CN115060505A - Emergency lane keeping test system and method for high-precision positioning of meeting scene - Google Patents
Emergency lane keeping test system and method for high-precision positioning of meeting scene Download PDFInfo
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- 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
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Abstract
The invention relates to an emergency lane keeping test system and method for high-precision positioning meeting scene, wherein the system comprises a vehicle-mounted power supply device, a GPS/RTK antenna module, a data acquisition processing module, a vehicle-to-vehicle communication antenna, a vehicle CAN box tool and an upper computer; the method comprises the following steps: installing test system equipment; calibrating; the vehicle motion state elements are associated with the external environment state elements to complete the test case; after the test cases are generated, testing according to the cases, and during the execution period, obtaining vehicle CAN signals and two-vehicle position information corresponding to the cases; after the test is finished, playing back corresponding signals recorded by the upper computer, and analyzing and comparing the signals with test data one by one according to functional indexes and performance requirements; and the test verification of the real vehicle test of the vehicle emergency lane keeping in the vehicle meeting scene is completed. The invention reduces the analysis work of later data of testers, improves the testing efficiency, and effectively improves the testing efficiency and quality of the emergency lane keeping function in the scene.
Description
Technical Field
The invention relates to the technical field of automobile electrical testing, in particular to an emergency lane keeping testing system and method for high-precision positioning of a meeting scene, and particularly relates to a real automobile testing system and method for vehicle emergency lane keeping of the meeting scene.
Background
With the development of the automobile industry, different intelligent networking equipment is configured to become the competitive direction of the charm of products created by each automobile host factory, and automobile consumers also attach more importance to and favor the intelligent networking equipment when choosing and purchasing vehicles. The Emergency Lane Keeping function (Emergency Lane Keeping) is newly added ADAS equipment in recent years, and according to the specific configuration scheme of each manufacturer, the Emergency Lane Keeping function can be divided into Emergency Lane Keeping in a road edge scene, Emergency Lane Keeping in an opposite meeting scene, and Emergency Lane Keeping in a rear overtaking scene. The improvement of the functional complexity also brings new challenges to the test and verification work of automobile electrical function testers. At present, the verification of the driving assistance functions such as emergency lane keeping and the like is mostly tested and evaluated by adopting a virtual simulation verification method, and although the test scheme can realize the automatic execution of the test scene construction and the sequence. However, because an ideal model is used for simulation, the test result cannot be completely equivalent to the real vehicle performance in the real external environment. However, the existing real vehicle testing scheme has a series of problems of low precision of testing data, consistency of various testing data formats, convenience in data viewing and storage, and the like, and based on the current situation, it is urgently needed to develop an emergency avoidance testing system and method based on a real vehicle meeting scene.
Patent document 1(CN105151043A) provides a system and a method for emergency avoidance of an unmanned vehicle. Firstly, sensing the surrounding environment by using an environment detection system of an unmanned vehicle, and judging the type, the state and other conditions of an avoidance object; then according to the actual situation of the avoidance object, carrying out analysis decision to obtain an emergency avoidance scheme; then sending the decision information to a vehicle control device to execute an avoidance action; and finally, judging whether the avoidance is successful or not according to the real-time information and whether the avoidance needs to be re-planned or not. The emergency avoidance system can enable the vehicle to take measures actively before an accident occurs, and can effectively reduce the occurrence rate of the vehicle accident.
Patent document 2(CN113361098A) provides a method and an apparatus for testing a vehicle blind area monitoring function, and a vehicle, wherein the method includes: establishing a blind area monitoring function model; compiling a target file for reading the functional test case, and operating a dead zone monitoring functional model by using the target file to obtain alarm test data; and generating a data table corresponding to the test case according to the alarm test data, and displaying the test result of the vehicle blind area monitoring function. The test method solves the problems of overlong development and test time in the development process of the intelligent driving blind area monitoring function and prototype verification in the development process, reduces the test burden of the functional units, obviously improves the test speed and greatly reduces the development, verification and test time of the blind area monitoring function.
Patent document 3(CN202111514559.2) proposes a system and a method for testing an emergency avoidance real vehicle, which implement test verification of an emergency avoidance function through a high-precision positioning device, and the system CAN record and store the whole vehicle CAN bus data during the test of the emergency avoidance function of a test vehicle, and has the following characteristics: the real-time synchronous updating of the accurate distance, the position state and the motion state of the test vehicle and the roadside road edge CAN be realized, the information CAN be transmitted to a vehicle CAN bus in a CAN data form and is conveniently stored in an upper computer, so that the data playback and analysis of a test and development personnel are facilitated, and the simulation system and the method effectively improve the test accuracy by accurately measuring the distance between the vehicle and the roadside road edge.
To sum up: a solution is provided for the implementation based on the emergency avoidance function in patent document 1, a test mode of virtual simulation is adopted in patent document 2, the test condition and function of patent document 3 are different from those of the present invention, and the above documents and the test system and method have no conflict and replacement of content and rights.
Disclosure of Invention
The invention aims to solve the technical problems of low precision of test data, lack of consistency of various test data formats, convenience in data viewing and storage and the like in the prior art, and provides an emergency lane keeping test system and method for positioning meeting scenes with high precision.
The invention aims to provide an emergency avoidance testing system and method for positioning a meeting scene with high precision. The tester CAN acquire CAN data in the vehicle and position data of the oncoming vehicle and the oncoming vehicle in real time through the system, and the corresponding data is synchronously displayed in real time and stored in the upper computer. Compared with a test verification method of computer simulation, the system and the method can effectively avoid errors caused by model idealization, meet the requirements of test testers on the verification and evaluation of the emergency avoidance test function of the meeting scene, complement the virtual simulation test, complete the function and performance test of emergency lane keeping in the meeting scene, improve the test scheme and further improve the test quality.
It should be noted that, because the emergency lane keeping function in meeting place scenes is tested, and the emergency lane keeping function is similar to certain scenes or working conditions in blind area monitoring or lane changing assistance, the test methods of the emergency lane keeping function and the blind area monitoring or lane changing assistance are similar. In the lane change assisting or blind area monitoring function, the distance between the vehicle and the vehicle behind the adjacent lane and the collision risk need to be monitored in real time by the testing device, and the meeting scene aimed at by the invention is that the recognition and control capability of the vehicle and the oncoming vehicle ahead of the adjacent lane is tested.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, 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.
In order to solve the technical problems, the invention is realized by adopting the following technical scheme:
an emergency lane keeping test system for high-precision positioning meeting scenes comprises a GPS module with RTK, a data acquisition processing module, a vehicle-vehicle communication antenna, a vehicle CAN box tool and an upper computer;
the GPS module with the RTK is used for acquiring high-precision position information of the test vehicle and the opposite target vehicle, and is realized by selecting a GPS antenna and matching with an RTK differential positioning technology;
the vehicle-vehicle communication antenna sends the slave vehicle data to the main vehicle, the main vehicle and the slave vehicle position information data are collected by the data collecting and processing module and converted into CAN signals to be sent out, the CAN signals and the CAN network information of the vehicle are collected to the vehicle CAN box and sent to the upper computer for displaying and storing, and test data with complete emergency lane keeping functions in a vehicle meeting scene are obtained.
An emergency lane keeping test system for high-precision positioning meeting scenes further comprises a vehicle-mounted power supply device for supplying power.
The power supply equipment converts electric energy into alternating current from a 12V power supply position of the vehicle cigarette lighter and supplies power for the GPS, the CAN acquisition equipment, the upper computer, the vehicle-vehicle communication antenna and the slave vehicle signal acquisition equipment.
An emergency lane keeping test method for high-precision positioning of a meeting scene comprises the following steps:
step one, installing test system equipment:
the master vehicle and the slave vehicle are both provided with a GPS/RTK antenna module;
erecting a corresponding GPS portable base station in a test site;
the main vehicle and the auxiliary vehicle are both provided with vehicle-vehicle communication modules;
the main vehicle installation data acquisition processing module collects the position data of the two vehicles, converts the position data into a CAN signal of 500KB and transmits the CAN signal to an upper computer;
step two, calibration:
setting the position of a headlamp on the left side of the master vehicle and the position of a headlamp on the left side of the slave vehicle as a calculation reference point for collision of the two vehicles; aligning collision points of the two vehicles, and if the system output distance information is not zero at the moment, adjusting the system output position distance to be zero to eliminate errors and keep the system output data consistent with the actual information;
step three, correlating the vehicle motion state element with the external environment state element to complete the test case;
after the test cases are generated, testing according to the cases, and during execution, obtaining vehicle CAN signals and two-vehicle position information corresponding to the cases;
after the test is finished, playing back corresponding signals recorded by the upper computer, and analyzing and comparing the corresponding signals with test data one by one according to functional indexes and performance requirements; and the test verification of the real vehicle test of the vehicle emergency lane keeping in the vehicle meeting scene is completed.
Further, the vehicle motion state is divided into a vehicle gear state, a driving posture and a vehicle speed; the vehicle gear comprises D, N, M or S different gear states, and the driving posture comprises a left side fast deviation, a left side slow deviation, a right side fast deviation and a right side slow deviation.
Further, the vehicle speed is set to 25km/h, 35km/h, 45km/h or 55 km/h.
Furthermore, the tester obtains complete vehicle motion state elements by matching three variables of the vehicle gear state, the driving posture and the vehicle speed.
Further, the external environment state is divided into a light environment, a road environment, and a road curvature.
Further, the light environment comprises a clear day direct light, a clear day reverse light, a cloudy day, no street lamp at night and a street lamp at night;
the road environment comprises two side lane lines, a right single line, a left single line, a right double line, a left double line and no lane line according to lane lines;
the road curvature comprises a right curve, a left curve and a straight road.
Furthermore, the tester obtains complete external environment state elements by matching three variables of the light environment, the road environment and the road curvature.
Further, the vehicle CAN signal and the two-vehicle position information corresponding to each use case include, but are not limited to, the following signals: the speed, the gear, the hand torque of the steering wheel and the ELK working state signal of the slave vehicle of the tested vehicle. And the lateral speed, the acceleration, the collision distance and the TTC data of the test vehicle at the offset moment are provided by the positioning equipment.
TTC: the abbreviation of Time-To-Collision translates To Collision Time.
Compared with the prior art, the invention has the beneficial effects that:
the positive effect of the test system is that complete and accurate test data of the emergency lane keeping function test process in a meeting scene CAN be obtained in a real environment, and synchronous display and storage of positioning data and CAN signals in the vehicle body are realized. The high-precision test data not only comprises the real-time information of the two vehicles, such as the transverse distance, the longitudinal distance, the speed, the acceleration and the like. The TTC information of the collision between the detected vehicle and the oncoming vehicle can be directly displayed, the analysis work of later data of testers is reduced, the test efficiency is improved, and the test efficiency and the quality of the emergency lane keeping function in the scene are effectively improved.
Drawings
The invention is further described below with reference to the accompanying drawings:
FIG. 1 is an architecture diagram of an emergency lane keeping test system for a high-precision positioning meeting scene according to the present invention;
FIG. 2 is a schematic view of a meeting scene;
FIG. 3 is a diagram illustrating a test case configuration.
Detailed Description
In order to make the implementation objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be described in more detail below with reference to the accompanying drawings in the embodiments of the present invention. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are only some, but not all embodiments of the invention. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the 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. Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience in describing the present invention and for simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be taken as limiting the scope of the present invention.
The invention is described in detail below with reference to the attached drawing figures:
the invention aims to provide an emergency avoidance testing system and method for high-precision positioning of a meeting scene. The tester CAN acquire CAN data in the vehicle and position data of the oncoming vehicle and the oncoming vehicle in real time through the system, and the corresponding data is synchronously displayed in real time and stored in the upper computer.
Compared with a test verification method of computer simulation, the system and the method can effectively avoid errors caused by model idealization, meet the requirements of test testers on the verification and evaluation of the emergency avoidance test function of the meeting scene, complement the virtual simulation test, complete the function and performance test of emergency lane keeping in the meeting scene, improve the test scheme and further improve the test quality.
The following describes the implementation path of the present invention:
an emergency avoidance test system and method for high-precision positioning of a meeting scene. The test system comprises a vehicle-mounted power supply device, a GPS/RTK antenna module, a data acquisition and processing module, a vehicle-vehicle communication antenna, a vehicle CAN box tool and an upper computer.
The method is characterized in that: in order to acquire high-precision position information of the test vehicle and the opposite target vehicle, a GPS antenna is selected and matched with an RTK differential positioning technology to realize the high-precision position information.
The vehicle-vehicle communication antenna sends the slave vehicle data to the master vehicle, the master vehicle and the slave vehicle position information data are gathered by the data acquisition and processing module and converted into CAN signals to be sent out, and the CAN signals and the vehicle CAN network information are gathered to the vehicle CAN box and finally sent to the upper computer to be displayed and stored, so that the test data with complete emergency lane keeping function in the vehicle crossing scene is obtained.
The positive effect of the test system is that complete and accurate test data of the emergency lane keeping function test process in a meeting scene CAN be obtained in a real environment, and synchronous display and storage of positioning data and CAN signals in the vehicle body are realized.
The high-precision test data not only comprises the real-time information of the two vehicles, such as the transverse distance, the longitudinal distance, the speed, the acceleration and the like. The TTC information of the collision between the tested vehicle and the oncoming vehicle can be directly displayed, the analysis work of the later data of the testers is reduced, the testing efficiency is improved, and the testing efficiency and the quality of the emergency lane keeping function in the scene are effectively improved.
The test system and method are described in the following with reference to the accompanying drawings:
as shown in FIG. 1, in the first step, the test system is installed, the tested vehicle (i.e. the test master vehicle) and the target vehicle (i.e. the test slave vehicle) are both installed with GPS/RTK antenna modules, and the test site is erected with a corresponding GPS portable base station as a support. After the portable base station is started, the portable base station needs to wait for a period of time to search and lock the satellite. The master car and the slave cars are respectively provided with a car communication module, the slave car information is collected to the master car through the antenna, the master car is provided with a data acquisition and processing module to collect and process the position data of the two cars, and the position data is converted into a 500KB CAN signal and transmitted to the upper computer. The above devices are powered by an onboard power supply.
Step two, after calibration and equipment completion, in order to obtain reliable position data, such as TTC time of a two-vehicle collision point, a collision reference point needs to be set in a system tool, taking the opposite meeting of the vehicles running in the right lane as an example, as shown in FIG. 2, the position of a left headlamp of a self vehicle and a target vehicle is set as a calculation reference point of the two-vehicle collision. And aligning collision points of the two vehicles, and if the system output distance information is not zero at the moment, adjusting the system output position distance to be zero to eliminate errors and keep the system output data consistent with the actual information.
And step three, the test case used by the test system and the test method needs to comprise two parts, namely an external environment condition and a vehicle motion state.
And step four, as shown in fig. 3, the vehicle motion state is divided into a vehicle gear state, a driving posture and a vehicle speed. The vehicle gears comprise different gear states of D/N/M/S, and the driving posture comprises a left side fast deviation, a left side slow deviation, a right side fast deviation and a right side slow deviation. The vehicle speeds were set at 25km/h, 35km/h, 45km/h, and 55 km/h. And the tester obtains a complete vehicle motion state element by matching the three variables.
Step five, as shown in fig. 3, the external environment state is divided into a light environment, a road environment, and a road curvature. The light environment comprises a sunny day with a direct light, a sunny day with a reverse light, a cloudy day, no street lamp at night and a street lamp at night. The road environment comprises double-side lane lines, a right single line, a left single line, a right double line, a left double line and a wireless lane line according to lane lines. The road curvature comprises a right curve, a left curve and a straight road. And the tester obtains a complete external environment state element by matching the three variables.
And step six, correlating the vehicle motion state elements with the external environment state elements to complete the test case.
And step seven, after the test cases are generated, testing according to the cases, and during the execution period, obtaining the vehicle CAN signals and the two-vehicle position information corresponding to each case. Including but not limited to the following signals: the speed, the gear, the hand torque of the steering wheel and the ELK working state signal of the tested vehicle. And the positioning equipment provides data such as lateral speed, acceleration, collision distance, TTC and the like of the test vehicle at the offset moment.
And step eight, after the test is finished, playing back corresponding signals recorded by the upper computer, and analyzing and comparing the corresponding signals with the test data item by item according to the functional indexes and the performance requirements. And the test verification of the real vehicle test of the vehicle emergency lane keeping in the vehicle meeting scene is completed.
The test system and the test method have the positive effects that automobile testers can obtain real and accurate test data of the emergency lane keeping function of the vehicle in the actual road environment. The testing quality is improved through the high-precision positioning equipment, so that the testing information is accurately fed back to the development end, and the technical strength and the competitive level of a host factory are ensured.
The above embodiments are merely preferred embodiments of the method and system of the present invention, and all modifications, substitutions and other embodiments made on the basis of the present invention should be within the scope of the present invention.
The invention CAN realize the test and verification of the emergency lane keeping function under the meeting scene through the high-precision positioning device, and the system CAN record and store CAN bus data of the tested vehicle during the test of the emergency lane keeping function of the tested vehicle, and has the following characteristics: and acquiring information such as the position, the motion attitude, the speed, the acceleration and the like between the detected vehicle and the opposite target vehicle through the positioning equipment. And synchronously displays and stores with the CAN signal of the vehicle body. And the method is beneficial to the analysis and the troubleshooting of the problems of the testing and developing personnel.
The above description is only for the purpose of illustrating the present invention and the appended claims are not to be construed as limiting the scope of the invention, which is intended to cover all modifications, equivalents and improvements that are within the spirit and scope of the invention as defined by the appended claims. And those not described in detail in this specification are well within the skill of those in the art.
Claims (10)
1. The utility model provides an urgent lane of high accuracy location meeting scene keeps test system which characterized in that: comprises that
The system comprises a GPS module with RTK, a data acquisition processing module, a vehicle-vehicle communication antenna, a vehicle CAN box tool and an upper computer;
the GPS module with the RTK is used for acquiring high-precision position information of the test vehicle and the opposite target vehicle, and is realized by selecting a GPS antenna and matching with an RTK differential positioning technology;
the vehicle-vehicle communication antenna sends the slave vehicle data to the main vehicle, the main vehicle and the slave vehicle position information data are collected by the data collecting and processing module and converted into CAN signals to be sent out, the CAN signals and the CAN network information of the vehicle are collected to the vehicle CAN box and sent to the upper computer for displaying and storing, and test data with complete emergency lane keeping functions in a vehicle meeting scene are obtained.
2. The emergency lane keeping test system for high-precision positioning of vehicle meeting scenes as claimed in claim 1, wherein: the vehicle-mounted power supply device is used for supplying power.
3. An emergency lane keeping test method for high-precision positioning of a meeting scene is characterized by comprising the following steps:
step one, installing test system equipment:
the master vehicle and the slave vehicle are both provided with a GPS/RTK antenna module;
erecting a corresponding GPS portable base station in a test site;
the main vehicle and the auxiliary vehicle are both provided with vehicle-vehicle communication modules;
the main vehicle installation data acquisition processing module collects the position data of the two vehicles, converts the position data into a CAN signal of 500KB and transmits the CAN signal to an upper computer;
step two, calibration:
setting the position of a headlamp on the left side of the master vehicle and the position of a headlamp on the left side of the slave vehicle as a calculation reference point for collision of the two vehicles; aligning collision points of the two vehicles, and if the system output distance information is not zero at the moment, adjusting the system output position distance to be zero to eliminate errors and keep the system output data consistent with the actual information;
step three, correlating the vehicle motion state element with the external environment state element to complete the test case;
after the test cases are generated, testing according to the cases, and during execution, obtaining vehicle CAN signals and two-vehicle position information corresponding to the cases;
after the test is finished, playing back corresponding signals recorded by the upper computer, and analyzing and comparing the corresponding signals with test data one by one according to functional indexes and performance requirements; and the test verification of the real vehicle test of the vehicle emergency lane keeping in the meeting scene is completed.
4. The emergency lane keeping test method for the high-precision positioning meeting scene according to claim 3, wherein the method comprises the following steps:
the vehicle motion state comprises a vehicle gear state, a driving posture and a vehicle speed; the vehicle gear comprises D, N, M or S different gear states, and the driving posture comprises a left side fast deviation, a left side slow deviation, a right side fast deviation and a right side slow deviation.
5. The emergency lane keeping test method for the high-precision positioning meeting scene according to claim 4, wherein the method comprises the following steps:
the vehicle speed is set to be 25km/h, 35km/h, 45km/h or 55 km/h.
6. The emergency lane keeping test method for the high-precision positioning meeting scene according to claim 5, wherein the method comprises the following steps:
the tester obtains a complete vehicle motion state element by matching three variables of the vehicle gear state, the driving posture and the vehicle speed.
7. The emergency lane keeping test method for the high-precision positioning meeting scene according to claim 6, characterized in that:
the external environment state is divided into a light environment, a road environment and a road curvature.
8. The emergency lane keeping test method for the high-precision positioning meeting scene according to claim 7, wherein the method comprises the following steps:
the light environment comprises a sunny day, a cloudy day, no street lamp at night and a street lamp at night;
the road environment comprises two side lane lines, a right single line, a left single line, a right double line, a left double line and no lane line according to lane lines;
the road curvature comprises a right curve, a left curve and a straight road.
9. The emergency lane keeping test method for the high-precision positioning meeting scene according to claim 8, wherein the method comprises the following steps:
the tester obtains complete external environment state elements by matching three variables of the light environment, the road environment and the road curvature.
10. The emergency lane keeping test method for the high-precision positioning meeting scene according to claim 9, wherein the method comprises the following steps:
the vehicle CAN signals and the two-vehicle position information corresponding to each use case include but are not limited to the following signals: the speed, the gear, the hand torque of the steering wheel and the ELK working state signal of the slave vehicle of the tested vehicle. And the lateral speed, the acceleration, the collision distance and the TTC data of the test vehicle at the offset moment are provided by the positioning equipment.
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| CN202210450091.3A CN115060505A (en) | 2022-04-26 | 2022-04-26 | Emergency lane keeping test system and method for high-precision positioning of meeting scene |
| PCT/CN2023/089951 WO2023207812A1 (en) | 2022-04-26 | 2023-04-22 | Emergency lane keeping test system and method for high-precision positioning vehicle-meeting scenario |
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| WO2023207812A1 (en) * | 2022-04-26 | 2023-11-02 | 一汽奔腾轿车有限公司 | Emergency lane keeping test system and method for high-precision positioning vehicle-meeting scenario |
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| CN117255325B (en) * | 2023-11-15 | 2024-01-16 | 湖南大学 | Intelligent network V2X scene verification system and method |
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| CN115290340A (en) * | 2022-06-30 | 2022-11-04 | 一汽奔腾轿车有限公司 | Test system and method for positioning forward traffic passing prompt function |
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