CN114719893A

CN114719893A - Testing device, system and method of blind area monitoring system and electronic equipment

Info

Publication number: CN114719893A
Application number: CN202210520688.0A
Authority: CN
Inventors: 郭干; 李昱鹏; 黄宁宁
Original assignee: Beijing Momenta Technology Co ltd
Current assignee: Beijing Momenta Technology Co ltd
Priority date: 2022-05-13
Filing date: 2022-05-13
Publication date: 2022-07-08

Abstract

The application provides a testing device, a testing system, a testing method and electronic equipment of a blind area monitoring system, and relates to the technical field of intelligent automobile control. The test device includes: the information acquisition module is arranged on the test main car and used for acquiring main car running information of the test main car and acquiring CAN data of the main car and the whole car related to a blind area monitoring system of the test main car; and the main vehicle control module is arranged on the test main vehicle, is connected with the information acquisition module, and is used for acquiring main vehicle running information, main vehicle whole vehicle CAN data, test secondary vehicle running information of the secondary vehicle and base station positioning information of the positioning base station, obtaining relative distance information, relative speed information and relative angle information of the test main vehicle relative to the test secondary vehicle according to the main vehicle running information, the secondary vehicle running information and the base station positioning information, and carrying out performance test on the blind area monitoring system according to the relative distance information, the relative speed information, the relative angle information and the main vehicle CAN data.

Description

Testing device, system and method of blind area monitoring system and electronic equipment

Technical Field

The present application relates to the field of intelligent vehicle control technologies, and in particular, to a testing apparatus for a blind area monitoring system, a testing system for a blind area monitoring system, a testing method for a blind area monitoring system, an electronic device, a readable storage medium, a computer program product, and a chip.

Background

With the development of the automobile electronic industry, the active safety systems of automobiles are more and more concerned by the industry and customers. The blind area monitoring system is one of active safety systems, and has the functions of providing information whether vehicles pass through the blind area for a driver, and facilitating the driver to perform lane changing and other operations, so that traffic accidents caused by the fact that the vehicles in the blind area cannot be observed are avoided. For example, when the vehicle is monitored to be about to pass the vehicle behind the adjacent lane by the blind area monitoring function in the normal running process of the vehicle, a flash lamp is used for lighting or flashing to remind a driver of the vehicle behind, so that the driving safety is improved.

However, the accuracy of the evaluation method of the blind spot monitoring function in the related art is low, so that the performance effect of blind spot monitoring cannot be effectively verified, and the driving safety is further reduced.

Disclosure of Invention

In view of this, the present application provides a testing apparatus of a blind area monitoring system, a testing system of a blind area monitoring system, a testing method of a blind area monitoring system, an electronic device, a readable storage medium, a computer program product, and a chip, which solve the problem that the performance verification of the blind area monitoring function cannot be effectively performed in the related art.

In a first aspect, an embodiment of the present application provides a testing apparatus for a blind area monitoring system, including: the system comprises an information acquisition module, a data acquisition module and a data processing module, wherein the information acquisition module is arranged in a test main vehicle and is used for acquiring main vehicle running information of the test main vehicle and acquiring CAN (controller area network) data of a main vehicle related to a blind area monitoring system of the test main vehicle; and the main vehicle control module is arranged on the test main vehicle, is connected with the information acquisition module, and is used for acquiring main vehicle running information, main vehicle whole vehicle CAN data, test secondary vehicle running information of the secondary vehicle and base station positioning information of the positioning base station, obtaining relative distance information, relative speed information and relative angle information of the test main vehicle relative to the test secondary vehicle according to the main vehicle running information, the secondary vehicle running information and the base station positioning information, and carrying out performance test on the blind area monitoring system according to the relative distance information, the relative speed information, the relative angle information and the main vehicle CAN data.

The testing device of the blind area monitoring system according to the embodiment of the application can also have the following additional technical characteristics:

in the above technical solution, optionally, the host vehicle travel information includes at least one of: the method comprises the following steps of first main vehicle positioning information, main vehicle running speed, main vehicle running acceleration, main vehicle course angle, main vehicle yaw velocity, main vehicle pitch angle, main vehicle roll angle and main vehicle sideslip angle.

In any of the above technical solutions, optionally, the information obtaining module includes: a first main vehicle GPS (Global Positioning System) antenna for acquiring first main vehicle Positioning information of the test main vehicle and acquiring main vehicle running speed of the test main vehicle; the main vehicle differential positioning module is used for acquiring main vehicle correction positioning information of the test main vehicle, performing Real-Time Kinematic (RTK) carrier phase differential processing on the first main vehicle positioning information by using the main vehicle correction positioning information so as to improve the precision of the first main vehicle positioning information, sending the processed first main vehicle positioning information to the main vehicle control module, and receiving base station positioning information from the positioning base station and first slave vehicle positioning information from the test slave vehicle.

In any of the above technical solutions, optionally, the obtaining, by the master vehicle control module, the relative distance information of the tested master vehicle with respect to the tested slave vehicle according to the master vehicle traveling information, the slave vehicle traveling information, and the base station positioning information includes: the master vehicle control module obtains second master vehicle positioning information of the tested master vehicle relative to the positioning base station according to the processed first master vehicle positioning information and the base station positioning information, and determines relative distance information of the tested master vehicle relative to the tested slave vehicle according to the second master vehicle positioning information and the first slave vehicle positioning information of the tested slave vehicle; the first slave vehicle positioning information is positioning information of the test slave vehicle relative to the positioning base station, which is determined by the test slave vehicle according to the base station positioning information, and the slave vehicle running information comprises the first slave vehicle positioning information.

In any of the above technical solutions, optionally, the information obtaining module further includes: the main vehicle inertial navigation module is used for acquiring and testing the main vehicle running acceleration, the main vehicle yaw velocity, the main vehicle pitch angle, the main vehicle roll angle and the main vehicle sideslip angle of the main vehicle.

In any of the above technical solutions, optionally, the information obtaining module further includes: the second main vehicle GPS antenna is used for acquiring third main vehicle positioning information of the test main vehicle and sending the third main vehicle positioning information to the main vehicle control module; the main vehicle control module is also used for determining a main vehicle course angle of the tested main vehicle according to the first main vehicle positioning information and the third main vehicle positioning information.

In any of the above technical solutions, optionally, the information obtaining module further includes: and the main vehicle data acquisition module is used for acquiring and testing the whole main vehicle CAN data of the main vehicle and sending the whole main vehicle CAN data to the main vehicle control module.

In any of the above technical solutions, optionally, the apparatus further includes: the main vehicle display module is arranged on the main test vehicle, is connected with the control module and is used for acquiring and displaying at least one of the following items: the method comprises the following steps of main vehicle running information, main vehicle CAN data, auxiliary vehicle running information, base station positioning information, relative distance information, relative speed information, relative angle information and performance test results.

In a second aspect, an embodiment of the present application provides a test system for a blind area monitoring system, which includes a test device, a test slave vehicle, and a positioning base station of the blind area monitoring system according to the first aspect.

The test system of the blind area monitoring system according to the embodiment of the present application may further have the following additional technical features:

in the foregoing technical solution, optionally, the positioning base station includes: the base station GPS antenna is used for acquiring base station positioning information of the positioning base station; and the base station differential positioning module is communicated with the main vehicle differential positioning module of the test main vehicle and used for acquiring base station correction positioning information of the positioning base station, carrying out real-time dynamic carrier phase differential processing on the base station positioning information by utilizing the base station correction positioning information so as to improve the precision of the base station positioning information and sending the processed base station positioning information to the main vehicle differential positioning module.

In any of the above technical solutions, optionally, the slave vehicle travel information includes at least one of: first slave vehicle positioning information, slave vehicle travel speed, slave vehicle travel acceleration, slave vehicle heading angle, slave vehicle yaw rate, slave vehicle pitch angle, slave vehicle roll angle, slave vehicle sideslip angle.

In any of the above technical solutions, optionally, the test slave vehicle includes: the first slave vehicle GPS antenna is used for acquiring second slave vehicle positioning information of the test slave vehicle and acquiring the running speed of the test slave vehicle; the secondary vehicle differential positioning module is communicated with the primary vehicle differential positioning module of the testing primary vehicle, and is used for acquiring secondary vehicle correction positioning information of the testing secondary vehicle and carrying out real-time dynamic carrier phase differential processing on second secondary vehicle positioning information by utilizing the secondary vehicle correction positioning information so as to improve the precision of the second secondary vehicle positioning information; and the slave vehicle control module is connected with the slave vehicle differential positioning module and used for acquiring the processed second slave vehicle positioning information and the base station positioning information of the positioning base station, obtaining first slave vehicle positioning information of the test slave vehicle relative to the positioning base station according to the processed second slave vehicle positioning information and the base station positioning information, and sending the first slave vehicle positioning information to the master vehicle differential positioning module through the slave vehicle differential positioning module.

In any one of the above technical solutions, optionally, the test slave vehicle further includes: and the slave vehicle inertial navigation module is used for acquiring the running acceleration, the yaw rate, the pitch angle, the roll angle and the sideslip angle of the slave vehicle.

In any one of the above technical solutions, optionally, the test slave vehicle further includes: and the second slave vehicle GPS antenna is connected with the slave vehicle control module of the test slave vehicle and used for acquiring third slave vehicle positioning information of the test slave vehicle and sending the third slave vehicle positioning information to the slave vehicle control module so that the slave vehicle control module can determine the slave vehicle heading angle of the test slave vehicle according to the second slave vehicle positioning information and the third slave vehicle positioning information.

In a third aspect, an embodiment of the present application provides a method for testing a blind area monitoring system, where the method is used for a testing device of the blind area monitoring system, the testing device includes an information acquisition module and a main vehicle control module, and both the information acquisition module and the main vehicle control module are arranged in a main vehicle for testing, and the method includes: acquiring main vehicle running information of a test main vehicle and CAN data of the whole main vehicle related to a blind area monitoring system of the test main vehicle through an information acquisition module; the blind area monitoring system is subjected to performance testing according to the relative distance information, the relative speed information and the relative angle information of the tested master car relative to the tested slave car, and the relative distance information, the relative speed information, the relative angle information and the CAN data of the master car, which are obtained by the master car control module according to the master car running information, the slave car running information of the tested slave car and the base station positioning information of the positioning base station.

According to the test method of the blind area monitoring system, the following additional technical features can be provided:

In any of the foregoing technical solutions, optionally, the information obtaining module includes a first master GPS antenna and a master differential positioning module, and the method further includes: acquiring first main vehicle positioning information of a test main vehicle and the main vehicle running speed of the test main vehicle through a first main vehicle GPS antenna; the method comprises the steps of obtaining main vehicle correction positioning information of a test main vehicle through a main vehicle differential positioning module, carrying out real-time dynamic carrier phase differential processing on first main vehicle positioning information by using the main vehicle correction positioning information so as to improve the precision of the first main vehicle positioning information, sending the processed first main vehicle positioning information to a main vehicle control module, and receiving base station positioning information from a positioning base station and first auxiliary vehicle positioning information from a test auxiliary vehicle through the main vehicle differential positioning module.

In any of the above technical solutions, optionally, obtaining, by the master vehicle control module, relative distance information of the test master vehicle with respect to the test slave vehicle according to the master vehicle traveling information, the slave vehicle traveling information, and the base station positioning information includes: obtaining second master vehicle positioning information of the tested master vehicle relative to the positioning base station through the master vehicle control module according to the processed first master vehicle positioning information and the base station positioning information, and determining relative distance information of the tested master vehicle relative to the tested slave vehicle according to the second master vehicle positioning information and the first slave vehicle positioning information of the tested slave vehicle; the first slave vehicle positioning information is positioning information of the test slave vehicle relative to the positioning base station, which is determined by the test slave vehicle according to the base station positioning information, and the slave vehicle running information comprises first slave vehicle positioning information.

In any of the above technical solutions, optionally, the information obtaining module includes a main vehicle inertial navigation module, and the method further includes: the inertia navigation module of the main vehicle is used for collecting and testing the running acceleration, the yaw velocity, the pitch angle, the roll angle and the sideslip angle of the main vehicle.

In any of the above technical solutions, optionally, the information obtaining module further includes a second master GPS antenna, and the method further includes: acquiring third main vehicle positioning information of the test main vehicle through a second main vehicle GPS antenna, and sending the third main vehicle positioning information to a main vehicle control module; and determining a main vehicle course angle of the test main vehicle according to the first main vehicle positioning information and the third main vehicle positioning information through a main vehicle control module.

In any of the above technical solutions, optionally, the information obtaining module further includes a main vehicle data collecting module, and the method further includes: the CAN data of the whole main vehicle of the main vehicle is acquired and tested by the main vehicle data acquisition module.

In any of the above technical solutions, optionally, the testing apparatus further includes a main vehicle display module, and the method further includes: displaying, by a host display module, at least one of: the method comprises the following steps of main vehicle running information, main vehicle CAN data, auxiliary vehicle running information, base station positioning information, relative distance information, relative speed information, relative angle information and performance test results.

In a fourth aspect, embodiments of the present application provide an electronic device comprising a processor and a memory, the memory storing a program or instructions executable on the processor, the program or instructions, when executed by the processor, implementing the steps of the method according to the third aspect.

In a fifth aspect, the present application provides a readable storage medium on which a program or instructions are stored, which when executed by a processor implement the steps of the method according to the third aspect.

In a sixth aspect, embodiments of the present application provide a computer program product, stored on a storage medium, for execution by at least one processor to implement a method according to the third aspect.

In a seventh aspect, an embodiment of the present application provides a chip, where the chip includes a processor and a communication interface, where the communication interface is coupled to the processor, and the processor is configured to execute a program or instructions to implement the method according to the third aspect.

In the embodiment of the application, the relative distance information, the relative speed information and the relative angle information of the tested master vehicle relative to the tested slave vehicle are determined according to the master vehicle running information of the tested master vehicle, the slave vehicle running information of the tested slave vehicle and the base station positioning information of the positioning base station, and the performance test of the blind area monitoring system is carried out by combining with the CAN data of the master vehicle related to the blind area monitoring system of the tested master vehicle, so that the performance test results of the blind area monitoring system such as early activation, late activation, early time difference, late time difference and the like are obtained. The embodiment of the application provides comprehensive verification data for testing the blind spot monitoring system, ensures the accuracy of the test of the blind spot monitoring system, and solves the problem that the performance of the blind spot monitoring function cannot be effectively verified in the related technology, thereby improving the safety of vehicle running.

The foregoing description is only an overview of the technical solutions of the present application, and the present application can be implemented according to the content of the description in order to make the technical means of the present application more clearly understood, and the following detailed description of the present application is given in order to make the above and other objects, features, and advantages of the present application more clearly understandable.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

fig. 1 is a block diagram illustrating a configuration of a testing apparatus of a blind area monitoring system according to an embodiment of the present application;

fig. 2 shows a block diagram of a positioning base station according to an embodiment of the present application;

FIG. 3 shows a block diagram of a test slave vehicle according to an embodiment of the present application;

FIG. 4 shows a schematic view of the relative positions of a test master and a test slave in an embodiment of the application;

FIG. 5 is a schematic flow chart illustrating a testing method of the blind area monitoring system according to the embodiment of the present application;

fig. 6 shows a block diagram of an electronic device according to an embodiment of the present application.

Wherein, the correspondence between the reference numbers and the part names in fig. 1 to fig. 3 and fig. 6 is:

10. a master vehicle control module 11, a first master vehicle GPS antenna, 12, a master vehicle differential positioning module, 13, a master vehicle inertial navigation module, 14, a second master vehicle GPS antenna, 15, a master vehicle data acquisition module, 16, a master vehicle display module, 17, a master vehicle communication module, 18, a master vehicle power supply, 121, a first real-time dynamic differential module, 122, a first communication antenna, 20, a positioning base station, 21, a base station GPS antenna, 22, a base station differential positioning module, 221, a second real-time dynamic differential module, 222, a second communication antenna, 30, a slave vehicle control module, 31, a first slave vehicle GPS antenna, 32, a slave vehicle differential positioning module, 33, a slave vehicle inertial navigation module, 34, a second slave vehicle GPS antenna, 35, a slave vehicle display module, 36, a slave vehicle communication module, 37, a slave vehicle power supply, 321, a third real-time dynamic differential module, 322, a third communication antenna, 600. electronic device 601, processor 602, memory.

Detailed Description

The technical solutions in the embodiments of the present application will be described clearly below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments that can be derived by one of ordinary skill in the art from the embodiments given herein are intended to be within the scope of the present disclosure.

The terms first, second and the like in the description and in the claims of the present application are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that embodiments of the application may be practiced in sequences other than those illustrated or described herein, and that the terms "first," "second," and the like are generally used herein in a generic sense and do not limit the number of terms, e.g., the first term can be one or more than one. In addition, "and/or" in the specification and claims means at least one of connected objects, a character "/" generally means that a preceding and succeeding related objects are in an "or" relationship.

The following describes in detail a test apparatus of a blind area monitoring system, a test system of a blind area monitoring system, a test method of a blind area monitoring system, an electronic device, a readable storage medium, a computer program product, and a chip provided in the embodiments of the present application with reference to the accompanying drawings and application scenarios thereof.

As shown in fig. 1 to fig. 3, an embodiment of the present application provides a test system for a blind area monitoring system, which includes a test device for the blind area monitoring system, a test slave vehicle and a positioning base station, wherein the test device for the blind area monitoring system is arranged in the test master vehicle, the test master vehicle is provided with the blind area monitoring system, and the test device for the blind area monitoring system is used for performing performance test on the blind area monitoring system of the test master vehicle.

As shown in fig. 1, the testing device of the blind area monitoring system comprises an information acquisition module, a main vehicle control module 10, a main vehicle display module 16, a main vehicle communication module 17 and a main vehicle-mounted power supply 18, wherein the information acquisition module is used for acquiring main vehicle running information of a tested main vehicle and acquiring CAN data of the whole main vehicle related to the blind area monitoring system of the tested main vehicle, and the information acquisition module comprises at least one of the following items: the first main vehicle GPS antenna 11, the main vehicle differential positioning module 12, the main vehicle inertial navigation module 13, the second main vehicle GPS antenna 14 and the main vehicle data acquisition module 15, correspondingly, the main vehicle running information comprises at least one of the following items: the method comprises the following steps of first main vehicle positioning information, main vehicle running speed, main vehicle running acceleration, main vehicle course angle, main vehicle yaw velocity, main vehicle pitch angle, main vehicle roll angle and main vehicle sideslip angle, wherein CAN data of a whole main vehicle comprise an activation signal, an enabling signal and the like of a blind area monitoring system.

As shown in fig. 2, the positioning base station 20 is provided with a base station GPS antenna 21 and a base station differential positioning module 22, and acquires and transmits base station positioning information through the base station GPS antenna 21 and the base station differential positioning module 22.

As shown in fig. 3, the test slave vehicle includes a first slave vehicle GPS antenna 31, a slave vehicle differential positioning module 32, a slave vehicle inertial navigation module 33, a second slave vehicle GPS antenna 34, a slave vehicle display module 35, a slave vehicle communication module 36, and a slave vehicle-mounted power supply 37, by which slave vehicle travel information of the test slave vehicle is acquired and transmitted.

The main vehicle control module 10 of the testing device of the blind area monitoring system is connected with the information acquisition module and is used for acquiring main vehicle running information, main vehicle CAN data, testing the secondary vehicle running information of the secondary vehicle and base station positioning information of the positioning base station 20, obtaining relative distance information, relative speed information and relative angle information of the tested main vehicle relative to the tested secondary vehicle according to the main vehicle running information, the secondary vehicle running information and the base station positioning information, and carrying out performance testing on the blind area monitoring system according to the relative distance information (comprising relative longitudinal distance and relative transverse distance), the relative speed information, the relative angle information and the main vehicle CAN data. Wherein the slave vehicle traveling information includes at least one of: first slave vehicle positioning information, slave vehicle travel speed, slave vehicle travel acceleration, slave vehicle heading angle, slave vehicle yaw rate, slave vehicle pitch angle, slave vehicle roll angle, slave vehicle sideslip angle.

In the embodiment, the relative distance information, the relative speed information and the relative angle information of the tested master vehicle relative to the tested slave vehicle are determined according to the master vehicle running information of the tested master vehicle, the slave vehicle running information of the tested slave vehicle and the base station positioning information of the positioning base station 20, and the performance test of the blind area monitoring system is performed by combining with the CAN data of the master vehicle related to the blind area monitoring system of the tested master vehicle, so that the performance test results of the blind area monitoring system such as early activation, late activation, early time difference, late time difference and the like are obtained.

For example, as shown in fig. 4, when the test master car runs at a certain speed, and the test slave car exceeds the test master car from an adjacent lane, the blind area monitoring system gives an early warning, and at this time, the master car control module of the test master car can calculate information such as a relative transverse distance, a relative longitudinal distance, a relative transverse speed, a relative longitudinal speed, a relative angle and the like between the two cars, and accurately judge the alarm accuracy of the blind area monitoring system in different scenes through the information, so as to verify the performance accuracy of the blind area monitoring system.

It should be noted that the embodiment of the present application is applied to performance testing of a blind area monitoring system in a fixed test scene, where a fixed base station (also called a positioning base station 20) is arranged in the fixed test scene, and the fixed base station ensures that delay and deviation of acquired positioning information of a test master vehicle and a test slave vehicle are small, so that compared with a test method in an actual driving scene where positioning is performed by a GPS instead of the fixed base station, the accuracy of the test can be improved.

The embodiment of the application provides a method for verifying the accuracy of a blind area monitoring system, provides comprehensive verification data for testing the blind area monitoring system, ensures the testing accuracy of the blind area monitoring system, and solves the problem that the performance verification cannot be effectively carried out on a blind area monitoring function in the related technology, thereby improving the driving safety of vehicles.

Optionally, the information obtaining module includes: a first host vehicle GPS antenna 11 for acquiring first host vehicle positioning information of the test host vehicle and acquiring host vehicle running speed of the test host vehicle; the main vehicle differential positioning module 12 is configured to obtain main vehicle corrected positioning information of the test main vehicle, perform real-time dynamic carrier phase differential processing on the first main vehicle positioning information by using the main vehicle corrected positioning information to improve the accuracy of the first main vehicle positioning information, send the processed first main vehicle positioning information to the main vehicle control module 10, and receive base station positioning information from the positioning base station 20 and first slave vehicle positioning information from the test slave vehicle.

In this embodiment, the first host vehicle GPS antenna 11 acquires first host vehicle positioning information of the test host vehicle, which may be low in accuracy due to the influence of the environment, distance, and the like during signal transmission, and acquires the host vehicle traveling speed of the test host vehicle. Therefore, the main vehicle differential positioning module 12 is arranged in the embodiment of the application, and the first main vehicle positioning information acquired by the first main vehicle GPS antenna 11 is calibrated based on the RTK carrier phase differential positioning principle, so that compared with the method only using GPS positioning, the positioning error can be reduced, and the precision of the test main vehicle positioning is improved.

Specifically, as shown in fig. 1, the master differential positioning module 12 includes a first real-time dynamic differential module 121 and a first communication antenna 122, the first real-time dynamic differential module 121 acquires master correction positioning information and performs RTK carrier phase differential processing on the first master positioning information by using the master correction positioning information, and the first communication antenna 122 is configured to receive first slave positioning information of a test slave and base station positioning information of the positioning base station 20.

Through the mode, the positioning information of the main vehicle can be accurately collected and tested, so that the performance of the blind area monitoring system can be effectively tested.

Optionally, the master vehicle control module 10 obtains the relative distance information of the test master vehicle relative to the test slave vehicle according to the master vehicle running information, the slave vehicle running information and the base station positioning information, and includes: the master vehicle control module 10 obtains second master vehicle positioning information of the tested master vehicle relative to the positioning base station 20 according to the processed first master vehicle positioning information and the base station positioning information, and determines relative distance information of the tested master vehicle relative to the tested slave vehicle according to the second master vehicle positioning information and the first slave vehicle positioning information of the tested slave vehicle; the first slave vehicle positioning information is positioning information of the test slave vehicle relative to the positioning base station 20, which is determined by the test slave vehicle according to the base station positioning information, and the slave vehicle running information comprises the first slave vehicle positioning information.

In this embodiment, the satellite search and positioning are performed by a GPS antenna of the positioning base station 20 and a satellite on the sky, a two-dimensional plane coordinate system is established with a point where the GPS antenna is vertically mapped to the ground, the position of the mapped point is an origin of the coordinate system, the master control module 10 determines second master positioning information of the test master relative to the positioning base station 20 in the two-dimensional plane coordinate system based on first master positioning information and base station positioning information after RTK carrier phase difference processing, and calculates relative distance information of the test master relative to the test slave according to first slave positioning information of the test slave relative to the positioning base station 20 in the two-dimensional plane coordinate system.

In this way, the relative distance between the test master car and the test slave car is determined by the fixed differential technology (i.e., absolute differential technology) through the positioning information of the test master car relative to the positioning base station 20, and compared with the moving differential technology (i.e., relative differential technology), the accuracy is higher, so that the performance test of the blind area monitoring system is effectively performed.

In addition, the test secondary vehicle is also a moving vehicle in the embodiment of the application, and the relative distance information of the test primary vehicle relative to the test secondary vehicle is determined by combining the positioning information of the moving test secondary vehicle relative to the positioning base station 20, so that the problem that the GPS of a static vehicle can drift is eliminated.

In any of the above technical solutions, optionally, the information obtaining module further includes: and the main vehicle inertial navigation module 13 is used for acquiring and testing the main vehicle running acceleration, the main vehicle yaw velocity, the main vehicle pitch angle, the main vehicle roll angle and the main vehicle sideslip angle of the main vehicle.

In this embodiment, the inertia navigation module 13 of the main vehicle can measure and test the attitude information of the main vehicle in real time, such as the pitch angle (in case of a slope), the roll angle, the sideslip angle, the yaw velocity (in case of a turn), the acceleration of the main vehicle, etc., of the main vehicle, and upload the attitude information of the main vehicle to the control module 10 of the main vehicle in real time, and the control module 10 of the main vehicle will perform the performance test of the blind area monitoring system based on the attitude information of the main vehicle.

In any of the above technical solutions, optionally, the information obtaining module further includes: the second main vehicle GPS antenna 14 is used for acquiring third main vehicle positioning information of the test main vehicle and sending the third main vehicle positioning information to the main vehicle control module 10; the primary vehicle control module 10 is further configured to determine a primary vehicle heading angle of the test primary vehicle according to the first primary vehicle positioning information and the third primary vehicle positioning information.

In this embodiment, the second master GPS antenna 14, as a slave antenna, and the first master GPS antenna 11, as a master antenna. The main antenna and the auxiliary antenna determine a main vehicle course angle of the tested main vehicle together through the principle that two points determine a straight line, so that the performance of the blind area monitoring system is tested according to the main vehicle course angle.

In addition, it should be noted that the second host GPS antenna 14 is also capable of assisting the first host GPS antenna 11 in the positioning of the test host and in the determination of the velocity of the test host.

In any of the above technical solutions, optionally, the information obtaining module further includes: and the main vehicle data acquisition module 15 is used for acquiring and testing the whole main vehicle CAN data of the main vehicle and sending the whole main vehicle CAN data to the main vehicle control module 10.

In this embodiment, the main vehicle overall vehicle CAN data is transmitted to the main vehicle control module 10 through the main vehicle data acquisition module 15 (e.g., an On-Board Diagnostics (OBD) interface), so that the main vehicle control module 10 CAN perform a test of the blind area monitoring system according to the main vehicle overall vehicle CAN data.

By the mode, CAN data of the whole main vehicle related to the blind area monitoring function of the main vehicle CAN be collected and tested, so that a foundation is provided for the performance test of the blind area monitoring function.

In any of the above technical solutions, optionally, the apparatus further includes: the main vehicle display module 16 is installed in the test main vehicle, is connected with the main vehicle control module 10, and is used for acquiring and displaying at least one of the following items: the method comprises the following steps of main vehicle running information, main vehicle CAN data, auxiliary vehicle running information, base station positioning information, relative distance information, relative speed information, relative angle information and performance test results.

In this embodiment, the main control module 10 of the main display module 16 can display the information collected by the main control module 16 in real time, process and analyze the signal status in real time, or convert the data information, so that the tester can observe the change of the data signal during the test.

In any of the above technical solutions, optionally, the apparatus further includes: and the main vehicle communication module 17 is installed on the test main vehicle, is connected with the main vehicle control module 10, and is used for receiving the driving speed, the main vehicle course angle and the auxiliary vehicle posture information of the auxiliary vehicle from the test auxiliary vehicle and sending the driving speed, the main vehicle course angle and the auxiliary vehicle posture information of the auxiliary vehicle to the main vehicle control module 10.

In this embodiment, the master communication module 17 is set to the data reception mode and tuned to the same communication frequency as the slave communication module of the test slave vehicle, the slave vehicle traveling speed, the master heading angle, and the slave vehicle attitude information of the test slave vehicle are transmitted to the master control module 10 through the master communication module 17, and the master control module 10 performs synchronization processing on the received slave vehicle traveling speed, master heading angle, and slave vehicle attitude information.

In any of the above technical solutions, optionally, the apparatus further includes: and the main vehicle-mounted power supply 18 is arranged on the test main vehicle, is connected with the main vehicle control module 10 and is used for supplying power to the main vehicle control module 10.

In this embodiment, the system is guaranteed to operate properly by testing the primary vehicle power supply 18 of the primary vehicle to provide a 12V voltage input to the primary vehicle control module 10.

In the above technical solution, optionally, the positioning base station 20 includes: a base station GPS antenna 21 for acquiring base station positioning information of the positioning base station 20; and the base station differential positioning module 22 is communicated with the main vehicle differential positioning module of the test main vehicle, and is used for acquiring base station correction positioning information of the positioning base station 20, performing real-time dynamic carrier phase differential processing on the base station positioning information by using the base station correction positioning information so as to improve the precision of the base station positioning information, and sending the processed base station positioning information to the main vehicle differential positioning module.

In this embodiment, the positioning base station 20 includes a base station GPS antenna 21 and a base station differential positioning module 22, where the base station GPS antenna 21 obtains base station positioning information of the positioning base station 20, and the base station positioning information may have low accuracy due to the influence of factors such as environment and distance in the signal transmission process. Therefore, the base station differential positioning module 22 is provided in the embodiment of the present application, and the calibration processing is performed on the base station positioning information acquired by the base station GPS antenna 21 based on the RTK carrier phase differential positioning principle, so that compared with the case of only using GPS positioning, the positioning error can be reduced, and the positioning accuracy of the positioning base station 20 is improved.

Specifically, as shown in fig. 2, the base station differential positioning module 22 includes a second real-time dynamic differential module 221 and a second communication antenna 222; the second real-time dynamic difference module 221 obtains the base station calibration positioning information, and performs RTK carrier phase difference processing on the base station positioning information by using the base station calibration positioning information, and the second communication antenna 222 communicates with the first communication antenna 122 of the main vehicle differential positioning module 12 of the test main vehicle, and sends the processed base station positioning information to the first communication antenna 122 of the main vehicle differential positioning module 12.

Through the mode, the positioning information of the positioning base station 20 can be accurately collected, so that the performance of the blind area monitoring system can be effectively tested.

In any of the above technical solutions, optionally, the test slave vehicle includes: a first slave vehicle GPS antenna 31 for acquiring second slave vehicle positioning information of the test slave vehicle, and acquiring a slave vehicle traveling speed of the test slave vehicle; the slave vehicle differential positioning module 32 is communicated with the master vehicle differential positioning module of the test master vehicle, and is used for acquiring the slave vehicle correction positioning information of the test slave vehicle and performing real-time dynamic carrier phase differential processing on the second slave vehicle positioning information by using the slave vehicle correction positioning information so as to improve the precision of the second slave vehicle positioning information; the slave vehicle control module 30 is connected to the slave vehicle differential positioning module 32, and is configured to obtain the processed second slave vehicle positioning information and the base station positioning information of the positioning base station 20, obtain first slave vehicle positioning information of the test slave vehicle relative to the positioning base station 20 according to the processed second slave vehicle positioning information and the base station positioning information, and send the first slave vehicle positioning information to the master vehicle differential positioning module through the slave vehicle differential positioning module 32.

In this embodiment, the first slave vehicle GPS antenna 31 acquires the second slave vehicle positioning information of the test slave vehicle, which may be not highly accurate due to the influence of the environment, distance, and the like during signal transmission, and acquires the slave vehicle traveling speed of the test slave vehicle. Therefore, the slave vehicle differential positioning module 32 is provided in the embodiment of the present application, and the calibration processing is performed on the second slave vehicle positioning information acquired by the first slave vehicle GPS antenna 31 based on the RTK carrier phase differential positioning principle, so that compared with the case of using only GPS positioning, the positioning error can be reduced, and the precision of positioning the test slave vehicle can be improved.

Specifically, as shown in fig. 3, the slave vehicle differential positioning module 32 includes a third real-time dynamic differential module 321 and a third communication antenna 322; the third real-time dynamic difference module 321 obtains the slave vehicle calibration positioning information, and performs RTK carrier phase difference processing on the second slave vehicle positioning information by using the slave vehicle calibration positioning information. And the slave vehicle control module 30 acquires the processed second slave vehicle positioning information and the base station positioning information of the positioning base station 20, and obtains the first slave vehicle positioning information of the test slave vehicle relative to the positioning base station 20 according to the processed second slave vehicle positioning information and the base station positioning information. The third communication antenna 322 communicates with the first communication antenna 122 of the master differential positioning module 12 of the test master, sending the first slave vehicle positioning information to the first communication antenna 122 of the master differential positioning module 12.

In this way, the relative distance between the test master vehicle and the test slave vehicle is determined by the fixed differential technology (i.e., absolute differential technology) through testing the positioning information of the slave vehicle relative to the positioning base station 20, and compared with the moving differential technology (i.e., relative differential technology), the accuracy is higher, so that the performance test of the blind area monitoring system is effectively performed.

In any one of the above technical solutions, optionally, the test slave vehicle further includes: and the slave vehicle inertial navigation module 33 is used for acquiring the running acceleration, the yaw rate, the pitch angle, the roll angle and the sideslip angle of the slave vehicle of the test slave vehicle.

In this embodiment, the slave vehicle inertial navigation module 33 is capable of measuring slave vehicle attitude information of the test slave vehicle in real time, such as the slave vehicle pitch angle (in the case of a slope), the slave vehicle roll angle, the slave vehicle sideslip angle, the slave vehicle yaw rate (in the case of a turn), the slave vehicle acceleration, etc., of the test slave vehicle, and uploading the slave vehicle attitude information to the master vehicle control module in real time, so that the master vehicle control module will perform a performance test of the blind zone monitoring system based on the slave vehicle attitude information.

In any one of the above technical solutions, optionally, the test slave vehicle further includes: and the second slave vehicle GPS antenna 34 is connected with the slave vehicle control module 30 of the test slave vehicle and is used for acquiring third slave vehicle positioning information of the test slave vehicle and sending the third slave vehicle positioning information to the slave vehicle control module 30 so that the slave vehicle control module 30 can determine the slave vehicle heading angle of the test slave vehicle according to the second slave vehicle positioning information and the third slave vehicle positioning information.

In this embodiment, the second slave vehicle GPS antenna 34 acts as a slave antenna, while the first slave vehicle GPS antenna 31 is a master antenna. The main antenna and the slave antenna determine a straight line through two points to determine a slave vehicle course angle of the test slave vehicle, so that the performance of the blind zone monitoring system is tested according to the slave vehicle course angle.

In addition, the second slave vehicle GPS antenna 34 can assist the first slave vehicle GPS antenna 31 in positioning the test slave vehicle and determining the speed of the test slave vehicle.

In any one of the above technical solutions, optionally, the test slave vehicle further includes: the slave vehicle display module 35 is connected to the slave vehicle control module 30, and is configured to acquire and display the slave vehicle driving information.

In this embodiment, the slave vehicle display module 35 displays the running information of the slave vehicle collected from the vehicle control module 30 in real time, processes and analyzes the signal state in real time, or converts the data information, so that a tester can observe the change of the data signal in the test process conveniently.

In any one of the above technical solutions, optionally, the test slave vehicle further includes: and the slave vehicle communication module 36 is connected with the slave vehicle control module 30 and is used for sending the running speed, the heading angle and the posture information of the slave vehicle of the test slave vehicle to the test master vehicle.

In this embodiment, the slave vehicle communication module 36 is set to the data transmission mode and adjusted to the same communication frequency as the master vehicle communication module 17 of the test master, and the master vehicle control module 10 synchronizes the received slave vehicle travel information by the slave vehicle communication module 36 transmitting the slave vehicle travel speed, the master heading angle, and the slave vehicle attitude information of the test slave vehicle to the master vehicle control module 10.

In any one of the above technical solutions, optionally, the test slave vehicle further includes: the slave vehicle-mounted power source 37 is connected to the slave vehicle control module 30, and supplies power to the slave vehicle control module 30.

In this embodiment, the system is guaranteed to operate properly by testing the slave vehicle on-board power supply 37 of the slave vehicle to provide a 12V voltage input to the slave vehicle control module 30.

The embodiment of the application provides a system for verifying accuracy of a blind area monitoring function, the test accuracy of the blind area monitoring system is improved through an RTK differential positioning principle, vehicle position positioning is carried out based on double antennas, driving information of vehicles is determined, transverse distance and longitudinal distance between the two vehicles are judged, whether the blind area monitoring system can accurately give an early warning when activated or not can be judged more accurately, the problem that performance accuracy verification cannot be effectively carried out on the blind area monitoring function in the correlation technology is solved, and the accuracy of testing the blind area monitoring function and the driving safety of the vehicles can be improved.

The embodiment of the application provides a test method of a blind area monitoring system, which is used for a test device of the blind area monitoring system, wherein the test device comprises an information acquisition module and a main vehicle control module, and the information acquisition module and the main vehicle control module are both arranged on a main vehicle for testing. As shown in fig. 5, the method includes:

step S501, acquiring main vehicle running information of a test main vehicle through an information acquisition module, and acquiring CAN data of the whole main vehicle related to a blind area monitoring system of the test main vehicle;

and step S502, obtaining relative distance information, relative speed information and relative angle information of the tested master vehicle relative to the tested slave vehicle through the master vehicle control module according to the master vehicle running information, the slave vehicle running information of the tested slave vehicle and the base station positioning information of the positioning base station, and carrying out performance test on the blind area monitoring system according to the relative distance information, the relative speed information, the relative angle information and the CAN data of the whole master vehicle.

Wherein the host vehicle travel information includes at least one of: the method comprises the following steps of first main vehicle positioning information, main vehicle running speed, main vehicle running acceleration, main vehicle course angle, main vehicle yaw velocity, main vehicle pitch angle, main vehicle roll angle and main vehicle sideslip angle.

In this embodiment, the information acquisition module acquires the running information of the host vehicle of the test host vehicle, and acquires the CAN data of the entire host vehicle related to the blind area monitoring system of the test host vehicle. The main vehicle control module determines relative distance information, relative speed information and relative angle information of the tested main vehicle relative to the tested secondary vehicle according to main vehicle running information of the tested main vehicle, secondary vehicle running information of the tested secondary vehicle and base station positioning information of a positioning base station, and then performs performance test on the blind area monitoring system by combining with whole vehicle CAN data related to the blind area monitoring system of the tested main vehicle, so as to obtain performance test results of the blind area monitoring system such as early activation, delayed activation, early time difference, delayed time difference and the like.

It should be noted that the embodiment of the application is applied to the performance test of the blind area monitoring system in a fixed test scene, a fixed base station (also called a positioning base station) is arranged in the fixed test scene, and the fixed base station ensures that the obtained positioning information of the main test vehicle and the auxiliary test vehicle has smaller delay and smaller deviation, so that the test accuracy can be improved compared with a test method in an actual driving scene through GPS positioning instead of the fixed base station.

In any of the above technical solutions, optionally, the information obtaining module includes a first host GPS antenna and a host differential positioning module, and the method further includes: acquiring first main vehicle positioning information of a test main vehicle and the main vehicle running speed of the test main vehicle through a first main vehicle GPS antenna; the method comprises the steps of obtaining main vehicle correction positioning information of a tested main vehicle through a main vehicle differential positioning module, carrying out real-time dynamic carrier phase differential processing on first main vehicle positioning information by utilizing the main vehicle correction positioning information so as to improve the precision of the first main vehicle positioning information, sending the processed first main vehicle positioning information to a main vehicle control module, and receiving base station positioning information from a positioning base station and first auxiliary vehicle positioning information from a tested auxiliary vehicle through the main vehicle differential positioning module.

In this embodiment, the first host vehicle GPS antenna acquires first host vehicle positioning information of the test host vehicle, which may be inaccurate due to the influence of factors such as the environment, distance, and the like during signal transmission, and acquires the host vehicle traveling speed of the test host vehicle. Therefore, the main vehicle differential positioning module is arranged in the embodiment of the application, the first main vehicle positioning information acquired by the first main vehicle GPS antenna is calibrated based on the RTK carrier phase differential positioning principle, and compared with the method only using GPS positioning, the method can reduce positioning errors and improve the positioning precision of the test main vehicle.

In any of the above technical solutions, optionally, obtaining, by the master vehicle control module, relative distance information of the test master vehicle with respect to the test slave vehicle according to the master vehicle traveling information, the slave vehicle traveling information, and the base station positioning information includes: obtaining second master vehicle positioning information of the tested master vehicle relative to the positioning base station through the master vehicle control module according to the processed first master vehicle positioning information and the base station positioning information, and determining relative distance information of the tested master vehicle relative to the tested slave vehicle according to the second master vehicle positioning information and the first slave vehicle positioning information of the tested slave vehicle; the first slave vehicle positioning information is positioning information of the test slave vehicle relative to the positioning base station, which is determined by the test slave vehicle according to the base station positioning information, and the slave vehicle running information comprises the first slave vehicle positioning information.

In the embodiment, the satellite searching and positioning are carried out through a GPS antenna of a positioning base station and a satellite on the sky, a two-dimensional plane coordinate system is established by using a point vertically mapped to the ground by the GPS antenna, the position of the mapped point is used as an original point of the coordinate system, a master vehicle control module determines second master vehicle positioning information of a test master vehicle relative to the positioning base station under the two-dimensional plane coordinate system according to first master vehicle positioning information and base station positioning information after RTK carrier phase difference processing, and then relative distance information of the test master vehicle relative to the test slave vehicle is calculated according to first slave vehicle positioning information of the test slave vehicle relative to the positioning base station under the two-dimensional plane coordinate system.

Through the mode, the relative distance between the main test vehicle and the auxiliary test vehicle is determined through a fixed differential technology (namely, an absolute differential technology) through the positioning information of the main test vehicle relative to the positioning base station, and compared with a moving differential technology (namely, a relative differential technology), the accuracy is higher, so that the performance test of the blind area monitoring system is effectively carried out.

In addition, the test secondary vehicle is also a moving vehicle in the embodiment of the application, and the relative distance information of the test primary vehicle relative to the test secondary vehicle is determined by combining the positioning information of the moving test secondary vehicle relative to the positioning base station, so that the problem that the GPS of a static vehicle can drift is solved.

In the embodiment, the inertia navigation module of the main vehicle can measure and test the posture information of the main vehicle in real time, such as the pitch angle (in the case of a slope), the roll angle, the sideslip angle, the yaw velocity (in the case of a turn), the acceleration and other information of the main vehicle, and upload the posture information of the main vehicle to the control module of the main vehicle in real time, and the control module of the main vehicle performs the performance test of the blind area monitoring system based on the posture information of the main vehicle.

In any of the above technical solutions, optionally, the information obtaining module further includes a second master GPS antenna, and the method further includes: acquiring third main vehicle positioning information of the test main vehicle through a second main vehicle GPS antenna, and sending the third main vehicle positioning information to a main vehicle control module; determining, by the primary vehicle control module, a primary vehicle heading angle of the test primary vehicle based on the first primary vehicle positioning information and the third primary vehicle positioning information.

In this embodiment, the second master GPS antenna acts as a slave antenna, and the first master GPS antenna acts as a master antenna. The main antenna and the auxiliary antenna determine a main vehicle course angle of the tested main vehicle together through the principle that two points determine a straight line, so that the performance of the blind area monitoring system is tested according to the main vehicle course angle.

In this embodiment, the primary vehicle CAN data is sent to the primary vehicle control module by the primary vehicle data collection module (e.g., OBD interface), so that the primary vehicle control module CAN perform the blind area monitoring system test according to the primary vehicle CAN data.

In the embodiment, the main vehicle display module displays the information collected in the main vehicle control module in real time, processes and analyzes the signal state in real time, or converts the data information, so that a tester can observe the change of the data signal conveniently in the test process.

As shown in fig. 6, the electronic device 600 includes a processor 601 and a memory 602, where the memory 602 stores a program or an instruction that can be executed on the processor 601, and when the program or the instruction is executed by the processor 601, the steps of the embodiment of the test method for the blind area monitoring system are implemented, and the same technical effects can be achieved.

It should be noted that the electronic device 600 in the embodiment of the present application may be a terminal, or may be another device besides the terminal. The electronic Device may be, for example, a Mobile phone, a tablet Computer, a notebook Computer, a palm top Computer, a vehicle-mounted electronic Device, a Mobile Internet Device (MID), a robot, an Ultra-Mobile Personal Computer (UMPC), a netbook, a Personal Digital Assistant (PDA), or the like, and may also be a server, a Network Attached Storage (NAS), a Personal Computer (PC), or the like, and the embodiments of the present application are not limited in particular.

The electronic device 600 in the embodiment of the present application may be an apparatus having an operating system. The operating system may be an Android (Android) operating system, an ios operating system, or other possible operating systems, and embodiments of the present application are not limited specifically.

The memory 602 may be used to store software programs as well as various data. The memory 602 may mainly include a first storage area storing programs or instructions and a second storage area storing data, wherein the first storage area may store an operating system, application programs or instructions required for at least one function (such as a sound playing function, an image playing function, and the like), and the like. Further, the memory 602 may include volatile memory or nonvolatile memory, or the memory 602 may include both volatile and nonvolatile memory. The non-volatile Memory may be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically Erasable PROM (EEPROM), or a flash Memory. The volatile Memory may be a Random Access Memory (RAM), a Static Random Access Memory (Static RAM, SRAM), a Dynamic Random Access Memory (Dynamic RAM, DRAM), a Synchronous Dynamic Random Access Memory (Synchronous DRAM, SDRAM), a Double Data Rate Synchronous Dynamic Random Access Memory (Double Data Rate SDRAM, ddr SDRAM), an Enhanced Synchronous SDRAM (ESDRAM), a Synchronous Link DRAM (SLDRAM), and a Direct Memory bus RAM (DRRAM). The memory 602 in the embodiments of the subject application includes, but is not limited to, these and any other suitable types of memory.

Processor 601 may include one or more processing units; optionally, the processor 601 integrates an application processor, which mainly handles operations related to the operating system, user interface, application programs, etc., and a modem processor, which mainly handles wireless communication signals, such as a baseband processor. It will be appreciated that the modem processor described above may not be integrated into the processor 601.

The embodiment of the present application further provides a readable storage medium, where a program or an instruction is stored on the readable storage medium, and when the program or the instruction is executed by a processor, the program or the instruction implements each process of the above-mentioned embodiment of the test method for a blind area monitoring system, and can achieve the same technical effect, and in order to avoid repetition, details are not repeated here.

The embodiment of the present application further provides a computer program product, where the program product is stored in a storage medium, and the program product is executed by at least one processor to implement the processes of the above embodiment of the test method for a blind area monitoring system, and can achieve the same technical effect, and in order to avoid repetition, details are not repeated here.

The embodiment of the present application further provides a chip, where the chip includes a processor and a communication interface, the communication interface is coupled with the processor, and the processor is configured to run a program or an instruction to implement each process of the test method embodiment of the above-mentioned blind area monitoring system, and can achieve the same technical effect, and in order to avoid repetition, the description is omitted here.

It should be understood that the chips mentioned in the embodiments of the present application may also be referred to as system-on-chip, system-on-chip or system-on-chip, etc.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element. Further, it should be noted that the scope of the methods and apparatuses in the embodiments of the present application is not limited to performing the functions in the order illustrated or discussed, but may include performing the functions in a substantially simultaneous manner or in a reverse order based on the functions recited, e.g., the described methods may be performed in an order different from that described, and various steps may be added, omitted, or combined. In addition, features described with reference to certain examples may be combined in other examples.

While the present embodiments have been described with reference to the accompanying drawings, it is to be understood that the invention is not limited to the precise embodiments described above, which are meant to be illustrative and not restrictive, and that various changes may be made therein by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.

Claims

1. A testing device of a blind area monitoring system is characterized by comprising:

the information acquisition module is arranged on the test main car and used for acquiring main car running information of the test main car and acquiring CAN data of the main car related to a blind area monitoring system of the test main car;

the main car control module is arranged on the test main car and connected with the information acquisition module and used for acquiring the running information of the main car, the CAN data of the whole main car, the running information of the test slave car and the base station positioning information of a positioning base station, and according to the running information of the main car, the running information of the slave car, the positioning information of the base station is obtained by the test main car, relative to the relative distance information, the relative speed information and the relative angle information of the test slave car and according to the relative distance information, the relative speed information, the relative angle information and the CAN data of the whole main car, the blind area monitoring system is subjected to performance test.

2. The apparatus of claim 1,

the host vehicle travel information includes at least one of: the method comprises the following steps of first main vehicle positioning information, main vehicle running speed, main vehicle running acceleration, main vehicle course angle, main vehicle yaw velocity, main vehicle pitch angle, main vehicle roll angle and main vehicle sideslip angle.

3. The apparatus of claim 2, wherein the information obtaining module comprises:

a first host vehicle GPS antenna for obtaining the first host vehicle positioning information of the test host vehicle and obtaining the host vehicle travel speed of the test host vehicle;

the main vehicle differential positioning module is used for acquiring main vehicle correction positioning information of the test main vehicle, performing real-time dynamic carrier phase differential processing on the first main vehicle positioning information by using the main vehicle correction positioning information so as to improve the precision of the first main vehicle positioning information, sending the processed first main vehicle positioning information to the main vehicle control module, and receiving base station positioning information from the positioning base station and first slave vehicle positioning information from the test slave vehicle.

4. The apparatus of claim 3, wherein the master control module derives relative distance information of the test master relative to the test slave based on the master travel information, the slave travel information, and the base station positioning information, comprising:

the master vehicle control module obtains second master vehicle positioning information of the test master vehicle relative to the positioning base station according to the processed first master vehicle positioning information and the base station positioning information, and determines relative distance information of the test master vehicle relative to the test slave vehicle according to the second master vehicle positioning information and first slave vehicle positioning information of the test slave vehicle;

the first slave vehicle positioning information is positioning information of the test slave vehicle relative to the positioning base station, which is determined by the test slave vehicle according to the base station positioning information, and the slave vehicle running information comprises the first slave vehicle positioning information.

5. The apparatus of claim 2, wherein the information obtaining module further comprises:

and the main vehicle inertial navigation module is used for acquiring the main vehicle running acceleration, the main vehicle yaw velocity, the main vehicle pitch angle, the main vehicle roll angle and the main vehicle sideslip angle of the tested main vehicle.

6. The apparatus of claim 2, wherein the information obtaining module further comprises:

the second main vehicle GPS antenna is used for acquiring third main vehicle positioning information of the test main vehicle and sending the third main vehicle positioning information to the main vehicle control module;

the master vehicle control module is further configured to determine the master vehicle heading angle of the test master vehicle according to the first master vehicle positioning information and the third master vehicle positioning information.

7. The apparatus of claim 2, wherein the information obtaining module further comprises:

and the main vehicle data acquisition module is used for acquiring the CAN data of the whole main vehicle of the test main vehicle and sending the CAN data of the whole main vehicle to the main vehicle control module.

8. The apparatus of any one of claims 1 to 7, further comprising:

the main vehicle display module is installed on the test main vehicle, connected with the main vehicle control module and used for acquiring and displaying at least one of the following items: the system comprises the main vehicle running information, the whole vehicle CAN data of the main vehicle, the driven vehicle running information, the base station positioning information, the relative distance information, the relative speed information, the relative angle information and a performance test result.

9. A test system for a blind spot monitoring system, comprising: the blind area monitoring system testing device, the test slave vehicle and the positioning base station of any one of claims 1 to 8.

10. The system of claim 9, wherein the positioning base station comprises:

a base station GPS antenna for acquiring the base station positioning information of the positioning base station;

and the base station differential positioning module is communicated with the main vehicle differential positioning module of the test main vehicle, and is used for acquiring base station correction positioning information of the positioning base station, performing real-time dynamic carrier phase differential processing on the base station positioning information by utilizing the base station correction positioning information so as to improve the precision of the base station positioning information, and sending the processed base station positioning information to the main vehicle differential positioning module.

11. The system of claim 9,

the slave vehicle travel information includes at least one of: first slave vehicle positioning information, slave vehicle travel speed, slave vehicle travel acceleration, slave vehicle heading angle, slave vehicle yaw rate, slave vehicle pitch angle, slave vehicle roll angle, slave vehicle sideslip angle.

12. The system of claim 11, wherein the test slave vehicle comprises:

the first slave vehicle GPS antenna is used for acquiring second slave vehicle positioning information of the test slave vehicle and acquiring the slave vehicle running speed of the test slave vehicle;

the secondary vehicle differential positioning module is communicated with the primary vehicle differential positioning module of the test primary vehicle, and is used for acquiring secondary vehicle correction positioning information of the test secondary vehicle and performing real-time dynamic carrier phase differential processing on the second secondary vehicle positioning information by utilizing the secondary vehicle correction positioning information so as to improve the precision of the second secondary vehicle positioning information;

and the slave vehicle control module is connected with the slave vehicle differential positioning module and used for acquiring the processed second slave vehicle positioning information and the base station positioning information of the positioning base station, acquiring first slave vehicle positioning information of the test slave vehicle relative to the positioning base station according to the processed second slave vehicle positioning information and the base station positioning information, and transmitting the first slave vehicle positioning information to the master vehicle differential positioning module through the slave vehicle differential positioning module.

13. The system of claim 11, wherein the test slave vehicle further comprises:

and the slave vehicle inertial navigation module is used for acquiring the running acceleration, the yaw rate, the pitch angle, the roll angle and the sideslip angle of the slave vehicle of the test slave vehicle.

14. The system of claim 11, wherein the test slave vehicle further comprises:

and the second slave vehicle GPS antenna is connected with the slave vehicle control module of the test slave vehicle and used for acquiring third slave vehicle positioning information of the test slave vehicle and sending the third slave vehicle positioning information to the slave vehicle control module so that the slave vehicle control module can determine the slave vehicle course angle of the test slave vehicle according to the second slave vehicle positioning information and the third slave vehicle positioning information.

15. A test method of a blind area monitoring system is characterized in that the test device for the blind area monitoring system comprises an information acquisition module and a main vehicle control module, wherein the information acquisition module and the main vehicle control module are both arranged on a test main vehicle, and the method comprises the following steps:

acquiring main vehicle running information of the test main vehicle and main vehicle CAN data related to a blind area monitoring system of the test main vehicle through the information acquisition module;

the method comprises the steps that a main vehicle control module obtains relative distance information, relative speed information and relative angle information of a tested main vehicle relative to a tested slave vehicle according to main vehicle running information, slave vehicle running information of the tested slave vehicle and base station positioning information of a positioning base station, and performs performance testing on a blind area monitoring system according to the relative distance information, the relative speed information, the relative angle information and whole vehicle CAN data.

16. The method of claim 15,

17. The method of claim 16, wherein the information acquisition module comprises a first primary GPS antenna and a primary differential positioning module, the method further comprising:

obtaining, by the first host GPS antenna, the first host positioning information of the test host and the host travel speed of the test host;

the method comprises the steps of obtaining main vehicle correction positioning information of a test main vehicle through a main vehicle differential positioning module, carrying out real-time dynamic carrier phase differential processing on first main vehicle positioning information by utilizing the main vehicle correction positioning information so as to improve the precision of the first main vehicle positioning information, sending the processed first main vehicle positioning information to a main vehicle control module, and receiving base station positioning information from a positioning base station and first slave vehicle positioning information from a test slave vehicle through the main vehicle differential positioning module.

18. The method of claim 17, wherein deriving, by the master control module, relative distance information of the test master with respect to the test slave from the master travel information, the slave travel information, and the base station positioning information comprises:

obtaining, by the master vehicle control module, second master vehicle positioning information of the testing master vehicle relative to the positioning base station according to the processed first master vehicle positioning information and the base station positioning information, and determining relative distance information of the testing master vehicle relative to the testing slave vehicle according to the second master vehicle positioning information and first slave vehicle positioning information of the testing slave vehicle;

19. The method of claim 16, wherein the information acquisition module comprises a primary inertial navigation module, the method further comprising:

and acquiring the running acceleration, the yaw velocity, the pitch angle, the roll angle and the sideslip angle of the main vehicle of the test main vehicle through the inertial navigation module of the main vehicle.

20. The method of claim 16, wherein the information acquisition module further comprises a second host GPS antenna, the method further comprising:

acquiring third main vehicle positioning information of the test main vehicle through the second main vehicle GPS antenna, and sending the third main vehicle positioning information to the main vehicle control module;

determining, by the primary vehicle control module, the primary vehicle heading angle of the test primary vehicle according to the first primary vehicle positioning information and the third primary vehicle positioning information.

21. The method of claim 16, wherein the information acquisition module further comprises a primary data acquisition module, the method further comprising:

and acquiring the CAN data of the whole main vehicle of the test main vehicle through the main vehicle data acquisition module.

22. The method of any one of claims 15 to 21, wherein the testing device further comprises a primary display module, the method further comprising:

displaying, by the host display module, at least one of: the system comprises the main vehicle running information, the whole vehicle CAN data of the main vehicle, the driven vehicle running information, the base station positioning information, the relative distance information, the relative speed information, the relative angle information and a performance test result.

23. An electronic device comprising a processor and a memory, the memory storing a program or instructions running on the processor, the program or instructions when executed by the processor implementing the steps of the method of testing a blind spot monitoring system according to any one of claims 15 to 22.

24. A readable storage medium on which a program or instructions are stored, which program or instructions, when executed by a processor, carry out the steps of a method of testing a blind spot monitoring system according to any one of claims 15 to 22.

25. A computer program product stored in a storage medium, the computer program product being executable by at least one processor to implement the steps of a method of testing a blind spot monitoring system according to any one of claims 15 to 22.

26. A chip comprising at least one processor and a communication interface, the communication interface being coupled to the at least one processor, the at least one processor being configured to execute a program or instructions to carry out the steps of the method of testing a blind spot monitoring system according to any one of claims 15 to 22.