CN114993303A - Automatic parking test method and device, computer terminal and storage medium - Google Patents
Automatic parking test method and device, computer terminal and storage medium Download PDFInfo
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- CN114993303A CN114993303A CN202210675637.5A CN202210675637A CN114993303A CN 114993303 A CN114993303 A CN 114993303A CN 202210675637 A CN202210675637 A CN 202210675637A CN 114993303 A CN114993303 A CN 114993303A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
Abstract
The embodiment of the invention discloses an automatic parking test method, an automatic parking test device, a computer terminal and a storage medium, wherein the method comprises the following steps: executing an automatic parking program, acquiring parking process information through a vehicle bus, acquiring position data of a vehicle to be tested after parking is finished, and generating pose data of the vehicle to be tested according to the contour data and the position data of the vehicle to be tested; outputting parking information of the parking space relative to the vehicle to be detected according to the pose data; and outputting a test report according to the parking information and the parking process information. The whole testing process is automated, the situation that testers acquire data on site is avoided, and the safety of the testers is guaranteed.
Description
Technical Field
The invention relates to the field of automatic testing, in particular to an automatic parking testing method, an automatic parking testing device, a computer terminal and a storage medium.
Background
In the intelligent wave of the automobile, the development of the vehicle-mounted sensor is rapid, and more automobiles with advanced sensors enter the visual field of people. The automatic driving technology can be used for driving a car with one hand and the other hand, and can help solve the problem that old and new drivers stop with headaches. The parking assist system has been developed to the third generation at present, from the beginning that a driver must complete parking in a car in coordination with gear engagement, the development is that the driver can stand 5 meters outside the car to use a mobile phone to control parking, and finally the car learns a parking route by himself to complete parking in a fixed parking space or in a self-owned garage. However, in order to test whether the parking result meets the standard, a large number of live-action tests need to be performed, and after the vehicle is parked, the position relationship between the vehicle and the parking space needs to be measured, so that a tester needs to acquire data in a test scene. However, for an automatic parking scheme which is not yet adjusted to be mature, the test method cannot guarantee the safety of testers in the parking process, and meanwhile, the data acquisition difficulty is high.
Disclosure of Invention
In a first aspect, the present application provides an automatic parking test method, including:
executing an automatic parking program, collecting parking process information through a vehicle bus, obtaining position data of a vehicle to be tested after parking is finished, and generating pose data of the vehicle to be tested according to the contour data and the position data of the vehicle to be tested;
outputting parking information of the parking space relative to the vehicle to be detected according to the pose data;
and outputting a test report according to the parking information and the parking process information.
Further, before executing the automatic parking program, the method further comprises:
and installing a positioning device on a detection carrier, wherein the detection carrier walks along the outline of the parking space, recording position data generated in the walking process in real time, projecting the position data in a real map, and generating a parking space map so as to determine the size and the position of the parking space.
Further, recording position data during walking in real time, projecting the position data in the real map, and generating the parking space map includes:
recording the current position data of the positioning device according to a preset time interval, and generating a corresponding path point in the real map;
and when the detection vehicle runs for one circle along the outline of the parking space, connecting adjacent path points to form the parking space map.
Further, the acquiring position data of the vehicle to be detected, and generating pose data of the vehicle to be detected according to the contour data and the position data includes:
a positioning device is arranged at a preset position of the vehicle to be detected, and positioning data of the vehicle to be detected in the parking process are acquired in real time through the positioning device; the positioning data comprises longitude, latitude and inertia measurement data of the positioning device;
determining the geographic position of the vehicle to be detected according to the longitude and the latitude, and generating a vehicle model on the parking space map according to the preset position of the positioning device and the outline data;
and determining attitude data of the vehicle model according to the inertia measurement data.
Further, the positioning device comprises an inertia measurer and a carrier phase differential positioner;
the carrier phase differential locator is used for obtaining longitude and latitude in the locating data, and the inertial measurer is used for outputting the inertial measurement data.
Further, according to the pose data, outputting parking information of the parking space relative to the vehicle to be detected includes:
determining the inner side distance from the peripheral edge of the vehicle to be detected to the inner side of the corresponding boundary line of the parking space on the parking space map according to the attitude data of the vehicle model;
determining a parking included angle formed by the boundary line of the vehicle to be tested and the parking space;
and recording positioning data in the parking process, generating a parking track, and taking the inner side distance, the parking included angle and the parking track as the parking information.
Further, outputting a test report according to the location data and the parking process information includes:
and selecting a corresponding parking standard according to the contour data and the size of the parking space, comparing the parking standard with the parking information and the parking process information, evaluating a test result and generating a corresponding test report.
In a second aspect, the present application further provides an automatic parking test device, including:
the acquisition module is used for executing an automatic parking program, acquiring parking process information through a vehicle bus, acquiring position data of a vehicle to be detected after parking is finished, and generating pose data of the vehicle to be detected according to the profile data and the position data of the vehicle to be detected;
the information acquisition module is used for outputting parking information of the parking space relative to the vehicle to be detected according to the pose data;
and the output module is used for outputting a test report according to the parking information and the parking process information.
In a third aspect, the present application further provides a computer terminal, which includes a processor and a memory, where the memory stores a computer program, and the computer program executes the automatic parking test method when running on the processor.
In a fourth aspect, the present application further provides a readable storage medium storing a computer program, which when executed on a processor performs the automatic parking test method.
The embodiment of the invention discloses an automatic parking test method, an automatic parking test device, a computer terminal and a storage medium, wherein the method comprises the following steps: executing an automatic parking program, acquiring parking process information through a vehicle bus, acquiring position data of a vehicle to be tested after parking is finished, and generating pose data of the vehicle to be tested according to the contour data and the position data of the vehicle to be tested; outputting parking information of the parking space relative to the vehicle to be detected according to the pose data; and outputting a test report according to the parking information and the parking process information. The whole testing process is automated, so that the situation that a tester acquires data on site is avoided, and the safety of the tester is ensured.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings required to be used in the embodiments will be briefly described below, and it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope of the present invention. Like components are numbered similarly in the various figures.
FIG. 1 is a flow chart illustrating an automatic parking test method;
FIG. 2 is a schematic view showing a positioning device installed;
FIG. 3 illustrates a vehicle parking gesture;
FIG. 4 is a schematic view of yet another vehicle parking pose;
fig. 5 shows a schematic structural diagram of an automatic parking test device.
Detailed Description
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 only a part of the embodiments of the present invention, and not all of the embodiments.
The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
Hereinafter, the terms "including", "having", and their derivatives, which may be used in various embodiments of the present invention, are only intended to indicate specific features, numbers, steps, operations, elements, components, or combinations of the foregoing, and should not be construed as first excluding the existence of, or adding to, one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing.
Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another, and are not to be construed as indicating or implying relative importance.
Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which various embodiments of the present invention belong. The terms (such as those defined in commonly used dictionaries) should be interpreted as having a meaning that is consistent with their contextual meaning in the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein in various embodiments of the present invention.
The technical scheme of the application is applied to automatic testing of the automatic parking testing method, the parking position is mapped, the vehicle to be tested is modeled, and then the high-precision positioning device is arranged on the vehicle, so that a tester can remotely receive test data and control a testing process at a place far away from a field, and test data to be measured is automatically generated to generate a test result. The technical solution of the present application will be described below with specific examples.
Example 1
The flow of the automatic parking test method is shown in fig. 1, and the method comprises the following steps:
and S100, executing an automatic parking program, collecting parking process information through a vehicle bus, acquiring position data of a vehicle to be tested after parking is finished, and generating pose data of the vehicle to be tested according to the profile data and the position data of the vehicle to be tested.
Before starting the test, a parking space map of the parking space is also required to be generated so as to position the edge position of the parking space.
The parking spaces are generally rectangular areas, and the parking spaces are divided by drawing a line on the ground in the parking lot.
The parking space map is generated by using the positioning device, the positioning device is mounted on the detection carrier, the detection carrier travels along the outline of the parking space, the position data in the traveling is recorded in real time, and the position data is projected in the map to generate the parking space map. The detection carrier can be a remote control trolley or a hand-push type trolley and the like, and can carry a positioning device, and the type of the detection carrier is not limited.
Wherein the position data is longitude and latitude. In order to ensure the positioning accuracy, the positioning device can use a high-precision RTK (Real-time kinematic) combined inertial navigation. The RTK positioning technology is a real-time dynamic positioning technology based on a carrier phase observation value, can provide a three-dimensional positioning result of a measuring station in a specified coordinate system in real time and achieves centimeter-level precision. In the RTK mode of operation, the base station transmits its observations to the rover station along with the coordinate information of the rover station via the data chain. The rover station not only receives data from the reference station through a data chain, but also acquires GPS observation data, forms differential observation values in the system for real-time processing, and simultaneously gives centimeter-level positioning results for less than one second. The rover can be in a static state and a moving state; the method can be used for initializing on a fixed point and then entering dynamic operation, can also be directly started under a dynamic condition, and can complete the searching and solving of the ambiguity of the whole cycle under a dynamic environment.
Meanwhile, the positioning device is also provided with an Inertial Measurement Unit (IMU), and the Inertial Measurement Unit is a device for measuring the three-axis attitude angle (or angular rate) and acceleration of the object. Generally, an IMU includes three single-axis accelerometers and three single-axis gyroscopes, the accelerometers detect acceleration signals of an object in three independent axes of a carrier coordinate system, and the gyroscopes detect angular velocity signals of the carrier relative to a navigation coordinate system, measure angular velocity and acceleration of the object in a three-dimensional space, and solve the posture of the object according to the angular velocity signals.
Specifically, for example, the positioning device is installed on a trolley capable of automatically finding a road to draw a parking space map, the trolley is firstly arranged on a contour line of a parking space to enable the trolley to walk along the contour line, the current position data of the positioning device can be recorded according to a preset time interval, and corresponding path points are generated in the map.
When the detection carrier runs for one circle along the outline of the parking space, the adjacent path points are connected to form a parking space map, the preset time can be set by taking an instruction cycle as a unit, the smaller the time interval is, the more the path points are, the more the formed map is accurate, and because the high-precision RTK inertial navigation is used in the embodiment, the error is in centimeter level, and the error can be completely ignored in the application environment of the embodiment.
Besides the map, the contour information of the vehicle, i.e. the size of the vehicle, needs to be obtained, taking a common car as an example, the length, the width and the height of the car need to be known to determine the size of the space occupied by the car, and the manner of obtaining the contour data can be field measurement or directly obtained from the product specification of the vehicle.
After the preparation work is done, the test can be started aiming at the parking process, for the automatic parking of the vehicle, the test can be started when the vehicle to be tested approaches the parking space, the automatic parking can be started when the tail of the vehicle faces the parking space and the head of the vehicle faces different directions, or the automatic parking can be started when the head of the vehicle faces the parking space.
After the automatic parking is started, the parking process information can be collected through the vehicle bus information, specifically, the parking process information is a series of steps executed by the system for controlling the vehicle when the vehicle performs actions for parking, namely forward moving times, backward moving times, turning times, garage kneading times and the like, in the process from the start of parking to the end of parking, and the data can be directly obtained from the vehicle bus information.
After parking is finished, the position data of the vehicle to be detected can be obtained, in the application, the positioning device mentioned in the step S100 is also installed on the vehicle to be detected, the positioning device can output the position data of the vehicle to be detected in real time, and the position data is also latitude and longitude, so that the vehicle to be detected and the parking space map are processed under the same coordinate system.
The positioning device is mounted on a preset position of the vehicle. As shown in fig. 2, the positioning device can be installed at the middle position in the vehicle to be measured, and the distance between the positioning device and the vehicle to be measured is recorded, and the inertial measurement unit is also arranged in the positioning device, so that the longitude and latitude coordinates of the vehicle can be obtained, and the heading, the inclination angle, the speed and other data of the vehicle can be obtained through the inertial measurement unit.
Because the installation position of the positioning device is fixed and known, a vehicle model of the vehicle to be detected can be generated on the parking map according to the latitude and longitude data output by the positioning device and the contour data, wherein the contour data determines the size of the vehicle model, and the latitude and longitude determines the position of the vehicle model.
For example, the positioning device is installed at a position 1 meter from the head of the vehicle, 1.2 meters from the tail of the vehicle, 0.8 meter on the left side, 0.8 meter on the right side and 0.5 meter high, and the contour data of the vehicle is 2.2 meters long, 1.6 meters wide and 1.4 meters high.
Then a contour line representing the vehicle head may be generated 1 meter ahead of the coordinates returned by the positioning device, the contour line being 1.4 meters long, and a contour line representing the vehicle tail may be generated 1.2 meters behind, and being as long as the contour line of the vehicle head. The left side 0.8 meter generates a contour line representing the left side of the vehicle, the contour line is 2.2 meters long, and the right side 0.8 meter generates a contour line representing the right side of the vehicle, and the contour line is as long as the contour line on the left side. Therefore, a simple vehicle model representing the vehicle to be tested can be obtained, because the embodiment is directed to the test of parking of the vehicle, the coordinate position of the vehicle is mainly required to be known, and the height information of the vehicle is not important, so that a simple 2-dimensional plane model can be generated, namely, the vehicle to be tested is represented by a rectangle, and the calculation amount is reduced.
Similarly, a three-dimensional model may also be generated to more intuitively observe a change in a posture of the vehicle during parking, and if the three-dimensional model needs to be generated, more detailed profile data is required, which is not described herein again.
Meanwhile, because the orientation of the vehicle can be obtained through the inertial measurement unit, the attitude information of the vehicle to be measured, such as the north or south, or the north is 30 degrees, can be obtained, and therefore the attitude of the vehicle model can be determined according to the orientation of the vehicle.
As shown in fig. 3 and fig. 4, which are schematic diagrams of the posture of the vehicle 200 to be tested in the parking space 100, because the posture data is obtained, the generated vehicle model can obtain the parking posture of the vehicle 200 to be tested similar to that in the drawing, and the posture is taken as the posture data of the vehicle 200 to be tested. Therefore, the position and the posture of the vehicle to be detected are determined, and the pose data of the vehicle to be detected are determined.
And S200, outputting parking information of the parking space relative to the vehicle to be detected according to the pose data.
After the vehicle 200 to be tested in fig. 3 is parked, a certain angle is formed with the parking space, and this step quantifies the parking situation, so as to obtain the parking information of the parking result.
Specifically, a parking angle formed by the vehicle 200 to be tested and the parking space 100 and an inner distance from the peripheral edge of the vehicle 200 to be tested to the inner side of the corresponding boundary line of the parking space 100 are obtained.
The parking included angle in this embodiment is represented by an angle a in fig. 3, which is an angle formed by a straight line on the left side of the vehicle 200 to be tested and the front end edge of the parking space 100, if the vehicle completely fits into the parking space 100, the angle a should be 90 degrees theoretically, and if the angle a is smaller than 90 degrees or larger than 90 degrees, it represents that the vehicle to be tested is askew when entering the parking space, and the parking effect is not ideal.
In addition, the angle formed by the straight line on the left side of the vehicle 200 to be tested and the power supply on the left side of the parking space 100 can be used as the parking included angle, because the vehicle completely fits into the parking space 100, the vehicle body of the vehicle 200 to be tested should be parallel to the edges of the left side and the right side of the parking space 100, namely, the angle should be 0 degree. Similarly, the angles formed by the straight lines of the other three sides on the vehicle 200 to be tested and the three sides corresponding to the parking space 100 may also be used, which are not repeated herein.
Taking the inner distance between the tail of the vehicle 200 to be tested and the rear of the parking space 100 as an example, the inner distance is D1 in fig. 3, because the vehicle 200 to be tested is parked in a relatively askew posture, the distance between the tail and the edge is taken as the inner distance between the tail of the vehicle 200 to be tested and the rear of the parking space 100.
The dotted line in fig. 3 is a parallel line parallel to the rear side line of parking space 100, and since a vehicle model and a space map have been established on the map, that is, the edge coordinates of parking space 100 and the edge coordinates of vehicle 200 to be detected are known, the inside distance can be obtained by making a parallel line. Likewise, the inside distance reflecting whether the vehicle 200 under test is parked in the parking space 100 at the right center can be obtained in a similar manner for all of the front side, the left side, and the right side of the vehicle 200 under test.
As shown in fig. 4, in this figure, after the vehicle to be tested is parked, the vehicle body is the parking space entered in a more correct manner than in fig. 3, and at this time, the angle formed by the vehicle to be tested and the parking space, the distance D1 between the tail of the vehicle to be tested and the inner side of the parking space, and the distance D2 between the left side of the vehicle to be tested and the inner side of the parking space can also be measured by similar operations as described above. Similarly, the distance between the front side and the inner side of the parking space and the distance between the right side and the parking space can be obtained, so that whether the parking position of the vehicle to be detected is in the center of the parking space or not can be judged.
In the parking process, the positioning device may also continuously output the positioning coordinates, and similarly to the generation of the parking space map in step S100, a parking track when the vehicle 200 to be tested parks may be generated.
And step S300, outputting a test report according to the parking information and the parking process information.
Therefore, the parking process can be evaluated according to the obtained inner side distance, parking track, parking included angle and parking process information, and a test report is obtained.
Specifically, the test report includes the comparison between the above parameters and various test standards in the current test result, the pose data of the vehicle after parking is finished, and the image of the vehicle model when parking on the parking space map. And then, integrating the data to generate various grading indexes such as passing rate and the like, and setting a corresponding multidimensional graph according to the quantity of the indexes to show whether the current tested parking algorithm is stable and meets the conditions.
The assessment criteria are different for different vehicle models, larger vehicles may have a smaller inside distance and vice versa a larger parking angle. Meanwhile, because parking spaces are different in size and parking difficulty, the type of the current vehicle can be determined according to the outline of the vehicle, and then the evaluation standard is comprehensively determined according to the size of the parking spaces, so that a test report is output. By evaluating and testing the automatic parking in two aspects of the parking process and the parking result, the problem of the current parking algorithm can be better found.
The automatic parking test method realizes full automation of the whole test process by establishing the parking space map and positioning the vehicle to be tested with high precision, so that testers do not need to sit in the vehicle or remotely control the vehicle, only need to set scripts, the vehicle to be tested automatically executes the test process according to the scripts, various data required by the test can be automatically obtained, when the parking method belongs to an unstable development stage, the testers avoid risks, meanwhile, the whole test process is more intelligent and automatic, test reports can be automatically generated, data feedback and data analysis are carried out on the parking result and the parking process of the vehicle to be tested, the pressure of the testers is greatly reduced, and better operation direction is provided for developers.
Example 2
As shown in fig. 5, the present application also provides an automatic parking test apparatus, including:
the acquisition module 10 executes an automatic parking program, acquires parking process information through a vehicle bus, acquires position data of a vehicle to be detected after parking is finished, and generates pose data of the vehicle to be detected according to the profile data and the position data of the vehicle to be detected;
the information acquisition module 20 is configured to output parking information of the parking space relative to the vehicle to be detected according to the pose data;
and the output module 30 is used for outputting a test report according to the parking information and the parking process information.
The application also provides a computer terminal which comprises a processor and a memory, wherein the memory stores a computer program, and the computer program executes the automatic parking test method when running on the processor.
The present application further provides a readable storage medium, which stores a computer program that executes the automatic parking test method when the computer program runs on a processor.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative and, for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, each functional module or unit in each embodiment of the present invention may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention or a part of the technical solution that contributes to the prior art in essence can be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a smart phone, a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention.
Claims (10)
1. An automatic parking test method, comprising:
executing an automatic parking program, acquiring parking process information through a vehicle bus, acquiring position data of a vehicle to be tested after parking is finished, and generating pose data of the vehicle to be tested according to the profile data and the position data of the vehicle to be tested;
outputting parking information of the parking space relative to the vehicle to be detected according to the pose data;
and outputting a test report according to the parking information and the parking process information.
2. The automatic parking test method according to claim 1, further comprising, before executing the automatic parking program:
and mounting a positioning device on a detection carrier, wherein the detection carrier travels along the outline of the parking space, recording position data generated in the traveling process in real time, projecting the position data in a real map, and generating a parking space map so as to determine the size and the position of the parking space.
3. The automatic parking test method according to claim 2, wherein the step of recording position data during walking in real time, projecting the position data on the real map, and generating the parking space map comprises:
recording the current position data of the positioning device according to a preset time interval, and generating a corresponding path point in the real map;
and when the detection vehicle drives for one circle along the outline of the parking space, connecting adjacent path points to form the parking space map.
4. The automatic parking test method according to claim 2, wherein the acquiring position data of the vehicle to be tested and generating the pose data of the vehicle to be tested according to the contour data and the position data comprises:
the positioning device is arranged at a preset position of the vehicle to be detected, and positioning data of the vehicle to be detected in the parking process are acquired in real time through the positioning device; the positioning data comprises longitude, latitude and inertia measurement data of the positioning device;
determining the geographic position of the vehicle to be detected according to the longitude and the latitude, and generating a vehicle model on the parking space map according to the preset position of the positioning device and the outline data;
and determining attitude data of the vehicle model according to the inertial measurement data.
5. The automatic parking test method according to claim 4, wherein the positioning device includes an inertia measurer and a carrier phase differential positioner;
the carrier phase differential locator is used for obtaining longitude and latitude in the locating data, and the inertia measurer is used for outputting the inertia measuring data.
6. The automatic parking test method according to claim 4, wherein outputting parking information of the parking space with respect to the vehicle to be tested according to the pose data comprises:
determining the inner side distance from the peripheral edge of the vehicle to be detected to the inner side of the corresponding boundary line of the parking space on the parking space map according to the attitude data of the vehicle model;
determining a parking included angle formed by the boundary line of the vehicle to be tested and the parking space;
and recording positioning data in the parking process, generating a parking track, and taking the inner side distance, the parking included angle and the parking track as the parking information.
7. The automatic parking test method according to claim 1, wherein outputting a test report based on the location data and the parking process information includes:
and selecting a corresponding parking standard according to the contour data and the size of the parking space, comparing the parking standard with the parking information and the parking process information, evaluating a test result and generating a corresponding test report.
8. An automatic parking test device, comprising:
the acquisition module is used for executing an automatic parking program, acquiring parking process information through a vehicle bus, acquiring position data of a vehicle to be detected after parking is finished, and generating pose data of the vehicle to be detected according to the profile data and the position data of the vehicle to be detected;
the information acquisition module is used for outputting parking information of the parking space relative to the vehicle to be detected according to the pose data;
and the output module is used for outputting a test report according to the parking information and the parking process information.
9. A computer terminal, characterized in that it comprises a processor and a memory, which memory stores a computer program that, when run on the processor, executes the method for automated parking test according to one of claims 1 to 7.
10. A readable storage medium, characterized in that it stores a computer program which, when executed on a processor, executes the automated parking test method according to any one of claims 1 to 7.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117168833A (en) * | 2023-08-17 | 2023-12-05 | 中汽研汽车检验中心(广州)有限公司 | Automatic parking performance test method and system in complex meteorological environment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117168833A (en) * | 2023-08-17 | 2023-12-05 | 中汽研汽车检验中心(广州)有限公司 | Automatic parking performance test method and system in complex meteorological environment |
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