CN114838957A

CN114838957A - Test method, device and system for traffic identification function and electronic equipment

Info

Publication number: CN114838957A
Application number: CN202210521863.8A
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: 2022-08-02

Abstract

The application provides a method, a device and a system for testing a traffic sign recognition function and electronic equipment, and relates to the technical field of intelligent automobile control. The method comprises the following steps: acquiring running data of a test vehicle, a vehicle CAN signal related to a traffic identification function of the test vehicle, and first test point positioning information of at least one test point from dotting equipment; obtaining relative driving information of the test vehicle relative to the test point according to the driving data and the first test point positioning information; testing the traffic identification function according to the relative driving information and the vehicle CAN signal to generate a test result; wherein, the position of test point is provided with the traffic sign. The application provides comprehensive verification data for testing the TSR function, accurately tests the data information of the TSR function in the whole state of recognizing traffic signboard information and making corresponding control, and further can continuously optimize the stability and the accuracy of the TSR function.

Description

Test method, device and system for traffic identification function and electronic equipment

Technical Field

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

Background

With the development of the automobile electronic industry, the safety of the automobile active system is more and more concerned by the industry and customers. The TSR (Traffic Sign Recognition) function is one of active safety systems, and has the effects that when a vehicle reaches a position near a certain Traffic signboard, the TSR function can automatically recognize Traffic signboard information and send the Traffic signboard information to a vehicle control system, and at the moment, the control system can send a control instruction according to the Traffic signboard information, so that the vehicle can be controlled correspondingly according to the Traffic signboard information, and the purposes of automatically recognizing Traffic signs and driving in a compliance manner are achieved.

The accuracy of the testing method of the TSR function in the related art is low, so that the performance effect of the TSR function cannot be effectively verified.

Disclosure of Invention

In view of this, the present application provides a method and a device for testing a traffic identification function, a method and a system for testing a traffic identification function, an electronic device, a readable storage medium, a computer program product, and a chip, so as to provide comprehensive verification data for testing a TSR function and accurately test the performance of the TSR function.

In a first aspect, an embodiment of the present application provides a method for testing a traffic identifier recognition function, including: acquiring running data of a test vehicle, a vehicle CAN (controller area network) signal related to a traffic identification function of the test vehicle, and first test point positioning information of at least one test point from dotting equipment; obtaining relative driving information of the test vehicle relative to the test point according to the driving data and the first test point positioning information; testing the traffic identification function according to the relative driving information and the vehicle CAN signal to generate a test result; wherein, the position of test point is provided with the traffic sign.

The method for testing the traffic sign recognition function according to the embodiment of the application can also have the following additional technical characteristics:

in the above technical solution, optionally, the testing the traffic sign recognition function according to the relative driving information and the vehicle CAN signal includes: testing the identification information of the traffic identification aiming at the traffic identification function according to the relative driving information and the vehicle CAN signal; wherein the identification information comprises at least one of: and whether the identification is correct or not and whether the identification is timely or not.

In any of the above technical solutions, optionally, the testing the traffic sign recognition function according to the relative driving information and the vehicle CAN signal includes: the vehicle control unit is specifically used for testing the control information of the test vehicle after the traffic identification is identified according to the relative running information and the vehicle CAN signal aiming at the traffic identification function; wherein the control information comprises at least one of: whether to whistle, acceleration information, direction of travel, and vehicle light turn-on information.

In any of the above technical solutions, optionally, the method further includes: acquiring base station positioning information from a fixed base station; obtaining relative driving information of the test vehicle relative to the test point according to the driving data and the first test point positioning information, wherein the relative driving information comprises: and obtaining relative driving information of the test vehicle relative to the test point according to the driving data, the first test point positioning information and the base station positioning information.

In any of the above technical solutions, optionally, the driving data includes at least one of: first vehicle positioning information, travel speed, travel acceleration, and heading angle.

In any one of the above technical solutions, optionally, after obtaining the first vehicle positioning information of the test vehicle, the method further includes: acquiring first positioning correction information of a test vehicle, and calibrating the first vehicle positioning information by using the first positioning correction information; obtaining relative driving information of the test vehicle relative to the test point according to the driving data, the first test point positioning information and the base station positioning information, and the method comprises the following steps: obtaining second vehicle positioning information of the test vehicle relative to the fixed base station according to the first vehicle positioning information and the base station positioning information after calibration processing, and determining the relative distance of the test vehicle relative to the test point according to the second vehicle positioning information and the first test point positioning information of the test point; the first test point positioning information is positioning information of a test point determined by the dotting equipment according to the base station positioning information relative to the fixed base station, and the relative driving information comprises relative distance.

In a second aspect, an embodiment of the present application provides a device for testing a traffic sign recognition function, including: the system comprises a data acquisition unit, a data acquisition unit and a data processing unit, wherein the data acquisition unit is arranged on a test vehicle and used for acquiring running data of the test vehicle, a vehicle CAN signal related to the traffic identification function of the test vehicle and receiving first test point positioning information of at least one test point from dotting equipment; the vehicle control unit is arranged on the test vehicle, connected with the data acquisition unit and used for obtaining relative driving information of the test vehicle relative to the test point according to the driving data and the first test point positioning information, testing the traffic identification recognition function according to the relative driving information and the vehicle CAN signal and generating a test result; wherein, the position of test point is provided with the traffic sign.

The test device for the traffic sign recognition function according to the embodiment of the application may further have the following additional technical features:

in the above technical solution, optionally, the vehicle control unit is specifically configured to test the identification information of the traffic identifier for the traffic identifier identification function according to the relative travel information and the vehicle CAN signal; wherein the identification information comprises at least one of: and whether the identification is correct or not and whether the identification is timely or not.

In any of the above technical solutions, optionally, the vehicle control unit is specifically configured to test the control information of the test vehicle after identifying the traffic identifier according to the relative travel information and the vehicle CAN signal and aiming at the traffic identifier identification function; wherein the control information comprises at least one of: whether to whistle, acceleration information, direction of travel, and vehicle light turn-on information.

In any of the above technical solutions, optionally, the data obtaining unit is further configured to receive base station positioning information from the fixed base station; and the vehicle control unit is specifically used for obtaining relative driving information of the test vehicle relative to the test point according to the driving data, the first test point positioning information and the base station positioning information.

In any of the above technical solutions, optionally, the driving data includes first vehicle positioning information and a driving speed; the data acquisition unit includes: the first positioning antenna is used for acquiring first vehicle positioning information and running speed of the test vehicle.

In any of the above technical solutions, optionally, the data obtaining unit further includes: the first positioning correction unit is used for acquiring first positioning correction information of the test vehicle and calibrating the first vehicle positioning information by using the first positioning correction information; the first positioning correction unit is also used for receiving first test point positioning information of at least one test point from the dotting equipment and base station positioning information from the fixed base station; the vehicle control unit is specifically used for obtaining second vehicle positioning information of the test vehicle relative to the fixed base station according to the first vehicle positioning information and the base station positioning information after the calibration processing, and determining the relative distance of the test vehicle relative to the test point according to the second vehicle positioning information and the first test point positioning information of the test point; the first test point positioning information is positioning information of a test point determined by the dotting equipment according to the base station positioning information relative to the fixed base station, and the relative driving information comprises relative distance.

In any of the above solutions, optionally, the driving data includes a heading angle; the data acquisition unit includes: the second positioning antenna is used for acquiring third vehicle positioning information of the test vehicle; and the vehicle control unit is also used for determining the course angle of the test vehicle according to the first vehicle positioning information and the third vehicle positioning information.

In any of the above solutions, optionally, the driving data includes acceleration; the data acquisition unit includes: and the inertial navigation unit is used for acquiring the acceleration of the test vehicle.

In a third aspect, an embodiment of the present application provides a system for testing a traffic sign recognition function, including the device for testing a traffic sign recognition function of the first aspect, a dotting device, and a fixed base station; the dotting equipment is used for collecting first test point positioning information of at least one test point in a test scene.

The test system for the traffic sign recognition function according to the embodiment of the application may further have the following additional technical features:

in the foregoing technical solution, optionally, the fixed base station includes: a third positioning antenna for acquiring base station positioning information of the fixed base station; and the second positioning correction unit is communicated with the first positioning correction unit of the test vehicle and is used for acquiring second positioning correction information of the fixed base station, calibrating the base station positioning information by utilizing the second positioning correction information and sending the calibrated base station positioning information to the first positioning correction unit.

In any of the above technical solutions, optionally, the dotting device includes: the fourth positioning antenna is used for acquiring second test point positioning information of the test point; the third positioning correction unit is communicated with the first positioning correction unit of the test vehicle and used for acquiring third positioning correction information of the test point and calibrating the second test point positioning information by utilizing the third positioning correction information; and the equipment control unit is connected with the third positioning and correcting unit and used for acquiring the base station positioning information of the fixed base station, acquiring first test point positioning information of the test point relative to the fixed base station according to the second test point positioning information and the base station positioning information after calibration processing, and sending the first test point positioning information to the first positioning and correcting unit through the third positioning and correcting unit.

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 first aspect.

In a fifth aspect, embodiments of the present application provide 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 first 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 as in the first 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 first aspect.

In an embodiment of the application, driving data of a test vehicle, a vehicle CAN signal related to a traffic identification recognition function of the test vehicle are collected, and first test point positioning information of at least one test point from a dotting device is received. And according to the relative driving information and the vehicle CAN signal, testing the traffic identification function to generate a test result. The embodiment of the application provides a method for testing the accuracy of the TSR function, provides comprehensive verification data for testing the TSR function, tests the data information of the TSR function in the whole state of identifying traffic signboard information and performing corresponding regulation and control more accurately, and can continuously optimize the stability and the accuracy of the TSR function based on the data, thereby ensuring that a vehicle can run in a legal manner on a running road.

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 schematic flow chart illustrating a method for testing a traffic sign recognition function according to an embodiment of the present application;

fig. 2 is a block diagram showing a structure of a test device for a traffic sign recognition function according to an embodiment of the present application;

FIG. 3 is a block diagram illustrating a dotting apparatus according to an embodiment of the present disclosure;

fig. 4 shows a block diagram of a fixed base station according to an embodiment of the present application;

FIG. 5 shows a schematic diagram of a test scenario of an 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 component names in fig. 2 to 6 is:

10. the vehicle positioning system comprises a vehicle control unit, 11, a vehicle display unit, 12, a vehicle-mounted power supply, 13, a vehicle controller, 14, a first positioning antenna, 15, a first positioning correction unit, 16, a second positioning antenna, 17, an inertial navigation unit, 18, a CAN signal acquisition unit, 151, a first real-time dynamic difference module, 152, a first communication antenna, 20, a fixed base station, 21, a third positioning antenna, 22, a second positioning correction unit, 221, a second real-time dynamic difference module, 222, a second communication antenna, 30, an equipment control unit, 31, a fourth positioning antenna, 32, a third positioning correction unit, 33, an equipment display unit, 34, an equipment power supply, 35, an equipment controller, 321, a third real-time dynamic difference module, 322, a third communication antenna, 60, electronic equipment, 61, a processor, 62 and a 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 "/", and generally means that the former and latter related objects are in an "or" relationship.

The following describes in detail a method for testing a traffic sign recognition function, a device for testing a traffic sign recognition function, a method system for testing a traffic sign recognition function, an electronic device, a readable storage medium, a computer program product, and a chip, which are provided in the embodiments of the present application, with reference to the accompanying drawings and application scenarios thereof.

The embodiment of the application provides a method for testing a traffic identification function, and as shown in fig. 1, the method comprises the following steps:

step S101, obtaining driving data of a test vehicle, a vehicle CAN signal related to a traffic identification recognition function of the test vehicle, and obtaining first test point positioning information of at least one test point from dotting equipment, wherein the position of the test point is provided with a traffic identification.

And S102, obtaining relative driving information of the test vehicle relative to the test point according to the driving data and the first test point positioning information.

And step S103, testing the traffic identification function according to the relative driving information and the vehicle CAN signal to generate a test result.

In this embodiment, the test vehicle is provided with a test device for a traffic sign recognition function and a traffic sign recognition function, and the test method for a traffic sign recognition function of the embodiment of the present application is applied to the test device for a traffic sign recognition function.

In this embodiment, the driving data of the test vehicle, the vehicle CAN signal (i.e. the vehicle CAN data) related to the traffic identification function of the test vehicle are collected, and the first test point positioning information from the at least one test point of the dotting device is received. Wherein the travel data comprises at least one of: the first vehicle positioning information, the running speed, the running acceleration, the course angle, the yaw rate, the pitch angle, the roll angle and the sideslip angle, and the vehicle CAN signal comprises an activation signal, an enabling signal, an identification signal and the like of the traffic sign identification function.

And further, obtaining relative driving information of the test vehicle relative to the test point according to the driving data and the first test point positioning information, and testing the traffic identification function according to the relative driving information and the vehicle CAN signal to generate a test result. Wherein the relative travel information includes at least one of: relative distance, relative speed, relative angle, the test result includes at least one of: the traffic sign recognition function recognizes the recognition information of the traffic sign, the control information of the traffic sign recognition function to the test vehicle after recognizing the traffic sign, and the traffic sign recognition function activates in advance, activates in delay, delays in time difference, and the like.

The embodiment of the application provides a method for testing the accuracy of the TSR function, provides comprehensive verification data for testing the TSR function, tests the data information of the TSR function in the whole state of identifying traffic signboard information and performing corresponding regulation and control more accurately, and can continuously optimize the stability and the accuracy of the TSR function based on the data, thereby ensuring that a vehicle can run in a legal manner on a running road.

Compared with the scheme of simulation test by using a virtual environment in the related technology, the embodiment of the application uses an actual vehicle for testing, so that the test error is reduced, and the accuracy is improved; compared with a scheme of utilizing an actual driving scene test in the related art, the method and the device are simpler and higher in feasibility.

In the embodiment of the present application, further, according to the relative driving information and the vehicle CAN signal, the testing of the traffic sign recognition function includes: testing the identification information of the traffic identification aiming at the traffic identification function according to the relative driving information and the vehicle CAN signal, and/or testing the control information of the tested vehicle aiming at the traffic identification function after identifying the traffic identification according to the relative driving information and the vehicle CAN signal; wherein the identification information comprises at least one of: whether the identification is correct or not and whether the identification is timely or not, wherein the control information comprises at least one of the following items: whether to whistle, acceleration information, direction of travel, and vehicle light turn-on information.

By the mode, whether the TSR function has the problems of wrong identification, missed identification, untimely identification and the like at different test points or not is analyzed, the accuracy of control according to the identified traffic identification is analyzed, and the performance of the TSR function in the field test process is accurately verified.

In an embodiment of the present application, further, the method further includes: acquiring base station positioning information from a fixed base station; obtaining relative driving information of the test vehicle relative to the test point according to the driving data and the first test point positioning information, wherein the relative driving information comprises: and obtaining relative driving information of the test vehicle relative to the test point according to the driving data, the first test point positioning information and the base station positioning information.

In this embodiment, the relative driving information of the test vehicle with respect to the test point is obtained according to the driving data, the first test point positioning information, and the base station positioning information of the fixed base station, and the relative distance of the test vehicle with respect to the test point is determined by a fixed differential technique (i.e., an absolute differential technique) through the positioning information of the test vehicle with respect to the fixed base station.

In the embodiment of the present application, further, after obtaining the first vehicle positioning information of the test vehicle, the method further includes: acquiring first positioning correction information of a test vehicle, and calibrating the first vehicle positioning information by using the first positioning correction information; obtaining relative driving information of the test vehicle relative to the test point according to the driving data, the first test point positioning information and the base station positioning information, and the method comprises the following steps: obtaining second vehicle positioning information of the test vehicle relative to the fixed base station according to the first vehicle positioning information and the base station positioning information after calibration processing, and determining the relative distance of the test vehicle relative to the test point according to the second vehicle positioning information and the first test point positioning information of the test point; the first test point positioning information is positioning information of a test point determined by the dotting equipment according to the base station positioning information relative to the fixed base station, and the relative driving information comprises relative distance.

In this embodiment, the first vehicle Positioning information acquired by using a GPS (Global Positioning System) antenna may not have high accuracy due to the influence of factors such as environment and distance during signal transmission. Therefore, the embodiment of the application is based on the RTK (Real-Time Kinematic) carrier phase differential positioning principle, and the acquired first vehicle positioning information is calibrated.

Further, according to the first vehicle positioning information and the base station positioning information after the RTK carrier phase difference processing, second vehicle positioning information of the test vehicle relative to the fixed base station under a two-dimensional plane coordinate system established by a point vertically mapped to the ground by a GPS antenna of the fixed base station is determined, and then according to the first test point positioning information of the test point relative to the fixed base station under the two-dimensional plane coordinate system, the relative distance of the test vehicle relative to the test point is calculated.

Through the mode, the GPS antenna and the RTK difference are combined to accurately position, so that the positioning precision of the test vehicle reaches about 2cm, and the performance test of the TSR function is effectively carried out.

The embodiment of the application provides a test system with a traffic identification function, the system is arranged in a test scene, the test scene comprises a test road, at least one test point (namely a test position) is arranged on the test road, a traffic identification is arranged at the position of each test point, and the traffic identifications arranged at each test point can be the same or different.

The system comprises a testing device with a traffic identification recognition function, a dotting device and a fixed base station, wherein the testing device with the traffic identification recognition function is arranged on a test vehicle, the test vehicle has the traffic identification recognition function, the test vehicle automatically recognizes traffic identification information through the traffic identification recognition function and sends a control instruction according to the recognized information to ensure that the test vehicle can perform corresponding control according to the traffic identification information, so that automatic traffic identification recognition and compliant driving are achieved, and the testing device with the traffic identification recognition function is used for performing performance testing on the traffic identification recognition function of the test vehicle.

As shown in fig. 2, the test device for the traffic sign recognition function includes: data acquisition unit, vehicle control unit 10, vehicle display unit 11, vehicle-mounted power supply 12, vehicle controller 13. The data acquisition unit is used for acquiring running data of a test vehicle, a vehicle CAN signal related to a traffic identification recognition function of the test vehicle and receiving first test point positioning information of at least one test point from dotting equipment, and comprises at least one of the following items: the system comprises a first positioning antenna 14, a first positioning correction unit 15, a second positioning antenna 16, an inertial navigation unit 17 and a CAN signal acquisition unit 18, and accordingly, the driving data comprises at least one of the following items: the CAN signal of the vehicle comprises an activation signal, an enabling signal, a recognition signal and the like of a traffic sign recognition function, wherein the recognition signal refers to the recognition information of the traffic sign, and different recognition signals are preset to correspond to different traffic sign types, for example, the recognition signal is 1 to represent that the traffic sign is a red light, the recognition signal is 2 to represent that the traffic sign is a green light, the recognition signal is 3 to represent that the traffic sign is a yellow light, and the recognition signal is 4 to represent that the traffic sign is the lowest speed limit of 50 km/h.

The vehicle control unit 10 is connected with the data acquisition unit and is used for obtaining relative driving information of the test vehicle relative to the test point according to the driving data and the first test point positioning information, testing the traffic identification function according to the relative driving information and the vehicle CAN signal, and generating a test result. Wherein the relative travel information includes at least one of: relative distance, relative speed, relative angle, the test result includes at least one of: the traffic sign recognition function recognizes the recognition information of the traffic sign, the control information of the traffic sign recognition function to the test vehicle after recognizing the traffic sign, and the traffic sign recognition function activates in advance, activates in delay, delays in time difference, and the like.

In an embodiment of the present application, optionally, the vehicle control unit 10 is specifically configured to test the identification information of the traffic identifier for the traffic identifier identification function according to the relative driving information and the vehicle CAN signal, and/or test the control information of the test vehicle after identifying the traffic identifier for the traffic identifier identification function according to the relative driving information and the vehicle CAN signal; wherein the identification information comprises at least one of: whether the identification is correct or not and whether the identification is timely or not, wherein the control information comprises at least one of the following items: whether to whistle, acceleration information, direction of travel, and vehicle light turn-on information.

In the embodiment of the present application, optionally, the driving data includes first vehicle positioning information and driving speed; the data acquisition unit includes: and the first positioning antenna 14 is used for acquiring first vehicle positioning information and running speed of the test vehicle.

In this embodiment, the first positioning antenna 14 is a GPS antenna for acquiring first vehicle positioning information of the test vehicle and acquiring the running speed of the test vehicle to provide test data for verifying the TSR function of the test vehicle.

In this embodiment of the application, optionally, the data obtaining unit further includes: the first positioning correction unit 15 is configured to acquire first positioning correction information of the test vehicle, and perform calibration processing on the first vehicle positioning information by using the first positioning correction information; the first positioning correction unit 15 is further configured to receive first test point positioning information of at least one test point from the dotting device and base station positioning information from the fixed base station; the vehicle control unit 10 is specifically configured to obtain second vehicle positioning information of the test vehicle relative to the fixed base station according to the first vehicle positioning information and the base station positioning information after the calibration processing, and determine a relative distance of the test vehicle relative to the test point according to the second vehicle positioning information and the first test point positioning information of the test point; the first test point positioning information is positioning information of a test point determined by the dotting equipment according to the base station positioning information relative to the fixed base station, and the relative driving information comprises relative distance.

In this embodiment, the first vehicle positioning information acquired by the first positioning antenna 14 may not be accurate due to the influence of the environment, distance, and other factors during the signal transmission process. Therefore, the first positioning correction unit 15 is provided in the embodiment of the present application, and based on the RTK carrier phase differential positioning principle, the first vehicle positioning information acquired by the first positioning antenna 14 is calibrated, so that compared with positioning only by using a GPS, a positioning error can be reduced, and the accuracy of positioning a test vehicle is improved.

Specifically, as shown in fig. 2, the first positioning correction unit 15 includes a first real-time dynamic difference module 151 and a first communication antenna 152, the first real-time dynamic difference module 151 obtains first positioning correction information of the test vehicle, and performs RTK carrier phase difference processing on the first vehicle positioning information by using the first positioning correction information, and the first communication antenna 152 is configured to receive first test point positioning information sent by the dotting device and receive base station positioning information sent by the fixed base station.

Through the mode, the positioning information of the test vehicle is accurately acquired, so that the performance of the TSR function is effectively tested.

Further, the vehicle control unit 10 determines second vehicle positioning information of the test vehicle relative to the fixed base station in the two-dimensional plane coordinate system according to the first vehicle positioning information and the base station positioning information processed by the RTK carrier phase difference part, and calculates a relative distance of the test vehicle relative to the test point according to the first test point positioning information of the test point relative to the fixed base station in the two-dimensional plane coordinate system.

Through the mode, the positioning precision of the test vehicle reaches about 2cm by combining the GPS antenna and the RTK difference to accurately position, the relative distance of the test vehicle relative to the test point is determined through the fixed difference technology (namely, the absolute difference technology) through the positioning information of the test vehicle relative to the fixed base station, and compared with the mobile difference technology (namely, the relative difference technology), the precision is higher, so that the performance test of the TSR function is effectively realized.

In the embodiment of the present application, optionally, the driving data includes a heading angle; the data acquisition unit includes: the second positioning antenna 16 is used for acquiring third vehicle positioning information of the test vehicle; and the vehicle control unit 10 is further used for determining the course angle of the test vehicle according to the first vehicle positioning information and the third vehicle positioning information.

In this embodiment, the second positioning antenna 16 acts as a slave antenna, while the first positioning antenna 14 is a master antenna. The main antenna and the auxiliary antenna determine a straight line through two points to determine the course angle of the tested vehicle together, so that the performance of the TSR function is tested according to the course angle.

In addition, the second positioning antenna 16 can assist the first positioning antenna 14 in positioning the test vehicle and determining the running speed of the test vehicle.

In the embodiment of the present application, optionally, the running data includes acceleration; the data acquisition unit includes: and the inertial navigation unit 17 is used for acquiring the acceleration of the test vehicle and sending the acceleration to the vehicle control unit 10.

In this embodiment, the inertial navigation unit 17 is capable of measuring attitude information of the test vehicle, such as acceleration, pitch angle (in the case of a slope), roll angle, yaw rate (in the case of a turn), and the like of the test vehicle in real time, uploading the attitude information to the vehicle control unit 10 in real time, and the vehicle control unit 10 performs a performance test of the TSR function based on the attitude information.

In this embodiment of the present application, optionally, the data obtaining unit includes: and the CAN signal acquisition unit 18 is used for acquiring vehicle CAN signals related to the traffic identification function and transmitting the vehicle CAN signals to the vehicle control unit 10.

In this embodiment, a vehicle CAN signal is sent to the vehicle control unit 10 through the CAN signal collection unit 18 (e.g., an On-Board Diagnostics (OBD) interface), so that the vehicle control unit 10 CAN perform a test of the TSR function according to the vehicle CAN signal.

By the mode, the vehicle CAN signal related to the TSR function of the test vehicle CAN be collected, so that accurate test data CAN be provided for the performance test of the TSR function.

As shown in fig. 3, the dotting device includes a device control unit 30, a fourth positioning antenna 31, a third positioning correction unit 32, a device display unit 33, a device power supply 34, and a device controller 35. The dotting equipment is used for collecting first test point positioning information of at least one test point and sending the first test point positioning information to the data acquisition unit of the test device with the traffic identification function.

It should be noted that, the distance between adjacent test points is greater than the preset distance threshold, so as to avoid affecting the accuracy of the dotting device in positioning the test points.

In this embodiment, the fourth positioning antenna 31 is a GPS antenna and is used to obtain second test point positioning information of the test point, and the second test point positioning information may not have high accuracy due to the influence of factors such as environment and distance during signal transmission. Therefore, in the embodiment of the present application, the third positioning correction unit 32 is provided, and based on the RTK carrier phase differential positioning principle, the second test point positioning information acquired by the fourth positioning antenna 31 is calibrated, so that compared with positioning only by using a GPS, a positioning error can be reduced, and the precision of positioning a test point is improved.

Specifically, as shown in fig. 3, the third positioning correction unit 32 includes a third real-time dynamic difference module 321 and a third communication antenna 322; the third real-time dynamic difference module 321 obtains third positioning correction information of the test point, and performs RTK carrier phase difference processing on the second test point positioning information by using the third positioning correction information. The device control unit 30 obtains the processed second test point positioning information and the base station positioning information of the fixed base station, and obtains the first test point positioning information of the test point relative to the fixed base station according to the processed second test point positioning information and the base station positioning information. The third communication antenna 322 communicates with the first communication antenna 152 of the first positioning correction unit 15 of the test vehicle, and transmits the first test point positioning information to the first communication antenna 152.

Through the mode, the GPS antenna and the RTK difference are combined to accurately position, so that the positioning accuracy of the test point reaches about 2cm, the relative distance of the test vehicle relative to the test point is determined through the fixed difference technology (namely, the absolute difference technology) according to the positioning information of the test point relative to the fixed base station, and compared with the mobile difference technology (namely, the relative difference technology), the accuracy is higher, and therefore the performance test of the TSR function is effectively carried out.

As shown in fig. 4, the fixed base station 20 is provided with a third positioning antenna 21 and a second positioning correction unit 22, and base station positioning information is acquired and sent through the third positioning antenna 21 and the second positioning correction unit 22, and relative driving information of the test vehicle relative to the test point is determined according to the base station positioning information. Specifically, the data obtaining unit receives base station positioning information from the fixed base station, and the vehicle control unit 10 obtains relative driving information of the test vehicle with respect to the test point according to the driving data, the first test point positioning information, and the base station positioning information.

In this embodiment, the fixed base station 20 includes a third positioning antenna 21 and a second positioning correction unit 22, where the third positioning antenna 21 is a GPS antenna, and performs satellite searching and positioning with a satellite on the sky to obtain base station positioning information of the fixed base station 20, where the base station positioning information may have a low accuracy due to the influence of factors such as environment and distance during signal transmission, and the accuracy is about 40 cm. Therefore, the second positioning correction unit 22 is provided in the embodiment of the present application, and the base station positioning information acquired by the third positioning antenna 21 is calibrated based on the RTK carrier phase differential positioning principle, so that compared with positioning only by using a GPS, a positioning error can be reduced, and the accuracy of positioning the fixed base station 20 is improved.

Specifically, as shown in fig. 4, the second positioning correction unit 22 includes a second real-time dynamic difference module 221 and a second communication antenna 222; the second real-time dynamic difference module 221 obtains second positioning correction information of the fixed base station, and performs RTK carrier phase difference processing on the base station positioning information by using the second positioning correction information, and the second communication antenna 222 is a communication antenna with a 2.4GHz frequency band, and can perform position data communication with the first positioning correction unit 15 of the test vehicle and the third positioning correction unit 32 of the dotting device, so as to ensure that accurate absolute position information can be provided for the whole test.

Through the mode, the GPS antenna and the RTK difference are combined to perform accurate positioning together, so that the positioning accuracy of the fixed base station 20 reaches about 2cm, accurate absolute position information is provided for the whole testing process, and the performance of the TSR function is effectively tested.

It should be noted that, the embodiment of the application is applied to the performance test of the TSR function in a fixed test scene, and the fixed base station ensures that the obtained positioning information of the test vehicle and the test point has small delay and small deviation, so that the test accuracy can be improved compared with a test method in an actual driving scene that the fixed base station is not used but the GPS positioning is used.

In the embodiment of the present application, optionally, the vehicle display unit 11 of the test vehicle is connected to the vehicle control unit 10, and is configured to acquire and display at least one of the following: the driving data, the vehicle CAN signal, the first test point positioning information, the base station positioning information, the relative driving information and the test result are convenient for a tester to observe the change of the data signal in the test process.

In the embodiment of the present application, optionally, the vehicle-mounted power supply 12 of the test vehicle is connected to the vehicle control unit 10, and is used for supplying power to the vehicle control unit 10 to ensure that the system operates normally.

In the embodiment of the present application, optionally, the vehicle controller 13 of the test vehicle can set the same communication mode and communication frequency as those of the fixed base station, so as to ensure that the test vehicle can communicate with the fixed base station. And, the mode of the test vehicle is set to the test mode at the time of performing the test, so that the test vehicle performs the test of the TSR function in the test mode.

It should be noted that the first test point positioning information of the test point may be received in a non-test mode of the test vehicle, that is, before the test vehicle is converted into the test mode.

In this embodiment of the application, optionally, the device display unit 33 of the dotting device is connected to the device control unit 30, and is configured to acquire and display the first test point positioning information, so that a tester can observe changes of the data signal during the test process.

In the embodiment of the present application, optionally, the device power supply 34 of the dotting device is connected to the device control unit 30, and is used for supplying power to the device control unit 30 to ensure that the system operates normally.

In this embodiment, optionally, the device controller 35 of the dotting device can set a communication mode and a communication frequency that are the same as those of the fixed base station, so as to ensure that the dotting device can communicate with the fixed base station. And setting the mode of the dotting equipment as the dotting mode when dotting, so that the dotting equipment positions the test point in the dotting mode.

In one embodiment of the application, the method for testing the traffic sign recognition function comprises the following steps:

(1) the fixed base station at the test field end is built, and the communication mode and the communication frequency under the fixed base station mode are set, so that an accurate relative coordinate system origin can be provided for the whole test.

(2) And setting a dotting mode of the dotting equipment, and dotting the test point through the GPS antenna at the moment.

As shown in fig. 5, in the whole test field, 5 test points are selected according to actual conditions, including test point 1, test point 2, test point 3, test point 4, and test point 5, and different traffic identifications are placed at the corresponding test points.

(3) And setting a test mode of the test vehicle.

(4) Based on RTK differential communication between the fixed base station and the test vehicle, the position of the test vehicle in a two-dimensional plane coordinate system is determined, and key information such as transverse distance, longitudinal distance, acceleration, GPS speed and the like from each test point to the position of a center point right in front of the test vehicle is calculated.

(5) Activating the TSR function of the test vehicle, starting to run from the starting position of the whole test field, observing whether the TSR function can identify the traffic sign with the lowest speed limit of 50km/h when the test vehicle runs to the test point 1, observing the position information of the TSR function activation moment from the test point 1 and the information of the vehicle acceleration state after identifying the test point 1, and sequentially approaching the presumed test point 2, the test point 3, the test point 4 and the test point 5 in the test mode.

(6) Whether error identification or missing identification occurs to the TSR functions at different test points or not is analyzed, information such as corresponding time and corresponding precision of the identified vehicles is obtained, and performance of the TSR functions in the field test process is verified.

The embodiment of the application provides a site test method of TSR function, through the combination of GPS high accuracy locate function and RTK difference technique, the concrete performance of TSR function that can accurate test, help perfecting and promote the performance of TSR function, observe through objective and accurate test data, help research and development can combine human driving habit more accurately to carry out the function promotion to constantly polish product quality, promote customer satisfaction.

As shown in fig. 6, the electronic device 60 includes a processor 61 and a memory 62, where the memory 62 stores a program or an instruction that can be executed on the processor 61, and when the program or the instruction is executed by the processor 61, the steps of the embodiment of the test method for a traffic identifier recognition function are implemented, and the same technical effects can be achieved.

It should be noted that the electronic device 60 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 60 in the embodiment of the present application may be a device having an operating system. The operating system may be an Android operating system, an ios operating system, or other possible operating systems, which is not specifically limited in the embodiment of the present application.

The memory 62 may be used to store software programs as well as various data. The memory 62 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, etc.), and the like. Further, the memory 62 may include volatile memory or nonvolatile memory, or the memory 62 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 62 in the embodiments of the present application includes, but is not limited to, these and any other suitable types of memory.

Processor 61 may include one or more processing units; optionally, the processor 61 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 61.

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 test method for a traffic identifier recognition function, 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 described test method for a traffic identifier recognition function, and can achieve the same technical effects, 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 traffic identifier recognition function, and can achieve the same technical effect, and is not described here again to avoid repetition.

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 apparatus of 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 involved, e.g., the methods described may be performed in an order different than 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 test method for a traffic sign recognition function is characterized by comprising the following steps:

acquiring running data of a test vehicle, a vehicle CAN signal related to a traffic identification function of the test vehicle, and first test point positioning information of at least one test point from dotting equipment;

obtaining relative driving information of the test vehicle relative to the test point according to the driving data and the first test point positioning information;

testing the traffic identification function according to the relative driving information and the vehicle CAN signal to generate a test result;

and the positions of the test points are provided with traffic marks.

2. The method of claim 1, wherein the testing the traffic sign recognition function based on the relative travel information and the vehicle CAN signal comprises:

testing the identification information of the traffic identification aiming at the traffic identification function according to the relative driving information and the vehicle CAN signal;

wherein the identification information comprises at least one of: and whether the identification is correct or not and whether the identification is timely or not.

3. The method of claim 1, wherein the testing the traffic sign recognition function according to the relative travel information and the vehicle CAN signal comprises:

the vehicle control unit is specifically used for testing the control information of the test vehicle after the traffic identification is identified according to the relative driving information and the vehicle CAN signal aiming at the traffic identification function;

wherein the control information comprises at least one of: whether to whistle, acceleration information, direction of travel, and vehicle light turn-on information.

4. The method of any of claims 1 to 3, further comprising:

acquiring base station positioning information from a fixed base station;

the obtaining of the relative driving information of the test vehicle relative to the test point according to the driving data and the first test point positioning information includes:

and obtaining relative driving information of the test vehicle relative to the test point according to the driving data, the first test point positioning information and the base station positioning information.

5. The method of claim 4,

the driving data includes at least one of: first vehicle positioning information, travel speed, travel acceleration, and heading angle.

6. The method of claim 5, further comprising, after obtaining the first vehicle location information for the test vehicle:

acquiring first positioning correction information of the test vehicle, and calibrating the first vehicle positioning information by using the first positioning correction information;

the obtaining of the relative driving information of the test vehicle relative to the test point according to the driving data, the first test point positioning information and the base station positioning information includes:

obtaining second vehicle positioning information of the test vehicle relative to the fixed base station according to the first vehicle positioning information and the base station positioning information after calibration processing, and determining the relative distance of the test vehicle relative to the test point according to the second vehicle positioning information and the first test point positioning information of the test point;

the first test point positioning information is positioning information of the dotting equipment relative to the fixed base station, which is determined according to the base station positioning information, and the relative driving information comprises the relative distance.

7. A test device for traffic sign recognition function, comprising:

the system comprises a data acquisition unit, a data acquisition unit and a data processing unit, wherein the data acquisition unit is arranged on a test vehicle and used for acquiring running data of the test vehicle, a vehicle CAN signal related to the traffic identification function of the test vehicle and receiving first test point positioning information of at least one test point from dotting equipment;

the vehicle control unit is arranged on the test vehicle, connected with the data acquisition unit and used for obtaining relative driving information of the test vehicle relative to the test point according to the driving data and the first test point positioning information and testing the traffic identification function according to the relative driving information and the vehicle CAN signal to generate a test result;

and the position of the test point is provided with a traffic identification.

8. The apparatus of claim 7,

the vehicle control unit is specifically used for testing the identification information of the traffic identification aiming at the traffic identification function according to the relative driving information and the vehicle CAN signal;

9. The apparatus of claim 7,

10. The apparatus according to any one of claims 7 to 9,

the data acquisition unit is also used for receiving base station positioning information from the fixed base station;

the vehicle control unit is specifically configured to obtain relative driving information of the test vehicle with respect to the test point according to the driving data, the first test point positioning information, and the base station positioning information.

11. The apparatus of claim 10, wherein the travel data comprises first vehicle location information and a travel speed; the data acquisition unit includes:

the first positioning antenna is used for acquiring the first vehicle positioning information and the running speed of the test vehicle.

12. The apparatus of claim 11, wherein the data acquisition unit further comprises:

the first positioning correction unit is used for acquiring first positioning correction information of the test vehicle and calibrating the first vehicle positioning information by using the first positioning correction information;

the first positioning correction unit is further configured to receive first test point positioning information of the at least one test point from the dotting device and the base station positioning information from the fixed base station;

the vehicle control unit is specifically configured to obtain second vehicle positioning information of the test vehicle relative to the fixed base station according to the first vehicle positioning information and the base station positioning information after calibration processing, and determine a relative distance of the test vehicle relative to the test point according to the second vehicle positioning information and the first test point positioning information of the test point;

13. The apparatus of claim 11, wherein the travel data comprises a heading angle; the data acquisition unit includes:

the second positioning antenna is used for acquiring third vehicle positioning information of the test vehicle;

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

14. The apparatus according to any one of claims 7 to 9, characterized in that the running data includes acceleration; the data acquisition unit includes:

an inertial navigation unit for acquiring the acceleration of the test vehicle.

15. A test system for traffic sign recognition function, comprising: the test device, the dotting apparatus, and the fixed base station of the traffic sign recognition function according to any one of claims 7 to 14;

the dotting equipment is used for collecting first test point positioning information of at least one test point in a test scene.

16. The system of claim 15, wherein the fixed base station comprises:

a third positioning antenna for acquiring the base station positioning information of the fixed base station;

and the second positioning correction unit is communicated with the first positioning correction unit of the test vehicle and is used for acquiring second positioning correction information of the fixed base station, calibrating the base station positioning information by utilizing the second positioning correction information and sending the calibrated base station positioning information to the first positioning correction unit.

17. The system according to claim 15 or 16, characterized in that said dotting device comprises:

the fourth positioning antenna is used for acquiring second test point positioning information of the test point;

the third positioning correction unit is communicated with the first positioning correction unit of the test vehicle and used for acquiring third positioning correction information of the test point and calibrating the second test point positioning information by utilizing the third positioning correction information;

and the equipment control unit is connected with the third positioning correction unit and used for acquiring the base station positioning information of the fixed base station, acquiring first testing point positioning information of the testing point relative to the fixed base station according to the second testing point positioning information and the base station positioning information after calibration processing, and sending the first testing point positioning information to the first positioning correction unit through the third positioning correction unit.

18. An electronic device, characterized in that it comprises a processor and a memory, said memory storing a program or instructions running on said processor, said program or instructions, when executed by said processor, implementing the steps of the method of testing a traffic sign recognition function according to any one of claims 1 to 6.

19. A readable storage medium on which a program or instructions are stored, characterized in that the program or instructions, when executed by a processor, implement the steps of the method of testing a traffic sign recognition function according to any one of claims 1 to 6.

20. A computer program product, characterized in that the computer program product is stored in a storage medium, the computer program product being executable by at least one processor to implement the steps of the method of testing a traffic sign recognition function according to any one of claims 1 to 6.

21. A chip, characterized in that it comprises at least one processor and a communication interface, said communication interface being coupled to said at least one processor, said at least one processor being configured to execute programs or instructions to implement the steps of the method for testing a traffic sign recognition function according to any of claims 1 to 6.