CN114926979A - Test tool and method and device for detecting vehicle road mark recognition function - Google Patents
Test tool and method and device for detecting vehicle road mark recognition function Download PDFInfo
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- 238000012360 testing method Methods 0.000 title claims abstract description 109
- 238000000034 method Methods 0.000 title claims abstract description 43
- 238000001514 detection method Methods 0.000 abstract description 4
- 238000012986 modification Methods 0.000 description 5
- 230000004048 modification Effects 0.000 description 5
- 238000004891 communication Methods 0.000 description 2
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
Abstract
The invention discloses a test tool and a method and a device for detecting a vehicle road mark recognition function thereof, which are applied to the field of vehicle detection, wherein the method comprises the following steps: acquiring current position information of a tested vehicle in the process of driving the tested vehicle on a test road; determining whether the detected vehicle passes through a first identification area or not by comparing the current position information with pre-recorded background data, wherein the background data comprises description information of each road identification in the test road and an identification area where each road identification is located, and the first identification area is an identification area where any road identification on the test road is located; if so, comparing the road sign recognition result of the detected vehicle with the description information of the road sign in the first sign area to determine whether the road sign recognition function of the detected vehicle wrongly recognizes or neglectedly recognizes the road sign in the first sign area. The efficiency of detecting the road mark recognition function is improved by the invention.
Description
Technical Field
The invention belongs to the technical field of vehicle detection, and particularly relates to a test tool and a method and a device for detecting a vehicle road sign recognition function.
Background
With the continuous development of the intelligent transportation field, vehicles can be provided with a road sign identification function to detect and identify road signs. At present, when detecting and recognizing road signs, some fixed image features, such as color features and shape features of road signs, are generally selected from shot images to analyze the road signs. However, in an actual traffic application scenario, the accuracy of the road sign recognition by the "road sign recognition function" is affected by motion blur, background interference, weather conditions, shooting angle of view and recognition algorithm, and therefore, the road sign recognition function needs to be detected to determine the accuracy of the road sign recognition function of the vehicle. At present, the road mark recognition function of a vehicle can only be manually detected, namely, whether the recognition structure of the vehicle for each road mark is correct or not, whether recognition is missed or not is manually judged one by one, and the detection efficiency is particularly low.
Disclosure of Invention
In view of the above technical problems in the prior art, embodiments of the present invention provide a testing tool and a method and an apparatus for detecting a vehicle road sign recognition function thereof, so as to improve efficiency of detecting the road sign recognition function of a vehicle.
In a first aspect, an embodiment of the present invention provides a method for detecting a vehicle road identifier recognition function, including: acquiring current position information of a tested vehicle in the process of driving the tested vehicle on a test road; determining whether the vehicle to be tested passes through a first identification area or not by comparing the current position information with background data, wherein the background data comprises description information of each road identification in the test road and an identification area where each road identification is located, and the first identification area is an identification area where any road identification on the test road is located; if so, acquiring a road mark recognition result of the detected vehicle, and comparing the road mark recognition result with the description information of the road mark in the first mark area to determine whether the road mark recognition function of the detected vehicle wrongly recognizes or neglects to recognize the road mark in the first mark area.
Optionally, the comparing the road sign recognition result with the description information of the road sign in the first identification area to determine whether the road sign recognition function of the detected vehicle wrongly recognizes or overlooks the road sign in the first identification area includes: when the detected vehicle passes through the first identification area, if the road identification recognition result is the road identification recognition data output by the detected vehicle; judging whether the road identification data is the same as the description information of the road identification in the first identification area or not; if the identification is the same, recording correct identification once; if not, an error recognition is recorded.
Optionally, the comparing the road sign recognition result with the description information of the road sign in the first identification area to determine whether the road sign recognition function of the detected vehicle wrongly recognizes or neglects to recognize the road sign in the first identification area further includes: and when the detected vehicle passes through the first identification area, if the road identification recognition result is that the road identification recognition data output by the detected vehicle cannot be obtained, recording one-time missing recognition.
Optionally, the method further comprises: and when the detected vehicle does not pass through any one identification area, recording one-time error identification if the road identification data of the detected vehicle is obtained.
Optionally, the method is applied to a test tool, and the obtaining of the current position information of the vehicle under test includes: receiving GPS coordinate data output by a GPS module based on data connection between the test tool and the GPS module carried on the vehicle to be tested; and analyzing the GPS coordinate data to determine the current position information of the tested vehicle.
Optionally, the acquiring the road identifier identification data of the detected vehicle includes: receiving road identification data of the vehicle to be tested, which is output by the CAN module, based on data connection between the test tool and the CAN module carried on the vehicle to be tested; and the CAN module acquires the road identification data from a CAN bus of the vehicle body of the tested vehicle.
Optionally, the method further comprises: and determining the false recognition rate and/or the missing recognition rate of the road identification recognition function of the vehicle to be detected according to all recognition records generated when the vehicle to be detected runs through the test road.
Optionally, the method further comprises: when a test vehicle carrying a GPS module runs to a position where a road mark exists on a test road, recording description information of the road mark and GPS coordinate data of the position where the road mark is located based on user marking operation; and generating the background data based on the description information of each road mark on the test road and the GPS coordinate data of the position of each road mark.
In a second aspect, an embodiment of the present invention provides an apparatus for detecting a vehicle road sign recognition function, including: the system comprises a position positioning unit, a road testing unit and a road testing unit, wherein the position positioning unit is used for acquiring the current position information of a tested vehicle in the process that the tested vehicle runs on a test road; the position comparison unit is used for determining whether the detected vehicle passes through a first identification area or not by comparing the current position information with background data, wherein the background data comprise description information of each road identification in the test road and an identification area where each road identification is located, and the first identification area is an identification area where any road identification on the test road is located; and the first identification comparison unit is used for acquiring a road identification recognition result of the detected vehicle if the detected vehicle passes through a first identification area or not, and comparing the road identification recognition result with the description information of the road identification in the first identification area so as to determine whether the road identification recognition function of the detected vehicle wrongly recognizes or neglectedly recognizes the road identification in the first identification area or not.
In a third aspect, an embodiment of the present invention provides a test tool, including: the computer equipment is used for establishing data connection with the tested vehicle; the computer device is provided with an upper computer, and the upper computer is used for executing the method of any one of the embodiments of the first aspect.
One or more technical solutions provided by the embodiments of the present invention at least achieve the following technical effects or advantages:
the background data which is input in advance comprises description information of each road mark in the test road and a mark area where each road mark is located, and the current position information of the vehicle to be tested is obtained in the process that the vehicle to be tested runs on the test road; determining whether the vehicle to be tested passes through a mark area where any road mark on the test road is located or not by comparing the current position information with the background data; if so, acquiring a road mark recognition result of the detected vehicle, and comparing the road mark recognition result with the description information of the road mark in the passing identification area to determine whether the road mark recognition function of the detected vehicle wrongly recognizes or neglects to recognize the road mark in the identification area. In the technical scheme, the background data is used as a standard reference to be compared with the current road identification recognition result of the detected vehicle so as to automatically complete the detection of the road identification recognition function of the detected vehicle, and the situation that whether each road identification is correctly recognized and whether the road identification is missed or not is only judged one by one without human. Therefore, the efficiency of detecting the road sign recognition function is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic diagram of the connection between a test tool and a vehicle under test according to an embodiment of the present invention;
FIG. 2 is a flow chart of a method for detecting a vehicle road sign recognition function according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a device for detecting a vehicle road sign recognition function in an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention provides a method for detecting a vehicle road sign recognition function, which is applied to a test tool for detecting the vehicle road sign recognition function.
Referring to fig. 1, the testing tool includes a computer device capable of establishing data connection with a vehicle to be tested, and the computer device is loaded with an upper computer for monitoring output data of the vehicle to be tested. The detected vehicle needs to be equipped with a CAN (Controller Area Network) module and a positioning module. The Positioning module may be a GPS (Global Positioning System) module, and the CAN module is connected to a CAN bus of the vehicle body. Specifically, the upper computer may be connected to the CAN module through a USB (Universal Serial Bus), and the upper computer may also be connected to the positioning module through the USB, so that the test tool may acquire data output by the CAN module and the positioning module of the vehicle under test.
Referring to fig. 1 and fig. 2, a method for detecting a vehicle road sign recognition function according to an embodiment of the present invention is applied to a test tool, and the method further includes the following steps:
s101, acquiring current position information of the vehicle to be tested in the process that the vehicle to be tested runs on the test road.
Specifically, in the process that the vehicle to be tested runs on the test road, the position information of the position where the vehicle is located in real time through a positioning module carried on the vehicle to be tested. Specifically, based on the data connection between the test tool and the GPS module of the vehicle under test, the test tool may receive GPS coordinate data output by the GPS module of the vehicle under test; and determining the current position information of the detected vehicle by analyzing the GPS coordinate data.
S102, determining whether the detected vehicle passes through a first identification area or not by comparing the current position information with background data, wherein the background data comprise description information of each road identification in the test road and an identification area where each road identification is located, and the first identification area is an identification area where any road identification on the test road is located.
It should be noted that the background data is formed by recording the test road in advance and is stored in the upper computer of the test tool, so that the background data is loaded when the background data is needed to be used.
Specifically, the test road may be a pre-selected fixed line including various road identifiers. The same test road only needs to be recorded once, and when the road mark on the test road is changed or other test roads need to be replaced, the test road needs to be recorded again so as to update the background data stored in the upper computer.
The test vehicle with the GPS module runs on a test road, and the upper computer of the test tool is used for acquiring GPS coordinate data of the current position of the test vehicle in real time. When a test vehicle carrying a GPS module runs to any road mark of a test road, recording description information of the road mark and GPS coordinate data of the position of the road mark based on user marking operation; and generating background data based on the description information of each road mark on the test road and the GPS coordinate data of the position of each road mark.
Specifically, when the test vehicle runs to a position with a road mark on a test road, a tester can call the recording panel through a shortcut key on the upper computer, and record description information of the road mark and GPS coordinate data at the moment when the shortcut key is pressed down. Therefore, the identification area where the road identification is located is generated based on the GPS coordinate data where the road identification is located, and the description information of the road identification and the identification area where the road identification is located are stored to the background. After the test vehicle runs through the whole test road, description information and identification areas of various road identifications are stored in the background of the upper computer.
For each road mark, a region is designed to serve as a mark region of the road mark by taking GPS coordinate data of the road mark recorded by a background as a center, and the region is used for judging whether a detected vehicle enters the mark region.
The current position information of the tested vehicle is in one-to-one correspondence with the identification area of each road identification in the background data, so that whether the tested vehicle enters the identification area where a certain road identification on the test road is located or not is determined.
S103, if the detected vehicle passes through the first identification area, acquiring a road identification recognition result of the detected vehicle, and comparing the road identification recognition result with the description information of the road identification in the first identification area to determine whether the road identification recognition function of the detected vehicle wrongly recognizes or neglectedly recognizes the road identification in the first identification area.
It should be understood that when the vehicle under test passes through the first identification area, the road sign recognition function of the vehicle under test may or may not detect the road sign in the first identification area.
In terms of the condition that the road identification recognition function of the tested vehicle detects the road identification in the first identification area, the upper computer of the test tool receives the road identification recognition data of the tested vehicle output by the CAN module based on the data connection established between the test tool and the CAN module of the tested vehicle, wherein the CAN module acquires the road identification recognition data from the vehicle body CAN bus of the tested vehicle. The method comprises the steps that road image information is collected by a vehicle body camera of a detected vehicle, the collected road image information is identified through a road identification function of the detected vehicle, and if road identification data are identified, the road image information is transmitted to a vehicle body CAN bus.
When the detected vehicle passes through the first identification area, if the road identification result is that the road identification data of the detected vehicle is acquired; judging whether the road identification data is the same as the description information of the road identification in the first identification area or not; if the identification is the same, recording correct identification once; if not, an error recognition is recorded.
The CAN module CAN not output road identification data to an upper computer of a testing tool in case that the detected vehicle CAN not detect the road identification in the first identification area, so that the upper computer CAN not receive the road identification data output by the CAN module of the detected vehicle, and the condition belongs to the missing identification of the road identification in the first identification area. When the detected vehicle passes through the first identification area, if the upper computer of the test tool cannot acquire the road identification data output by the detected vehicle, the missing identification is recorded once.
It should be understood that there is another situation in which the vehicle situation under test is on the test road: when the detected vehicle does not pass through any one identification area, road identification data output by a CAN module of the detected vehicle is acquired instead, and the situation also belongs to error identification. If the road mark identification data output by the detected vehicle is acquired when the detected vehicle does not pass through any one of the identification areas, recording error identification once.
Further, after the detected vehicle runs through the whole test road, the error recognition rate and/or the missing recognition rate of the road mark recognition function of the detected vehicle are determined according to all recognition records generated when the detected vehicle runs through the test road.
Specifically, the error recognition rate of the road mark recognition function of the detected vehicle is the ratio of the number of times of error recognition in all recognition records to the total number of times of all recognition records, and the error recognition rate is taken as the error recognition rate; the ratio of the number of times of missed recognition in all recognition records to the total number of times of all recognition records is used as a missed recognition rate.
Of course, it should be understood that, for the accuracy of the road sign identification function for detecting the vehicle to be detected, after all identification records generated when the vehicle to be detected runs through the test road are obtained, the accuracy may also be measured by using the result calculated by other formulas, which is not illustrated herein.
Further, the test tool further comprises at least one camera module (such as the camera module 1 and the camera module 2 shown in fig. 1) connected with the computer device, and the camera module is used for acquiring images containing road signs in real time in the process that the tested vehicle runs on the test road, and storing the images in the upper computer as auxiliary data for judging the road sign recognition function of the tested vehicle.
Meanwhile, the upper computer comprises a communication setting interface, a map display interface and an image display interface, wherein the communication setting interface is used for configuring interface parameters of the GPS serial port and the CAN module and establishing various data connections between the computer equipment and the vehicle to be tested. In the process of driving a test vehicle on a test road, the map display interface can display the track of the tested vehicle on the map, the image display interface can display images collected by each camera module of the test tool, and the images collected by each camera module are synchronized with identification records for confirming the problems of error identification and missing identification during image playback.
Based on the same inventive concept, an embodiment of the present invention provides an apparatus for detecting a vehicle road sign recognition function, and as shown in fig. 3, the apparatus includes:
the position locating unit 201 is used for acquiring current position information of a vehicle to be tested in the process that the vehicle to be tested runs on a test road;
a position comparison unit 202, configured to determine whether the vehicle under test passes through a first identification area by comparing the current position information with background data, where the background data includes description information of each road identifier in the test road and an identification area where each road identifier is located, and the first identification area is an identification area where any road identifier on the test road is located;
the first identifier comparing unit 203 is configured to, if the detected vehicle passes through the first identifier area, obtain a road identifier recognition result of the detected vehicle, and compare the road identifier recognition result with the description information of the road identifier in the first identifier area, so as to determine whether the road identifier recognition function of the detected vehicle recognizes the road identifier in the first identifier area incorrectly or neglectedly.
In some embodiments, the first identifier comparing unit 203 is specifically configured to: when the detected vehicle passes through the first identification area, if the road identification recognition result is the road identification recognition data output by the detected vehicle; judging whether the road identification data is the same as the description information of the road identification in the first identification area or not; if the identification is the same, recording correct identification once; if not, an error recognition is recorded.
In some embodiments, the first identifier comparing unit 203 is further specifically configured to: and when the detected vehicle passes through the first identification area, if the road identification recognition result is that the road identification recognition data output by the detected vehicle cannot be obtained, recording one-time missing recognition.
In some embodiments, the system further comprises a second identifier comparison unit: and when the detected vehicle does not pass through any one identification area, recording one-time error identification if the road identification data of the detected vehicle is obtained.
The method is applied to a test tool, and the position locating unit 201 is specifically configured to: receiving GPS coordinate data output by a GPS module based on data connection between the test tool and the GPS module carried on the vehicle to be tested; and analyzing the GPS coordinate data to determine the current position information of the tested vehicle.
The first identifier comparing unit 203 and the second identifier comparing unit are specifically configured to: receiving road identification data of the vehicle to be tested, which is output by the CAN module, based on data connection between the test tool and the CAN module carried on the vehicle to be tested; and the CAN module acquires the road identification data from a CAN bus of the vehicle body of the tested vehicle.
In some embodiments, the apparatus further comprises: and the statistical unit is used for determining the false recognition rate and/or the missing recognition rate of the road mark recognition function of the tested vehicle according to all recognition records generated when the tested vehicle runs through the test road.
In some embodiments, the apparatus further comprises: the system comprises a marking unit, a road marking unit and a control unit, wherein the marking unit is used for recording the description information of the road mark and the GPS coordinate data of the position of the road mark based on user marking operation when a test vehicle carrying a GPS module runs to the position of the road mark on the test road; and the data generation unit is used for generating the background data based on the description information of each road identifier on the test road and the GPS coordinate data of the position of each road identifier.
The device for detecting the vehicle road sign recognition function is a method for implementing the vehicle road sign recognition function, and therefore, more implementation details of the device may be described with reference to the implementation of the method for detecting the vehicle road sign recognition function, and are not described herein again.
Based on the same inventive concept, an embodiment of the present invention provides a test tool, as shown in fig. 1, including: the computer equipment is used for establishing data connection with the tested vehicle; the computer device is provided with an upper computer, the upper computer is used for executing the method for detecting the vehicle road sign recognition function, and more implementation details can refer to the embodiment of the method for detecting the vehicle road sign recognition function, which is not described herein again.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including the preferred embodiment and all changes and modifications that fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A method of detecting a vehicle road sign recognition function, comprising:
acquiring current position information of a detected vehicle in the process of driving the detected vehicle on a test road;
determining whether the vehicle to be tested passes through a first identification area or not by comparing the current position information with background data, wherein the background data comprises description information of each road identification in the test road and an identification area where each road identification is located, and the first identification area is an identification area where any road identification is located on the test road;
if so, acquiring a road mark recognition result of the detected vehicle, and comparing the road mark recognition result with the description information of the road mark in the first mark area to determine whether the road mark recognition function of the detected vehicle wrongly recognizes or neglects to recognize the road mark in the first mark area.
2. The method of claim 1, wherein comparing the road sign recognition result with the description information of the road sign in the first identification area to determine whether the road sign recognition function of the tested vehicle wrongly recognizes or overlooks the road sign in the first identification area comprises:
when the detected vehicle passes through the first identification area, if the road identification recognition result is the road identification recognition data output by the detected vehicle;
judging whether the road identification data is the same as the description information of the road identification in the first identification area or not;
if the identification is the same, recording the correct identification once;
if not, an error recognition is recorded.
3. The method of claim 2, wherein comparing the road sign recognition result with the description information of the road sign in the first identification area to determine whether the road sign recognition function of the vehicle under test wrongly recognized or overlooked the road sign in the first identification area further comprises:
and when the detected vehicle passes through the first identification area, if the road identification recognition result is that the road identification recognition data output by the detected vehicle cannot be obtained, recording one-time missing recognition.
4. The method of claim 1, further comprising:
and when the detected vehicle does not pass through any one identification area, recording one-time error identification if the road identification data of the detected vehicle is obtained.
5. The method according to any one of claims 2-4, wherein the method is applied to a test tool, and the obtaining of the current position information of the vehicle under test comprises:
receiving GPS coordinate data output by a GPS module based on data connection between the test tool and the GPS module carried on the vehicle to be tested;
and analyzing the GPS coordinate data to determine the current position information of the tested vehicle.
6. The method of claim 5, wherein said obtaining road identification data for the vehicle under test comprises:
receiving road identification data of the vehicle to be tested, which is output by the CAN module, based on data connection between the test tool and the CAN module carried on the vehicle to be tested;
and the CAN module acquires the road identification data from a CAN bus of the vehicle body of the tested vehicle.
7. The method of any one of claims 1-4, further comprising:
and determining the false recognition rate and/or the missing recognition rate of the road identification recognition function of the vehicle to be detected according to all recognition records generated when the vehicle to be detected runs through the test road.
8. The method of claim 1, further comprising:
when a test vehicle carrying a GPS module runs to a position where a road mark exists on a test road, recording description information of the road mark and GPS coordinate data of the position where the road mark is located based on user marking operation;
and generating the background data based on the description information of each road mark on the test road and the GPS coordinate data of the position of each road mark.
9. An apparatus for detecting a vehicle road sign recognition function, comprising:
the system comprises a position positioning unit, a road testing unit and a road testing unit, wherein the position positioning unit is used for acquiring the current position information of a tested vehicle in the process that the tested vehicle runs on a test road;
the position comparison unit is used for determining whether the detected vehicle passes through a first identification area or not by comparing the current position information with background data, wherein the background data comprise description information of each road identification in the test road and an identification area where each road identification is located, and the first identification area is an identification area where any road identification on the test road is located;
and the first identification comparison unit is used for acquiring a road identification recognition result of the detected vehicle and comparing the road identification recognition result with the description information of the road identification in the first identification area if the detected vehicle passes through the first identification area so as to determine whether the road identification recognition function of the detected vehicle wrongly recognizes or neglects to recognize the road identification in the first identification area.
10. A test tool, comprising: the computer equipment is used for establishing data connection with the tested vehicle;
wherein the computer device is loaded with an upper computer for performing the method according to any one of claims 1 to 8.
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Application publication date: 20220819 |