cloud sensing system according to an embodiment of the present invention, where the testing apparatus is configured to execute a testing method for the vehicle road cloud sensing system according to any embodiment of the present invention. The device and the test method of the vehicle road cloud sensing system of each embodiment belong to the same inventive concept, and details which are not described in detail in the embodiment of the test device of the vehicle road cloud sensing system can refer to the embodiment of the test method of the vehicle road cloud sensing system. The device may specifically comprise:
the acquisition test perception information module 10 is used for acquiring test perception information of a preset test area generated by a cloud; the test perception information comprises information fusion of test images acquired by a cloud side on the basis of a vehicle-mounted sensor and a roadside sensor respectively, wherein the test perception information is obtained by carrying out information fusion on the test images acquired by a test area;
the determining test data module 11 is used for determining test data of each test item of the vehicle road cloud sensing system based on the test sensing information and pre-stored actual sensing information of the test area;
wherein the test item comprises at least one of location perception accuracy, recall rate and regular case perception accuracy.
On the basis of any optional technical scheme in the embodiment of the invention, optionally, the test sensing information comprises sensing position information of each sensing target in the test area, and the actual sensing information comprises actual position information of each sensing target in the test area; wherein, the determining test data module 11 includes:
the intersection ratio calculating unit is used for calculating an intersection ratio between the sensing position information and the actual position information of each sensing target in each test area; and determining test data of the position sensing precision of the vehicle road cloud sensing system based on the intersection ratio corresponding to each sensing target.
On the basis of any optional technical scheme in the embodiment of the invention, optionally, the test sensing information comprises sensing positive example information and sensing negative example information of each sensing target in the test area, and the actual sensing information comprises actual positive example information and actual negative example information of each sensing target in the test area; wherein, the determining test data module 11 includes:
a recall rate determining unit for determining a first number of correctly divided positive examples and a second number of incorrectly divided negative examples of each sensing target based on the actual positive example information, the sensing positive example information and the sensing negative example information; and calculating the sum of the first quantity and the second quantity, and determining the ratio of the first quantity to the sum as test data of the recall rate of the vehicle road cloud sensing system.
On the basis of any optional technical solution in the embodiment of the present invention, optionally, the actual sensing information further includes actual negative example information, where the determining the test data module 11 includes:
a positive example sensing precision determining unit, configured to determine, based on the actual positive example information, the actual negative example information, the sensing positive example information, and the sensing negative example information, a third number of positive examples into which each sensing target is erroneously divided; and calculating the sum of the first quantity and the third quantity, and determining the ratio of the first quantity to the sum of the first quantity and the third quantity as test data of the just example perception accuracy of the vehicle road cloud perception system.
On the basis of any optional technical solution in the embodiment of the present invention, optionally, the apparatus further includes:
the maximum sensing range determining module is used for determining a current sensing range according to a preset step length by taking the position of the vehicle-mounted sensor or the road side sensor as a central position; calculating a recall rate corresponding to the current sensing range of the vehicle road cloud sensing system, and determining whether the recall rate is smaller than a preset threshold value; if not, expanding the current sensing range according to a preset step length, and determining the recall rate corresponding to the expanded current sensing range; if so, determining that the current sensing range is the maximum sensing range of the vehicle road cloud sensing system.
On the basis of any optional technical solution in the embodiment of the present invention, optionally, the apparatus further includes:
the module for determining the perception range lifting rate is used for determining the maximum perception range determined by the single-ended sensor during perception; the single-ended sensor comprises a vehicle-mounted sensor and a road side sensor; calculating a difference value between the maximum sensing range corresponding to the vehicle road cloud sensing system and the maximum sensing range corresponding to the single-ended sensor; and calculating the ratio of the difference value to the maximum sensing range corresponding to the single-ended sensor, and determining the ratio as the sensing range increasing rate of the vehicle road cloud sensing system relative to the single-ended sensor.
On the basis of any optional technical solution in the embodiment of the present invention, optionally, the apparatus further includes:
the communication time delay determining module is used for acquiring the sensing data received by the vehicle end and transmitted by the cloud end; the sensing data comprises acquisition data which are uploaded to a cloud end in advance by a vehicle end and a corresponding uploading timestamp; and determining the local time of the vehicle end when the vehicle end receives the sensing data, calculating the time difference between the uploading timestamp in the sensing data and the local time of the vehicle end, and determining the time difference as vehicle cloud sensing communication delay.
The testing device for the vehicle road cloud perception system provided by the embodiment of the invention can realize the following method; acquiring test perception information of a preset test area generated by a cloud; the test perception information comprises information fusion of test images acquired by a cloud side on the basis of a vehicle-mounted sensor and a roadside sensor respectively, wherein the test perception information is obtained by carrying out information fusion on the test images acquired by a test area; determining test data of each test item of the vehicle road cloud sensing system based on the test sensing information and pre-stored actual sensing information of the test area; wherein the test item comprises at least one of location perception accuracy, recall rate and regular case perception accuracy. The testing device of the vehicle road cloud sensing system provided by the embodiment of the invention can test the whole system from the aspects of sensing precision, recall rate and the like, avoids the test error caused by the accumulation of the test results of the individual components, improves the accuracy of the test result and better evaluates the system.
It should be noted that, in the embodiment of the testing apparatus of the vehicle road cloud sensing system, each included unit and module are only divided according to functional logic, but are not limited to the above division, as long as corresponding functions can be implemented; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
EXAMPLE five
Fig. 8 is a structural diagram of an electronic device according to an embodiment of the present invention. FIG. 8 illustrates a block diagram of an exemplary electronic device 20 suitable for use in implementing embodiments of the present invention. The illustrated electronic device 20 is merely an example and should not be used to limit the functionality or scope of embodiments of the present invention.
As shown in fig. 8, the electronic device 20 is embodied in the form of a general purpose computing device. The components of the electronic device 20 may include, but are not limited to: one or more processors or processing units 201, a system memory 202, and a bus 203 that couples the various system components (including the system memory 202 and the processing unit 201).
The system memory 202 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)204 and/or cache memory 205. The electronic device 20 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, the storage system 206 may be used to read from and write to non-removable, nonvolatile magnetic media. A magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 203 by one or more data media interfaces. Memory 202 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 208 having a set (at least one) of program modules 207 may be stored, for example, in memory 202, such program modules 207 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 207 generally perform the functions and/or methodologies of embodiments of the present invention as described herein.
The electronic device 20 may also communicate with one or more external devices 209 (e.g., keyboard, pointing device, display 210, etc.), with one or more devices that enable a user to interact with the electronic device 20, and/or with any devices (e.g., network card, modem, etc.) that enable the electronic device 20 to communicate with one or more other computing devices. Such communication may occur via input/output (I/O) interfaces 211. Also, the electronic device 20 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the Internet) via the network adapter 212. As shown, the network adapter 212 communicates with other modules of the electronic device 20 over the bus 203. It should be understood that other hardware and/or software modules may be used in conjunction with electronic device 20, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.
The processing unit 201 executes various functional applications and data processing by running a program stored in the system memory 202.
The electronic equipment provided by the invention can realize the following method: acquiring test perception information of a preset test area generated by a cloud; the test perception information comprises information fusion of test images acquired by a cloud side on the basis of a vehicle-mounted sensor and a roadside sensor respectively, wherein the test perception information is obtained by carrying out information fusion on the test images acquired by a test area; determining test data of each test item of the vehicle road cloud sensing system based on the test sensing information and pre-stored actual sensing information of the test area; wherein the test item comprises at least one of location perception accuracy, recall rate and regular case perception accuracy. The embodiment of the invention can test the whole system from the aspects of perception precision, recall rate and the like, avoids the test error caused by the accumulation of the test results of the individual components, improves the accuracy of the test results and better evaluates the system.
EXAMPLE six
An embodiment of the present invention provides a storage medium containing computer-executable instructions, which when executed by a computer processor, are configured to perform a method for testing a vehicle route cloud awareness system, the method including:
acquiring test perception information of a preset test area generated by a cloud; the test perception information comprises information fusion of test images acquired by a cloud side on the basis of a vehicle-mounted sensor and a roadside sensor respectively, wherein the test perception information is obtained by carrying out information fusion on the test images acquired by a test area; determining test data of each test item of the vehicle road cloud sensing system based on the test sensing information and pre-stored actual sensing information of the test area; wherein the test item comprises at least one of location perception accuracy, recall rate and regular case perception accuracy. The embodiment of the invention can test the whole system from the aspects of perception precision, recall rate and the like, avoids the test error caused by the accumulation of the test results of the individual components, improves the accuracy of the test results and better evaluates the system.
Of course, the storage medium provided by the embodiment of the present invention includes computer-executable instructions, and the computer-executable instructions are not limited to the method operations described above, and may also perform related operations in the method for testing the vehicle road cloud sensing system provided by any embodiment of the present invention.
Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for embodiments of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A test method of a vehicle road cloud perception system is characterized by comprising the following steps:
acquiring test perception information of a preset test area generated by a cloud; the test perception information comprises information fusion of test images acquired by the test area respectively by the cloud based on the vehicle-mounted sensor and the road side sensor;
determining test data of each test item of the vehicle road cloud sensing system based on the test sensing information and pre-stored actual sensing information of the test area;
wherein the test items comprise at least one of location awareness accuracy, recall rate and regular case awareness accuracy.
2. The method according to claim 1, wherein the test perception information includes perception location information of each perception target in the test area, and the actual perception information includes actual location information of each perception target in the test area; wherein the content of the first and second substances,
the method for determining the test data of each test item of the vehicle road cloud sensing system based on the test perception information and the pre-stored actual perception information of the test area comprises the following steps:
calculating an intersection ratio between the perception position information and the actual position information of each perception target in each test area;
and determining the test data of the position sensing precision of the vehicle road cloud sensing system based on the intersection ratio corresponding to each sensing target.
3. The method according to claim 1, wherein the test perception information includes perception positive example information and perception negative example information of each perception target in the test area, and the actual perception information includes actual positive example information and actual negative example information of each perception target in the test area; wherein the content of the first and second substances,
the method for determining the test data of each test item of the vehicle road cloud sensing system based on the test perception information and the pre-stored actual perception information of the test area comprises the following steps:
determining a first number of the sensing targets correctly divided into positive examples and a second number of the sensing targets wrongly divided into negative examples based on the actual positive example information, the sensing positive example information and the sensing negative example information;
and calculating the sum of the first quantity and the second quantity, and determining the ratio of the first quantity to the sum as the test data of the recall rate of the vehicle road cloud perception system.
4. The method of claim 3, wherein the actual perceptual information further comprises actual negative case information, wherein,
the method for determining the test data of each test item of the vehicle road cloud sensing system based on the test perception information and the pre-stored actual perception information of the test area comprises the following steps:
determining a third number of positive examples into which each of the sensing targets is erroneously classified based on the actual positive example information, the actual negative example information, the sensing positive example information, and the sensing negative example information;
calculating the sum of the first quantity and the third quantity, and determining the ratio of the first quantity to the sum of the first quantity and the third quantity as test data of the just example perception accuracy of the vehicle road cloud perception system.
5. The method of claim 1, further comprising:
determining a current sensing range according to a preset step length by taking the position of the vehicle-mounted sensor or the roadside sensor as a central position;
calculating a recall rate corresponding to the current sensing range of the vehicle road cloud sensing system, and determining whether the recall rate is smaller than a preset threshold value;
if not, expanding the current sensing range according to the preset step length, and determining the recall rate corresponding to the expanded current sensing range;
if so, determining that the current perception range is the maximum perception range of the vehicle road cloud perception system.
6. The method of claim 5, further comprising:
determining the maximum sensing range determined when the single-ended sensor senses; wherein the single-ended sensor comprises an on-board sensor and a roadside sensor;
calculating a difference value between the maximum sensing range corresponding to the vehicle road cloud sensing system and the maximum sensing range corresponding to the single-ended sensor;
and calculating the ratio of the difference value to the maximum sensing range corresponding to the single-ended sensor, and determining the ratio as the sensing range improvement rate of the vehicle road cloud sensing system relative to the single-ended sensor.
7. The method of claim 1, further comprising:
acquiring sensing data received by a vehicle end and transmitted by a cloud end; the sensing data comprises acquisition data which are uploaded to the cloud end by the vehicle end in advance and a corresponding uploading timestamp;
determining the local time of the vehicle end when the vehicle end receives the sensing data, calculating the time difference between the uploading timestamp in the sensing data and the local time of the vehicle end, and determining the time difference as vehicle cloud sensing communication delay.
8. A testing device for a vehicle road cloud perception system is characterized by comprising:
the system comprises an acquisition test perception information module, a display module and a display module, wherein the acquisition test perception information module is used for acquiring test perception information of a preset test area generated by a cloud end; the test perception information comprises information fusion of test images acquired by the test area respectively by the cloud based on the vehicle-mounted sensor and the road side sensor;
the test data determining module is used for determining test data of each test item of the vehicle road cloud sensing system based on the test perception information and pre-stored actual perception information of the test area;
wherein the test items comprise at least one of location awareness accuracy, recall rate and regular case awareness accuracy.
9. An electronic device, comprising:
one or more processors;
a memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement a method of testing the vehicle road cloud awareness system of any of claims 1-7.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out a method of testing a vehicle road cloud sensing system according to any one of claims 1 to 7.
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