CN114789732A - Method and apparatus for evaluating performance of driving assistance function of vehicle - Google Patents
Method and apparatus for evaluating performance of driving assistance function of vehicle Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/04—Monitoring the functioning of the control system
- B60W50/045—Monitoring control system parameters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/04—Monitoring the functioning of the control system
- B60W50/045—Monitoring control system parameters
- B60W2050/046—Monitoring control system parameters involving external transmission of data to or from the vehicle, e.g. via telemetry, satellite, Global Positioning System [GPS]
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Abstract
The invention relates to a method (100) for evaluating the performance of at least one driving assistance function of a vehicle, comprising at least the following steps: i) acquiring kinematic data and ambient data of a vehicle acquired by an unmanned aerial vehicle flying following the vehicle; and ii) evaluating the performance of the driving assistance function based on the kinematic data and the surrounding environment data. The invention further relates to a computer device (10) for evaluating at least one driving assistance function of a vehicle, and to a robot-side device (30) and a vehicle-side device (20) which are connected to such a computer device (10) in a wireless-communicable manner.
Description
Technical Field
The present invention relates to a method for evaluating the performance of at least one driving assistance function of a vehicle and a computer device for evaluating the performance of at least one driving assistance function of a vehicle. Furthermore, the invention relates to an unmanned-side device and a vehicle-side device which are connected to the computer device in a communicating manner.
Background
At present, with the development of the automatic driving technique, more and more vehicles are equipped with a driving assist function capable of controlling the lateral position of the vehicle. In order to verify such driving assistance functions, a conventional method detects the position of the vehicle and the position of a lane line or a boundary line using a Differential Global Positioning System (GPS) or an imaging System mounted on the vehicle, and calculates the relative positions of the two, thereby further calculating the score or the rating of the driving assistance functions.
However, this conventional method has the following technical drawbacks: it requires on the one hand that the vehicle is equipped with a differential GPS system and a large storage space for storing a large volume of video stream taken with a camera system and is therefore not compatible with commercially available vehicles with common configurations; on the other hand, it can only acquire data for verification in the area covered by the reference station 3 (see fig. 1) of the differential GPS system, because the differential GPS data of the vehicle cannot be acquired in the area not covered by the reference station, which results in a limitation in the use of this verification method; furthermore, a single onboard camera is limited in view angle, and thus the video streams of multiple angles simultaneously captured by multiple cameras arranged at different locations of the vehicle have to be relied upon in order to determine the lateral position of the vehicle within the lane or road, which additionally increases the processing and computational cost of the data.
Therefore, it is desirable to provide a technique for evaluating a driving assistance function of a vehicle that is well compatible with existing vehicles and is not limited in use by geographical locations.
Disclosure of Invention
The object of the invention is achieved by a method for evaluating the performance of at least one driving assistance function of a vehicle, comprising at least the following steps:
i) acquiring kinematic data and ambient data of a vehicle acquired by an unmanned aerial vehicle flying following the vehicle; and
ii) evaluating the performance of the driving assistance function based on the kinematic data and the surrounding environment data.
According to an alternative embodiment of the invention, step i) is performed in the following way: the method comprises the steps of obtaining kinematic data and surrounding environment data of the vehicle during the period of activation of the at least one driving assistance function or during the period of occurrence or a period of time traced back forwards and/or backwards in the occurrence time of a key event representing the failure of the at least one driving assistance function.
According to an alternative embodiment of the invention, a respective key event is associated with each driving assistance function, said key event being selected from the group consisting of: the vehicle line pressing, the vehicle deviates from the lane, the vehicle deviates from the center line of the lane, and the vehicle collides.
According to an alternative embodiment of the invention, step ii) comprises:
a) respectively determining a group of key performance indexes for each driving assistance function to be evaluated;
b) calculating a score or a grade of each key performance indicator of vehicles of the same vehicle type or the same vehicle family based on the kinematic data and the surrounding environment data; and
c) and further calculating the corresponding total score or total grade of each driving auxiliary function of the same vehicle type or the same vehicle series based on the score or grade of each key performance index.
In another aspect, the object of the invention is also achieved by a computer device comprising a processor and a computer readable storage medium communicatively connected to the processor, having stored therein computer instructions which, when executed by the processor, carry out the steps of the above method.
In yet another aspect, the object of the invention is also achieved by an unmanned aerial vehicle side device mounted in and/or on an unmanned aerial vehicle, wirelessly communicatively connectable with a computer device and comprising an unmanned aerial vehicle side processor and an unmanned aerial vehicle side computer readable storage medium communicatively connected with the unmanned aerial vehicle side processor, the unmanned aerial vehicle side computer readable storage medium having stored therein computer instructions that, when executed by the unmanned aerial vehicle side processor, cause:
responding to a signal representing that the driving auxiliary function to be evaluated is activated from the vehicle by the unmanned aerial vehicle, following the vehicle by adopting a flight strategy allocated to the activated driving auxiliary function, and simultaneously starting the acquisition of the kinematic data and the ambient environment data of the vehicle by the unmanned aerial vehicle side environment sensing device until the driving auxiliary function to be evaluated is closed; and
the unmanned aerial vehicle-side device transmits the acquired kinematic data of the vehicle and the surrounding environment data to the computer device.
According to an alternative embodiment of the invention, the flight strategy is designed such that the drone follows the flight with respect to the vehicle in an orientation that is advantageous for the detection of the parameter of interest associated with the respective driving assistance function.
According to an alternative embodiment of the invention, the flight strategy assigned to the driving assistance function for controlling or assisting in controlling the lateral position of the vehicle is such that the drone follows the vehicle above the lateral side of the vehicle, above the lateral front or above the lateral rear at a lower flight level.
According to an alternative embodiment of the invention, the flight strategy assigned to the driving assistance function for controlling or assisting in controlling the longitudinal position of the vehicle is such that the drone follows the vehicle above the nose.
According to an alternative embodiment of the invention, the flight strategy assigned to the integrated piloting assistance function for controlling or assisting in controlling both the lateral and longitudinal position of the vehicle is such that the drone follows the vehicle at a higher flying height directly above the center of the vehicle.
According to an alternative embodiment of the invention, the drone-side device is configured to be able to detect the occurrence of a critical event representing a failure of the driving assistance function to be evaluated and to send a corresponding signal to the vehicle upon detection of said occurrence, so that the vehicle transmits to the computer device vehicle internal data during the period of occurrence or during a period of time in which the moment of occurrence is traced back forwards and/or backwards.
According to an alternative embodiment of the invention, the drone-side device is configured to transmit to the computer device, in response to a signal from the vehicle representative of the occurrence of a critical event, said kinematic data and said ambient data during a period of time during which the critical event occurred or at which the moment of occurrence was traced forwards and/or backwards.
In a further aspect, the object of the invention is also achieved by a vehicle-side device mounted in and/or on a vehicle, the vehicle-side device being wirelessly communicatively connectable with a computer device and an unmanned-vehicle-side device and comprising a vehicle-side processor and a vehicle-side computer-readable storage medium communicatively connected with the vehicle-side processor, the vehicle-side computer-readable storage medium having stored therein computer instructions which, when executed by the vehicle-side processor, cause:
once the driving assistance function to be evaluated is activated, the vehicle-side equipment sends a corresponding signal to the unmanned aerial vehicle-side equipment, so that the unmanned aerial vehicle follows the vehicle by using a corresponding flight strategy and starts the unmanned aerial vehicle-side environment sensing device to acquire the kinematic data and the ambient environment data of the vehicle;
once detecting the occurrence of a key event representing the failure of the driving assistance function to be evaluated, the vehicle-side equipment sends a corresponding signal to the unmanned-side equipment, so that the unmanned-side equipment transmits kinematic data and surrounding environment data of the vehicle during the occurrence period of the key event or within a period of time traced forwards and/or backwards at the occurrence moment to the computer equipment; and/or
The vehicle-side device transmits vehicle interior data during the occurrence of the critical event or for a period of time during which the occurrence time is traced back forward and/or backward to the computer device in response to a signal from the drone representative of the occurrence of the critical event.
The invention realizes that:
reduced vehicle storage space requirements and reduced data processing and computation costs, since the bird's eye view video captured by a single camera of the drone can fully capture the vehicle's surroundings, without the need for multiple angle video streams captured simultaneously by multiple onboard cameras;
differential GPS systems are no longer required, thus overcoming the drawbacks of poor compatibility and geographical constraints associated with differential GPS systems; and
reducing the requirements on the onboard sensor system, even not requiring the vehicle to be equipped with a camera and a positioning system, since the sensor system of the drone is sufficient to acquire vehicle data that meet the validation requirements.
Further advantages and advantageous embodiments of the inventive subject matter are apparent from the description, the drawings and the claims.
Drawings
Further features and advantages of the present invention will be further elucidated by the following detailed description of an embodiment thereof, with reference to the accompanying drawings. The attached drawings are as follows:
fig. 1 shows a scenario for acquiring data for evaluating a driving assistance function according to the prior art;
FIG. 2 shows a block diagram of a computer device for evaluating at least one driving assistance function of a vehicle according to an exemplary embodiment of the invention;
fig. 3 illustrates a scenario of collection of vehicle external data by a drone, in accordance with the present invention;
FIG. 4 shows a flow chart of a method for evaluating at least one driving assistance function of a vehicle according to an exemplary embodiment of the invention;
FIG. 5 shows a flow chart of one step of the method shown in FIG. 4;
FIG. 6 shows a flow chart of another step of the method shown in FIG. 4; and
fig. 7 shows a flow diagram of one sub-step of the steps shown in fig. 6.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings and exemplary embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the scope of the invention. In the drawings, the same or similar reference numerals refer to the same or equivalent parts.
Fig. 2 shows a block diagram of a computer device 10 for evaluating at least one driving assistance function of a vehicle according to an exemplary embodiment of the present invention. The computer device 10 comprises a processor 110 and a computer readable storage medium 120 communicatively connected to the processor 110, the computer readable storage medium 120 having stored therein computer instructions which, when executed by the processor 110, are capable of carrying out the steps of a method for evaluating at least one driving assistance function of a vehicle according to the invention as will be described in detail hereinafter.
Illustratively, the computer device 10 is configured as a server, such as a cloud server.
The evaluated driving assistance function may include any one or a combination of more of the following: lane Keeping Assist (LKA), lane centering assist (LCC), Cruise Control System (CCS), Adaptive Cruise Control (ACC), Full Speed Adaptive Cruise Control (FSACC), automatic emergency braking system (AEB), lane change assist, traffic congestion assist, highway driving assist (HWA).
According to the present invention, the computer device 10 is wirelessly communicably connected with at least one unmanned-side device 30 mounted on an unmanned aerial vehicle and at least one vehicle-side device 20 mounted on a vehicle. The vehicle-side device 20, the drone-side device 30 and the computer device 10 are connected in communication by means of, for example, V2X technology and/or 5G technology.
Unmanned-vehicle-side device 30 includes unmanned-vehicle-side environment sensing means 310 configured to collect surrounding environment information and unmanned-vehicle-side communication means 320 configured to communicate with the outside. By means of the drone-side communication means 320, the drone-side device 30 can exchange data with the vehicle-side device 20 and the computer device 10, for example can receive a data acquisition request sent by the vehicle-side device 20 or the computer device 10 and/or transmit data detected by the drone-side environment awareness means 310 to the vehicle-side device 20 or the computer device 10, for example, in real time or periodically or in response to a data acquisition request.
According to an example, drone-side environment-aware device 310 includes radar (e.g., millimeter wave radar, lidar) and/or camera devices. With the use of the unmanned-vehicle-side environment sensing device 310, it is possible to acquire kinematic data of the host vehicle such as the posture, speed, and acceleration of the host vehicle, and surrounding environment data of the host vehicle such as the lateral position of the host vehicle within the road or lane, the distance between the host vehicle and the surrounding vehicles, and the positions, postures, speeds, and accelerations of the surrounding vehicles.
For convenience of description, the data collected by the environment sensing device 310 on the unmanned aerial vehicle side is collectively referred to as vehicle external data.
Optionally, drone-side device 30 may include drone-side storage 330 that may store data collected by drone-side environment awareness apparatus 310.
According to an example, drone-side device 30 also comprises condition analysis means 340 configured to be able to analyze, on the basis of the vehicle external data collected by drone-side environment awareness means 310, whether a critical event occurs, as will be explained in detail below.
According to an example, the drone-side device 30 further comprises flight control means 350 configured to be able to control the flight status of the drone, such as the flying speed, altitude and attitude.
Further, the vehicle-side apparatus 20 includes a kinematic state detection device 210 for detecting a kinematic state of the own vehicle, a vehicle-side environment sensing device 220 for acquiring surrounding environment data, and an operation data collection device 230 for collecting operation data of a driving assistance function of the vehicle. The data collected or gathered by these three devices is collectively referred to herein as vehicle interior data.
Illustratively, the kinematic state detection device 210 includes: a vehicle speed sensor, an acceleration sensor, a deceleration sensor, an angular velocity sensor, an angular acceleration sensor, a odometer, a clock, a crash sensor, a GPS, and/or a DGPS.
Exemplarily, the kinematic state of the vehicle comprises: vehicle speed, acceleration and deceleration, angular velocity, angular acceleration, steering angle, yaw angle, travel distance, geographic coordinates, and/or travel trajectory.
Illustratively, the vehicle-side environment sensing device 220 includes a radar (e.g., a millimeter wave radar and/or a lidar) and/or an image pickup device (e.g., a monocular vision image pickup device and a binocular vision image pickup device). The distance of the host vehicle from the surrounding vehicles and the distance of the host vehicle from lane dividers or road boundary lines can be measured, for example, by means of the vehicle-side environment sensing device 210.
Illustratively, the collected operational data of the driving assistance function includes: the time at which the respective driving assistance function is actively or passively activated or deactivated, the activation duration, and/or the respective control commands (e.g. engine lift torque command, brake command, steering command, and lane change command) made upon activation.
Alternatively, the data collected by the kinematic state detection device 210 and the vehicle-side environment sensing device 220 may be recorded in a vehicle-side data storage device.
The vehicle-side device 20 further includes a vehicle-side communication means 240 configured to be able to communicate with the outside, and in particular, to exchange data with the drone-side device 30, the vehicle-side devices mounted on other vehicles, and the computer device 10. By means of vehicle-side communication device 240, vehicle-side device 20 can receive data acquisition requests sent by drone-side device 30 or computer device 10, for example, and/or can transmit vehicle-interior data to drone-side device 30 or computer device 10, for example, in real time or periodically or in response to data acquisition requests.
Fig. 4 shows a flowchart of a method 100 for evaluating at least one driving assistance function of a vehicle according to an exemplary embodiment of the invention. In step S110, the kinematics data of the running vehicle 1 and its surrounding environment data are captured by the drone 2, for example, by the drone-side environment sensing device 310, the working scenario of which is shown in fig. 3.
In content, the kinematic data of the vehicle captured by the drone may include the attitude, speed, acceleration, travel trajectory, and movement distance of the host vehicle, and the ambient data of the vehicle captured by the drone may include the lateral position of the host vehicle within the road or lane, the distance of the host vehicle from the surrounding objects, and the position, attitude, speed, and acceleration of the surrounding objects. In this context, the surrounding objects are intended to encompass any dynamic or static object that appears around the host vehicle that may affect the travel of the host vehicle, such as surrounding vehicles, surrounding pedestrians, road signs, buildings, and obstacles.
Formally, the data captured by the drone may include pictures or video taken by a camera mounted on the drone and/or data measured by a radar mounted on the drone (e.g., millimeter wave radar, lidar).
According to an exemplary embodiment of the present invention, step S110 further comprises (see fig. 5):
in step S111, the user activates the driving assistance function to be evaluated of the vehicle, which may be achieved by starting the vehicle or operating an operation button for activating the driving assistance function;
in step S112, once the driving assistance function to be evaluated is activated, the vehicle-side device 20 transmits a signal representing that the corresponding driving assistance function is activated to the drone-side device 30; and
in step S113, the drone-side device 30 follows the flight of the vehicle with the flight strategy corresponding to the activated driving assistance function in response to the signal, while initiating the acquisition of the kinematic data and the surrounding environment data of the vehicle by the drone-side environment sensing means 310 until the driving assistance function to be evaluated is turned off.
The flight strategy is designed to cause the drone to follow the vehicle at an orientation that is advantageous for the detection of the parameter of interest. Illustratively, for driving assistance functions that control or assist in controlling the lateral position of the vehicle, such as lane keeping assistance and lane centering assistance, the parameter of interest is, for example, the distance of the vehicle from a lane-dividing line or a road boundary line, then a favorable follow-up orientation for detecting the distance of the vehicle from the lane-dividing line or the road boundary line is, for example, a position that is laterally offset with respect to the longitudinal centerline of the vehicle at a lower flight level, such as above a lateral side of the vehicle, above a lateral front, or above a lateral rear, in which case the vehicle may alternately follow between the two lateral sides to acquire line-pressing data on both sides, while a favorable follow-up orientation for detecting the distance of the vehicle from the lane-center is, for example, a position directly above the center of the vehicle; for driving assistance functions that control or help control the longitudinal position of the vehicle, such as a Cruise Control System (CCS), an Adaptive Cruise Control (ACC), a full speed adaptive cruise system (FSACC) and an automatic emergency braking system (AEB), the parameter of interest is for example the distance of the vehicle from a pedestrian or object in front, then the corresponding favourite following flight orientation is for example the position directly above the front of the vehicle, for example the position directly above the front of the vehicle; whereas for comprehensive driving assistance functions controlling or assisting in controlling both the lateral and longitudinal position of the vehicle, such as lane change assistance, congestion assistance and highway driving assistance (HWA), the parameter of interest may be the distance of the vehicle from any pedestrian or object in the surrounding environment, then the corresponding advantageous following flight aspect is for example a higher flight altitude, since a higher flight altitude is able to fully capture the conditions surrounding the vehicle.
A respective flight strategy can be associated with each piloting function and each combination of piloting functions. According to an example, multiple flight strategies may be stored in the drone-side storage 330 mapped with different driving assistance functions, or combinations thereof. When the drone-side device 30 receives a signal from the vehicle that the driving assistance function is activated, a corresponding flight strategy may be invoked for controlling the flight of the drone based on the activated driving assistance function.
Then, in step S120, the drone-side device 30 transmits the acquired data, in particular the data acquired during the activation of the driving assistance function to be evaluated, to the computer device 10 periodically or in real time or in response to a data acquisition request of the computer device 10 or the vehicle-side device 20.
On the other hand, in step S130, vehicle interior data is collected and/or collected by means of the vehicle-side device 20.
Then, in step S140, the vehicle-side device 20 transmits the collected and/or collected vehicle interior data, in particular the vehicle interior data collected and/or collected during the activation of the driving assistance function to be evaluated, to the computer device 10 or the drone-side device 30 periodically or in real time or in response to a data acquisition request.
According to an example of the invention, vehicle-side device 20 and/or drone-side device 30 transmit only the data it has collected and/or collected during a specific period of time to computer device 10. The specific period of time may be a period of time during or around the occurrence of a critical event representing a failure of the driving assistance function.
In this case, when the unmanned aerial device 30 detects the occurrence of a critical event, it may transmit to the computer device 10, on the one hand, vehicle-external data it collected during the occurrence of the critical event or a period of time before or after the occurrence time, and on the other hand, may request the vehicle-side device 20 to transmit to the computer device 10 vehicle-internal data it collected and/or collected within a corresponding time span.
Similarly, when the vehicle-side device 20 detects the occurrence of a critical event, it may transmit to the computer device 10, on the one hand, vehicle-internal data it has collected during the occurrence of the critical event or a period of time before or after the occurrence moment, and on the other hand, may request the drone-side device 30 to transmit to the computer device 10 vehicle-external data it has collected and/or collected within a corresponding time span.
In this way, the transmission of data for function evaluation to the computer device 10 can be triggered by both the vehicle side and the unmanned aerial vehicle side, whereby omission of data that may affect the evaluation result can be avoided.
For critical events, it depends on the purpose of the driving assistance function. For example, for driving assistance functions that control or help control the lateral position of the vehicle, such as lane keeping assistance and lane centering assistance, events that represent their failure are, for example, a vehicle line press, a vehicle deviation from a target lane, or a vehicle deviation from a lane center line; for driving assistance functions that control or help control the longitudinal position of the vehicle, such as constant-speed cruise system (CCS), Adaptive Cruise Control (ACC), full-speed adaptive cruise system (FSACC) and automatic emergency braking system (AEB), events that represent their failure are for example a collision with a pedestrian or object in front, such as a preceding vehicle; whereas for comprehensive driving assistance functions that control or help control both the lateral position and the longitudinal position of the vehicle, such as lane change assistance, traffic jam assistance, and highway driving assistance (HWA), events that represent failures thereof may be, in addition to the events listed above, that the vehicle collides with any pedestrian or object in the surrounding environment, such as other vehicles.
Next, in step S150, the computer device 10 evaluates the driving assistance function based on the vehicle external data from at least one, in particular a plurality of, drone-side devices 30 and optionally the vehicle internal data from at least one, in particular a plurality of, vehicle-side devices 20.
Step S150 further comprises (see fig. 6):
in step S151, a set of Key Performance Indicators (KPI) is determined for each driving assistance function to be evaluated, and additionally, a corresponding specific gravity may be set for each key performance indicator in the set of key performance indicators; and
in step S152, the score or rank of each key performance indicator of the vehicles of the same vehicle type or the same train is calculated based on the data from the unmanned-side device 30 and optionally the data from the vehicle-side device 20.
The expression "optionally" may be understood to mean that the vehicle interior data from the vehicle-side device 20 is not necessary in the evaluation, i.e. the evaluation of the invention may be done by means of the vehicle exterior data from the drone-side device 30 even if the vehicle interior data is missing.
If mass data from the drone and/or the vehicle relating to and not relating to the driving assistance function is stored indifferently in the computer device 10 or in a further computer storage device, it is necessary to extract from these mass data useful data that can be used to evaluate the driving assistance function. In this case, step S152 further includes (see fig. 7):
in step S1521, a time window is determined; then, in step S1522, data collected or collected by the drone and/or the vehicle within the time window is extracted; next, in step S1523, the score or rank of each key performance indicator is calculated based on the extracted data.
The time window may be determined in the following manner: a start-stop time is determined for the driving assistance function to be evaluated in an active state on the basis of the vehicle internal data, wherein the start-stop time defines a time window.
Additionally or alternatively, the time window may be determined in the following manner: the time period of occurrence or the moment of occurrence of the critical event is determined based on data from the vehicle and/or the drone and a time window covering the time period of occurrence or the moment of occurrence is determined. In this case, different time window determination schemes may be preset for different critical events to delineate a time window from the time period or time of occurrence. Illustratively, the time window determination scheme corresponding to a collision event may be: the time of occurrence of the collision is taken as the end point of the time window, and the preceding time having a preset time interval from the time of occurrence is taken as the start point of the time window.
Then, in step S153, the respective total scores or total ranks of the respective driving assistance functions of the same vehicle type or the same vehicle series are further calculated based on the calculation result of step S152. The total score or total rating thus calculated can be retrieved and viewed by the work departments or workers assigned to different functions for use as a decision reference.
The evaluation method according to the invention is not only suitable for evaluating various driving assistance functions of a normal or semi-autonomous vehicle, but also for evaluating partial or overall driving performance of a fully autonomous vehicle, i.e. an unmanned vehicle.
Although some embodiments have been described, these embodiments have been presented by way of example only, and are not intended to limit the scope of the invention. The appended claims and their equivalents are intended to cover all such modifications, substitutions and changes as fall within the true scope and spirit of the invention.
Claims (10)
1. A method (100) for evaluating the performance of at least one driving assistance function of a vehicle, comprising at least the steps of:
i) acquiring kinematic data and ambient data of a vehicle acquired by an unmanned aerial vehicle flying following the vehicle; and
ii) evaluating the performance of the driving assistance function based on the kinematic data and the surrounding environment data.
2. The method (100) according to claim 1, wherein step i is performed in the following way:
the method comprises the steps of obtaining kinematic data and surrounding environment data of the vehicle during the period of activation of the at least one driving assistance function or during the period of occurrence or a period of time traced back forwards and/or backwards in the occurrence time of a key event representing the failure of the at least one driving assistance function.
3. The method (100) according to claim 1 or 2,
assigning a respective key event to each driving assistance function, the key event being any one or more of the following events: the vehicle line pressing, the vehicle deviates from the lane, the vehicle deviates from the center line of the lane, and the vehicle collides.
4. The method (100) according to any one of the preceding claims, wherein step ii) comprises:
a) respectively determining a group of key performance indexes for each driving assistance function to be evaluated;
b) calculating a score or a grade of each key performance indicator of vehicles of the same vehicle type or the same vehicle family based on the kinematic data and the surrounding environment data; and
c) and further calculating corresponding total scores or total grades of all driving auxiliary functions of the same vehicle type or the same vehicle system based on the scores or grades of all key performance indexes.
5. A computer device (10), the computer device (10) comprising a processor (110) and a computer readable storage medium (120) communicatively connected to the processor (110), the computer readable storage medium having stored therein computer instructions that, when executed by the processor (110), implement the steps of the method (100) according to any of the preceding claims.
6. An drone-side device (30) mounted in and/or on a drone, wirelessly communicatively connectable with a computer device (10) according to claim 5 and comprising a drone-side processor and a drone-side computer-readable storage medium communicatively connected with the drone-side processor, the drone-side computer-readable storage medium having stored therein computer instructions that, when executed by the drone-side processor, cause:
the unmanned aerial vehicle responds to a signal from the vehicle, representing that the driving assistance function to be evaluated is activated, follows the vehicle by adopting a flight strategy allocated to the activated driving assistance function, and starts the unmanned aerial vehicle-side environment sensing device (310) to collect the kinematic data and the surrounding environment data of the vehicle until the driving assistance function to be evaluated is closed; and
the unmanned-vehicle-side device (30) transmits the acquired kinematic data of the vehicle and the surrounding data to the computer device (10).
7. Unmanned-vehicle-side device (30) according to claim 6,
the flight strategy is designed such that the drone follows the flight relative to the vehicle in an orientation that is advantageous for the detection of the parameter of interest assigned to the respective driving assistance function.
8. The unmanned-machine-side device (30) of claim 6 or 7,
a flight strategy that is assigned to a driving assistance function for controlling or assisting in controlling the lateral position of the vehicle is to have the drone follow the vehicle above the lateral side of the vehicle, above the lateral front or above the lateral rear at a lower flight level;
a flight strategy assigned to a driving assistance function for controlling or assisting in controlling the longitudinal position of the vehicle is to let the drone follow the vehicle above the nose; and/or
A flight strategy that is assigned to a comprehensive driving assistance function for controlling or assisting in controlling both the lateral position and the longitudinal position of the vehicle is to have the drone follow the vehicle at a higher flight altitude directly above the center of the vehicle.
9. Unmanned-machine-side-device (30) according to any of claims 6-8,
-the unmanned aerial vehicle side device (30) is configured to be able to detect the occurrence of a critical event representative of a failure of the driving assistance function to be evaluated and to send a corresponding signal to the vehicle upon detection of said occurrence, so that the vehicle transmits to the computer device (10) vehicle internal data during the occurrence of the critical event or for a period of time traced back forwards and/or backwards in time of occurrence; and/or
The drone-side device (30) is configured to transmit to the computer device (10), in response to a signal from the vehicle representative of the occurrence of a critical event, said kinematic data and said ambient data during the occurrence of the critical event or during a period of time traced back forwards and/or backwards in time of the occurrence.
10. Vehicle-side device (20) mounted in and/or on a vehicle, wirelessly communicatively connectable with a computer device (10) according to claim 5 and an unmanned-vehicle-side device (30) according to any one of claims 6-9 and comprising a vehicle-side processor and a vehicle-side computer-readable storage medium communicatively connected with the vehicle-side processor, the vehicle-side computer-readable storage medium having stored therein computer instructions which, when executed by the vehicle-side processor, cause:
once the driving assistance function to be evaluated is activated, the vehicle-side device (20) sends a corresponding signal to the drone-side device (30) to cause the drone to follow the vehicle with a corresponding flight strategy and to cause the drone-side environment sensing means (310) to start collecting kinematic data and ambient data of the vehicle;
the vehicle-side device (20), upon detecting the occurrence of a critical event representing a failure of the driving assistance function to be evaluated, sends a corresponding signal to the unmanned-machine-side device (30) so that the unmanned-machine-side device (30) transmits to the computer device (10) the kinematic data and the ambient data of the vehicle during the occurrence of the critical event or during a period of time when the occurrence time is traced back forwards and/or backwards; and/or
The vehicle-side device (20) transmits vehicle interior data to the computer device (10) in response to a signal from the drone representative of the occurrence of a critical event, during the occurrence of the critical event or during a period of time in which the time of occurrence is traced back forward and/or backward.
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| CN202110095796.3A CN114789732A (en) | 2021-01-25 | 2021-01-25 | Method and apparatus for evaluating performance of driving assistance function of vehicle |
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| CN202110095796.3A CN114789732A (en) | 2021-01-25 | 2021-01-25 | Method and apparatus for evaluating performance of driving assistance function of vehicle |
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