CN115219236A - Vehicle control system and vehicle testing method - Google Patents
Vehicle control system and vehicle testing method Download PDFInfo
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- CN115219236A CN115219236A CN202210812670.8A CN202210812670A CN115219236A CN 115219236 A CN115219236 A CN 115219236A CN 202210812670 A CN202210812670 A CN 202210812670A CN 115219236 A CN115219236 A CN 115219236A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
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Abstract
The embodiment of the application discloses a vehicle control system and a vehicle testing method, and belongs to the technical field of automotive electronics. The vehicle control system comprises a vehicle testing module, a lane departure early warning LDW module and a vehicle control unit, wherein the vehicle testing module and the vehicle control unit are respectively connected with the LDW module. The LDW module is used for collecting road environment data of the vehicle and generating early warning information based on the road environment data. The vehicle control unit is used for controlling the vehicle to send out an early warning signal based on the early warning information, and the early warning signal is used for prompting the vehicle to deviate from a lane line. The vehicle testing module is used for testing the performance of the LDW module based on the time when the vehicle sends out the early warning signal. The vehicle test module of this application embodiment can be through with the vehicle on the linkage effect of other equipment, test the performance of LDW module fast to the developer in time optimizes the improvement to the LDW module.
Description
Technical Field
The embodiment of the application relates to the technical field of automotive electronics, in particular to a vehicle control system and a vehicle testing method.
Background
With the support of the car networking technology, a Lane Departure Warning module configured on a vehicle can realize a Lane Departure Warning function. Specifically, the LDW module may determine whether the vehicle deviates from the lane according to a lane line of the road ahead and a current driving state of the vehicle, and send an early warning signal to remind the driver in time, so as to avoid a lane deviation accident caused by driver negligence. In the process of project development, the performance of the LDW module needs to be tested to improve the reliability of the LDW module.
Disclosure of Invention
The embodiment of the application provides a vehicle control system and a vehicle test method, which can test the performance of an LDW module so as to improve the reliability of the LDW module. The technical scheme is as follows:
on one hand, a vehicle testing module is provided, the vehicle control system comprises a vehicle testing module, a lane departure early warning LDW module and a vehicle control unit, and the vehicle testing module and the vehicle control unit are respectively connected with the LDW module;
the LDW module is used for collecting road environment data of a vehicle and generating early warning information based on the road environment data;
the vehicle control unit is used for controlling the vehicle to send out an early warning signal based on the early warning information, and the early warning signal is used for prompting the vehicle to deviate from a lane line;
the vehicle testing module is used for testing the performance of the LDW module based on the time when the vehicle sends out the early warning signal.
Optionally, the vehicle testing module is to:
determining the distance of the vehicle deviating from a lane line when the vehicle sends an early warning signal based on the time when the vehicle sends the early warning signal;
and testing the performance of the LDW module based on the distance of the vehicle deviating from the lane line and the target distance when the vehicle sends out the early warning signal.
Optionally, the vehicle testing module is configured to:
if the difference value between the distance of the vehicle deviating from the lane line and the target distance is lower than a reference difference value when the vehicle sends out an early warning signal, determining that the performance of the LDW module is a first-level performance;
and if the difference between the distance of the vehicle deviating from the lane line and the target distance exceeds the reference difference when the vehicle sends out the early warning signal, determining that the performance of the LDW module is the second-level performance, wherein the second-level performance is lower than the first-level performance.
Optionally, the vehicle testing module is configured to:
and determining the distance of the vehicle deviating from the lane line when the vehicle sends the early warning signal based on the time when the vehicle sends the early warning signal and the road environment data collected by the LDW module.
Optionally, the vehicle testing module includes a LDW testing component, a camera component and a positioning component, and the camera component and the positioning component are respectively connected to the LDW testing component;
the LDW testing component is used for acquiring road environment data acquired by the camera component and the positioning component;
the LDW testing component is further used for determining the distance of the vehicle deviating from a lane line when the vehicle sends out the early warning signal based on the time when the vehicle sends out the early warning signal and the road environment data collected by the camera shooting component and the positioning component.
Optionally, the vehicle further comprises an on-board automatic diagnostic, OBD, module;
the vehicle testing module is also used for acquiring the time of the vehicle for sending out the early warning signal, which is acquired by the OBD module.
Optionally, the vehicle testing module is configured to:
determining the speed of the vehicle when the vehicle sends out the early warning signal based on the time when the vehicle sends out the early warning signal;
and testing the performance of the LDW module based on the vehicle speed and the target vehicle speed of the vehicle when the vehicle sends out the early warning signal.
Optionally, the vehicle testing module is to:
if the vehicle speed is lower than the target vehicle speed when the vehicle sends out an early warning signal, determining that the performance of the LDW module is third-level performance;
and if the vehicle speed of the vehicle exceeds the target vehicle speed when the vehicle sends out an early warning signal, determining that the performance of the LDW module is fourth-level performance, wherein the fourth-level performance is higher than the third-level performance.
In another aspect, a vehicle testing method is provided, and the method is applied to a vehicle control system, wherein the vehicle control system comprises a vehicle testing module, a lane departure early warning LDW module and a vehicle control unit;
the method comprises the following steps:
the LDW module collects road environment data of a vehicle and generates early warning information based on the road environment data;
the vehicle control unit controls the vehicle to send out an early warning signal based on the early warning information, wherein the early warning signal is used for prompting the vehicle to deviate from a lane line;
the vehicle testing module tests the performance of the LDW module based on the time when the vehicle sends out the early warning signal.
Optionally, the vehicle testing module tests the performance of the LDW module based on the time when the vehicle sends the warning signal, including:
the vehicle testing module determines the distance of the vehicle deviating from a lane line when the vehicle sends out the early warning signal based on the time when the vehicle sends out the early warning signal;
the vehicle testing module tests the performance of the LDW module based on the distance of the vehicle deviating from a lane line and the target distance when the vehicle sends out an early warning signal.
Optionally, the vehicle testing module tests the performance of the LDW module based on a distance that the vehicle deviates from a lane line and a target distance when the vehicle sends an early warning signal, and includes:
if the difference value between the distance of the vehicle deviating from the lane line and the target distance is lower than a reference difference value when the vehicle sends out an early warning signal, the vehicle testing module determines that the performance of the LDW module is a first-level performance;
and if the difference between the distance of the vehicle deviating from the lane line and the target distance exceeds the reference difference when the vehicle sends out the early warning signal, the vehicle testing module determines that the performance of the LDW module is second-level performance, and the second-level performance is lower than the first-level performance.
Optionally, the vehicle testing module determines a distance that the vehicle deviates from a lane line when the vehicle sends the warning signal based on the time when the vehicle sends the warning signal, and the method includes:
based on the time when the vehicle sends the early warning signal and the road environment data collected by the LDW module, the vehicle testing module determines the distance of the vehicle deviating from a lane line when the vehicle sends the early warning signal.
Optionally, the vehicle testing module includes a LDW testing component, a camera component and a positioning component, and the camera component and the positioning component are respectively connected to the LDW testing component;
the method further comprises the following steps:
the LDW testing component acquires road environment data acquired by the camera component and the positioning component;
the LDW testing component determines the distance of the vehicle deviating from a lane line when the vehicle sends out the early warning signal based on the time when the vehicle sends out the early warning signal and the road environment data collected by the camera component and the positioning component.
Optionally, the vehicle further comprises an on-board automatic diagnostic, OBD, module;
the method further comprises the following steps:
the vehicle testing module acquires the time of the vehicle sending out the early warning signal acquired by the OBD module.
Optionally, the method further comprises:
the vehicle testing module determines the speed of the vehicle when the vehicle sends out the early warning signal based on the time when the vehicle sends out the early warning signal;
the vehicle testing module tests the performance of the LDW module based on the vehicle speed and the target vehicle speed of the vehicle when the vehicle sends out the early warning signal.
Optionally, the vehicle testing module tests the performance of the LDW module based on the vehicle speed of the vehicle and a target vehicle speed when the vehicle sends an early warning signal, and includes:
if the vehicle speed of the vehicle is lower than the target vehicle speed when the vehicle sends out an early warning signal, the vehicle testing module determines that the performance of the LDW module is third-level performance;
and if the vehicle speed of the vehicle exceeds the target vehicle speed when the vehicle sends out an early warning signal, the vehicle testing module determines that the performance of the LDW module is fourth-level performance, and the fourth-level performance is higher than the third-level performance.
In another aspect, a computer device is provided, which includes a memory for storing a computer program and a processor for executing the computer program stored in the memory to implement the steps of the vehicle testing method described above.
In another aspect, a computer-readable storage medium is provided, in which a computer program is stored which, when being executed by a processor, carries out the steps of the vehicle testing method described above.
In another aspect, a computer program product is provided comprising instructions which, when run on a computer, cause the computer to perform the steps of the vehicle testing method described above.
The technical scheme provided by the embodiment of the application can at least bring the following beneficial effects:
the embodiment of the application provides a vehicle control system, which comprises a vehicle testing module, an LDW module and a vehicle control unit. When the LDW module generates early warning information so that the vehicle controller controls the vehicle to send out an early warning signal, the vehicle testing module can test the performance of the LDW module according to the process of sending out the early warning signal by the vehicle. Therefore, the vehicle testing module in the embodiment of the application can realize the evaluation of the performance of the LDW module through the linkage effect with other devices on the vehicle, so that developers can optimize and improve the LDW module in time.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a vehicle control system provided in an embodiment of the present application;
FIG. 2 is a schematic structural diagram of a vehicle control system provided in an embodiment of the present application;
FIG. 3 is a schematic structural diagram of a vehicle control system in a project development scenario provided by an embodiment of the present application;
FIG. 4 is a schematic structural diagram of a vehicle control system in a finished vehicle acceptance scenario provided by the embodiment of the application;
fig. 5 is a flowchart of a vehicle testing method according to an embodiment of the present application.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present application more clear, the embodiments of the present application will be further described in detail with reference to the accompanying drawings.
Before explaining the embodiments of the present application in detail, an application scenario provided by the embodiments of the present application is introduced.
In recent years, more and more vehicles are provided with LDW modules, and the LDW modules can remind a driver of the behavior that the driver is not aware of the vehicle pressing line in the driving process of the vehicle, so that the lane departure accident is reduced, and the driving safety is facilitated. In the development process of the LDW module, the performance of the LDW module needs to be tested to improve the reliability of the LDW module.
Therefore, the embodiment of the application provides a vehicle control system based on which the performance of an LDW module can be tested.
The following describes a vehicle control system in an embodiment of the present application.
The embodiment of the application provides a vehicle control system, as shown in fig. 1, the vehicle control system includes a vehicle testing module 101, an LDW module 102 and a vehicle control unit 103, where the vehicle testing module 101 and the vehicle control unit 103 are respectively connected with the LDW module 102.
The LDW module 102 is configured to collect road environment data of a vehicle, and generate early warning information based on the road environment data. The vehicle control unit 103 is used for controlling the vehicle to send out an early warning signal based on the early warning information, and the early warning signal is used for prompting the vehicle to deviate from a lane line. The vehicle testing module 101 is used to test the performance of the LDW module 102 based on the time at which the vehicle emits the warning signal.
The vehicle is a vehicle driven by an engine, and the type of the vehicle is not limited in the embodiments of the present application. The LDW module 102 is a module capable of implementing a vehicle departure warning function. The vehicle control unit 103 is an electronic computer controlled by a central control system of the vehicle.
Illustratively, the LDW module 102 may include a camera and an LDW controller. The camera is used for collecting road environment data of the vehicle and sending the collected road environment data to the LDW controller in real time. The LDW controller is used for processing the road environment data to obtain the distance of the vehicle deviating from the lane line. And generates early warning information based on the distance of the vehicle deviating from the lane line, and sends the early warning information to the vehicle control unit 103. The early warning information may be information that the vehicle deviates from the lane line. The vehicle control unit 103 generates an early warning signal based on the early warning information to remind the driver of the deviation of the vehicle from the lane line.
The road environment data may be a video stream on a driving road of the vehicle. The LDW controller may determine a distance between the vehicle and the lane line (a distance that the vehicle deviates from the lane line) in each frame of image of the video stream, and may obtain a first corresponding relationship, where the first corresponding relationship includes a plurality of times and distances between the vehicles and the lane line in one-to-one correspondence with the plurality of times, because the times corresponding to each frame of image in the video stream are different. The distance between the vehicle and the lane line can be determined by the distance from the position of the vehicle to the position of the lane line. The position of the vehicle may be a position of a center line of the vehicle, or a position of a wheel of the vehicle, which is not limited in the embodiment of the present application.
After obtaining the first correspondence relationship, the LDW controller may compare the distances between the plurality of vehicles and the lane lines with a preset distance to determine whether there is a behavior of the vehicle deviating from the lane lines. The preset distance is a short distance between the vehicle and the lane line. The preset distance may be preset, and for example, the preset distance may be set to 0.3 meter, which is not limited in this embodiment of the application.
When the distance between a certain vehicle and the lane line is less than the preset distance, the LDW controller may determine a time corresponding to the distance between the vehicle and the lane line from the first correspondence relationship, and determine that there is a behavior of the vehicle deviating from the lane line at the time. At this time, the driver on the vehicle needs to be reminded in time to pay attention to traffic safety.
Therefore, the LDW controller may generate the warning information and transmit the warning information to the vehicle control unit 103. When receiving the warning information, the vehicle control unit 103 may control the vehicle to send a warning signal to prompt the vehicle to deviate from the lane line, so that the driver needs to adjust the vehicle in time.
The vehicle control unit 103 can send out an early warning signal through vibration reminding, sound reminding, animation reminding and other modes. The vibration alert may be that the vehicle control unit 103 controls the vehicle's steering wheel vibration and/or the driver's seat belt vibration to alert the driver. The sound reminding can be that the vehicle controller 103 controls the vehicle to send out a reminding sound to remind the driver, and the reminding sound can be recorded in advance. The animation reminding can be that the vehicle control unit 103 controls the vehicle instrument panel to play a reminding animation to remind the driver, and the reminding animation can be recorded in advance.
After the vehicle emits the warning signal, the vehicle testing module 101 may test the performance of the LDW module 102 based on the time at which the vehicle emits the warning signal.
In some embodiments, the vehicle testing module 101 may test the performance of the LDW module 102 based on the time at which the vehicle issued the warning signal by: the method comprises the steps of determining the distance of a vehicle deviating from a lane line when the vehicle sends an early warning signal based on the time when the vehicle sends the early warning signal, and testing the performance of the LDW module based on the distance of the vehicle deviating from the lane line and the target distance when the vehicle sends the early warning signal.
The target distance is a short distance between the vehicle and the lane line, and may be preset, and the target distance may be the same as or smaller than the preset distance.
Optionally, the vehicle control system may further include an OBD (On Board Diagnostics) module. The OBD module is used for collecting the time of the vehicle for sending out the early warning signal and sending the time of the vehicle for sending out the early warning signal to the vehicle testing module 101. The vehicle testing module 101 obtains the time when the vehicle sends the early warning signal.
After the time when the vehicle sends the warning signal is obtained, the vehicle testing module 101 may determine the distance that the vehicle deviates from the lane line when the vehicle sends the warning signal. The vehicle testing module 101 may determine the distance from the lane line when the vehicle sends the warning signal in the following two ways.
In one possible implementation manner, the vehicle testing module 101 may determine the distance of the vehicle deviating from the lane line when the vehicle sends the warning signal based on the time when the vehicle sends the warning signal and the road environment data collected by the LDW module 102.
Specifically, after acquiring the road environment data of the vehicle, the LDW102 module may further send the road environment data to the vehicle testing module 101. The vehicle testing module 101 obtains a first corresponding relationship according to the road environment data. When the vehicle testing module 101 obtains the time when the vehicle sends the warning signal, the distance, corresponding to the time when the vehicle sends the warning signal, of the vehicle deviating from the lane line may be determined from the first corresponding relationship. The implementation process of obtaining the first corresponding relationship according to the road environment data by the vehicle testing module 101 may refer to the relevant content of the first corresponding relationship obtained by the LDW controller according to the road environment data, which is not described herein again.
In another possible implementation manner, as shown in fig. 2, the vehicle testing module 101 includes a LDW testing component, a camera component, and a positioning component, and the camera component and the positioning component are respectively connected to the LDW testing component. The camera shooting assembly and the positioning assembly are used for collecting road environment data and sending the collected road environment data to the LDW testing assembly. The LDW testing component determines the distance of the vehicle deviating from the lane line when the vehicle sends out the early warning signal based on the time when the vehicle sends out the early warning signal and the road environment data.
The camera assembly may be a camera, and the positioning assembly may be a positioner. The camera shooting assembly is used for collecting video streams on a vehicle running road and sending the collected video streams to the LDW testing assembly. The positioning component is used for determining the position of the vehicle and sending the collected position of the vehicle to the LDW testing component. In this way, the LDW test component can determine the distance of the vehicle from the lane line based on the lane line and the position of the vehicle in the video stream to obtain the first correspondence. The first corresponding relation comprises a plurality of times and distances of a plurality of vehicles deviating from the lane line, wherein the distances of the plurality of vehicles deviate from the lane line and correspond to the times in a one-to-one mode.
When the LDW test component obtains the time when the vehicle sends the warning signal, the distance, corresponding to the time when the vehicle sends the warning signal, of the vehicle deviating from the lane line may be determined from the first correspondence.
It can be seen that the two implementations described above differ in the source of the road environment data. The two implementation manners in the embodiment of the present application may be applied to different scenarios corresponding to different sources of the road environment data.
The first implementation mode can be applied to the scene of project development and testing, and in the process of project development, the vehicle testing module can directly evaluate the performance of the LDW module according to the road environment data collected by the LDW module. The vehicle control system does not need to deploy other equipment to acquire road environment data, and cost can be effectively reduced.
The second implementation mode can be applied to the scene of finished automobile acceptance test, the vehicle test module is additionally provided with the camera shooting component, the positioning component and the LDW test component, and the LDW test component carries out performance evaluation on the LDW module based on road environment data collected by the camera shooting component and the positioning component. That is, the vehicle testing module can evaluate the performance of the LDW module through the road environment data collected by each component of the vehicle testing module.
After the distance of the vehicle deviating from the lane line when the vehicle sends the early warning signal is obtained, the vehicle testing module 101 tests the performance of the LDW module 102 based on the distance of the vehicle deviating from the lane line and the target distance when the vehicle sends the early warning signal.
In some embodiments, the vehicle testing module 101 may test the performance of the LDW module 102 based on the distance the vehicle departs from the lane line and the target distance when the vehicle warns, by: if the difference between the distance of the vehicle from the lane line and the target distance is less than the reference difference when the vehicle sends the early warning signal, the performance of the LDW module 102 is determined to be a first level performance. If the difference between the distance of the vehicle deviating from the lane line and the target distance exceeds the reference difference when the vehicle sends out the early warning signal, the performance of the LDW module 102 is determined to be the second-level performance, and the second-level performance is lower than the first-level performance.
The reference difference is a very small value, and the reference difference may be preset, which is not limited in this embodiment of the present application.
If the difference between the distance of the vehicle deviating from the lane line and the target distance is lower than the reference difference when the vehicle sends the early warning signal, the lane departure early warning performance of the LDW module 102 is good. If the difference between the distance of the vehicle deviating from the lane line and the target distance exceeds the reference difference when the vehicle sends out the early warning signal, it indicates that the lane departure early warning performance of the LDW module 102 is insufficient. So that subsequent developers can perform optimization improvement on the LDW module 102 in time.
Illustratively, the reference difference value is set to 0.1. The target distance is set to be 0.2 m, that is, when the distance of the vehicle deviating from the lane line is 0.2 m, the LDW module 102 may generate the warning information, so that the vehicle controller 103 controls the vehicle to send the warning signal. If the distance of the vehicle deviating from the lane line is also 0.2 m when the vehicle sends out the early warning signal and is the same as the target distance, the lane deviation early warning performance of the LDW module is good. If the distance of the vehicle deviating from the lane line is 0.5 m when the vehicle sends out the early warning signal, and the difference value between the distance and the target distance exceeds the reference difference value, it indicates that the time for generating the early warning information by the LDW module 102 is not correct, and the lane deviation early warning performance needs to be optimized and improved.
In addition, when the vehicle deviates from the lane line, if the vehicle speed is low, no traffic accident occurs in a short time, and the driver has enough reaction time to adjust the vehicle by himself. Therefore, the whole vehicle controller can control the vehicle to send out an early warning signal to remind a driver based on the early warning information without generating early warning information through the LDW module.
Therefore, in the embodiment of the present application, a higher vehicle speed may be set as the target vehicle speed, and the vehicle testing module 101 determines the performance of the LDW module 102 based on the comparison between the vehicle speed of the vehicle and the target vehicle speed when the vehicle sends the warning signal.
Based on this, in some embodiments, the vehicle testing module 101 may determine the vehicle speed of the vehicle when the vehicle emits the warning signal based on the time when the vehicle emits the warning signal, and test the performance of the LDW module 102 based on the vehicle speed of the vehicle when the vehicle emits the warning signal and the target vehicle speed.
The target vehicle speed is a relatively high vehicle speed value, and the target vehicle speed may be set in advance, which is not limited in the embodiment of the present application.
For example, the OBD module may collect the vehicle speed of the vehicle and send the vehicle speed to the vehicle testing module 101. The vehicle testing module 101 may determine the speed of the vehicle when the vehicle emits the warning signal based on the time when the vehicle emits the warning signal.
Specifically, the OBD module collects the vehicle speed of the vehicle in real time and sends the vehicle speed of the vehicle to the vehicle testing module 101 in real time. The vehicle testing module 101 determines the vehicle speed of the vehicle when the vehicle sends the early warning signal from the received vehicle speeds of the plurality of vehicles. So that the performance of the LDW module is tested based on the vehicle speed and the target vehicle speed of the vehicle when the vehicle sends out the early warning signal.
For example, the vehicle testing module 101 may test the performance of the LDW module 102 based on the vehicle speed of the vehicle and the target vehicle speed when the vehicle sends out the warning: and if the vehicle speed of the vehicle is lower than the target vehicle speed when the vehicle sends out the early warning signal, determining that the performance of the LDW module is the third-level performance. And if the vehicle speed of the vehicle exceeds the target vehicle speed when the vehicle sends out the early warning signal, determining that the performance of the LDW module is fourth-level performance, wherein the fourth-level performance is higher than the third-level performance.
Illustratively, the target vehicle speed is set to 50 km/h. If the speed of the vehicle is 70 km/h when the vehicle sends out the early warning signal, the lane departure early warning performance of the LDW module is good. If the vehicle speed is 30 km/h when the vehicle sends out the early warning signal, it indicates that the lane departure early warning performance of the LDW module 102 needs to be improved optimally.
In addition, the LDW module 102 may generate the warning information when the vehicle deviates from the lane line by a long distance, so that the vehicle controller controls the vehicle to send the warning signal. And when the distance of the vehicle deviating from the lane line is very short, the early warning information is not generated, so that the vehicle is not controlled by the vehicle control unit to send out the early warning signal. Both of these malfunctioning conditions may degrade the performance of the LDW module 102. Therefore, the performance of the LDW module 102 can be determined based on the time when the vehicle controller controls the vehicle to send the warning signal and the warning time. The early warning time is the time that the vehicle needs to send out the early warning signal, which is determined by the vehicle testing module 101.
Specifically, the OBD module can be used for collecting the time when the vehicle sends out the early warning signal every time so as to obtain the time when the vehicle sends out the early warning signal for many times. And sends the times of the plurality of times of the early warning signals sent by the vehicles to the vehicle testing module 101.
Based on the above description, the vehicle testing module 101 may obtain the first corresponding relationship according to the road environment data. The first corresponding relationship includes a plurality of times and distances, which are one-to-one corresponding to the plurality of times, of the plurality of vehicles deviating from the lane line. Accordingly, the vehicle test module 101 may determine distances from among distances at which a plurality of vehicles deviate from the lane line, which are referred to as early warning distances, for which the difference between the distances from the target is lower than a reference difference. And obtaining a plurality of early warning times which are in one-to-one correspondence with the early warning distances from the first corresponding relation.
In addition, the OBD module sends the acquired time when the vehicle sends out the warning signal for a plurality of times to the vehicle testing module 101. The vehicle testing module 101 may pair the plurality of warning times with the times at which the plurality of vehicles send warning signals one to one. And if a certain time in the early warning times does not exist in the time when the early warning signals are sent out by the vehicles, the LDW module 102 is considered to have a false negative behavior. If the time when a certain vehicle sends the early warning signal does not exist in the early warning time, the LDW module 102 is considered to have a false alarm behavior. In this way, the vehicle testing module 101 may count the times of missing reports and false reports of the LDW module 102, and determine the performance of the LDW module 102 according to the times of missing reports and false reports of the LDW module 102.
Illustratively, the performance of the LDW module is determined to be a fifth level of performance if the number of times of false negatives existing at the LDW module 102 is less than a first reference number of times, and the performance of the LDW module is determined to be a sixth level of performance if the number of times of false negatives existing at the LDW module 102 exceeds the first reference number of times, the sixth level of performance being lower than the fifth level of performance.
The first reference frequency is a very small value, and the first reference frequency may be preset, which is not limited in the embodiment of the present application.
Illustratively, if the number of times of false positives of the LDW module 102 is less than the second reference number, the performance of the LDW module is determined to be a seventh level performance, and if the number of times of false positives of the LDW module 102 exceeds the second reference number, the performance of the LDW module is determined to be an eighth level performance, which is lower than the seventh level performance.
The second reference frequency is a very small value, the second reference frequency may be preset, and the second reference frequency may be the same as or different from the first reference frequency, which is not limited in this embodiment of the application.
For example, the vehicle testing module 101 may also count the number of times the LDW module 102 has false positives and determine the performance of the LDW module 102 based on the number of times the LDW module 102 has false negatives and false positives and a third reference number.
And if the times of missing report and false report of the LDW module 102 are less than the third reference times, determining that the performance of the LDW module is the ninth level performance, and if the times of missing report and false report of the LDW module 102 exceed the third reference times, determining that the performance of the LDW module is the tenth level performance, wherein the tenth level performance is lower than the ninth level performance.
The third reference frequency is a very small value, the third reference frequency may be preset, and the third reference frequency may be the same as the first reference frequency or the second reference frequency, or may be different from both the first reference frequency and the second reference frequency, which is not limited in this embodiment of the application.
The vehicle control system will be further explained in two scenarios.
Fig. 3 is a schematic structural diagram of a vehicle control system in a project development scenario provided in an embodiment of the present application. As shown in fig. 3, the vehicle control system includes a vehicle testing module, an LDW module, an OBD module, a bypass collection module, and a vehicle control unit.
The LDW module is used for collecting road environment data of vehicles and generating early warning information based on the road environment data. The bypass acquisition module is used for sending the early warning information generated by the LDW module to the vehicle control unit. The vehicle control unit is used for controlling the vehicle to send out an early warning signal based on the early warning information, and the early warning signal is used for prompting the vehicle to deviate from a lane line.
The OBD module is used for collecting the time when the vehicle sends out the early warning signal and sending the time when the vehicle sends out the early warning signal to the vehicle testing module. The bypass acquisition module is also used for sending the road environment data acquired by the LDW module to the vehicle testing module. So that the vehicle testing module tests the performance of the LDW module based on the time of the vehicle sending the early warning signal and the road environment data collected by the LDW module.
Fig. 4 is a schematic structural diagram of a vehicle control system in a complete vehicle acceptance scenario provided by the embodiment of the application. As shown in fig. 4, the vehicle control system includes a vehicle test module, a LDW module, an OBD module, and a vehicle control unit. The vehicle test module comprises an LDW test component, a camera component and a positioning component.
The camera shooting assembly and the positioning assembly are used for collecting road environment data and sending the road environment data to the LDW testing assembly. The OBD module is used for collecting the time when the vehicle sends out the early warning signal and sending the time when the vehicle sends out the early warning signal to the vehicle test component. Therefore, the performance of the LDW module can be evaluated by the vehicle testing component based on the time when the vehicle sends out the early warning signal and the road environment data acquired by the LDW module.
In the embodiment of the application, the LDW module collects road environment data of a vehicle and generates early warning information based on the road environment data. The vehicle control unit controls the vehicle to send out an early warning signal based on the early warning information, and the vehicle testing module tests the performance of the LDW module based on the time of sending out the early warning signal by the vehicle. Therefore, the vehicle testing module in the embodiment of the application can rapidly test the performance of the LDW module through the linkage effect with other devices on the vehicle, so that developers can optimize and improve the LDW module in time.
The embodiment of the application further provides a vehicle testing method, and fig. 5 is a flowchart of the vehicle testing method provided by the embodiment of the application. The vehicle testing method is applied to a vehicle control system, and the vehicle control system comprises a vehicle testing module, an LDW module and a vehicle control unit. The method comprises the following steps:
step 501: the LDW module collects road environment data of the vehicle and generates early warning information based on the road environment data;
step 502: the vehicle control unit controls the vehicle to send out an early warning signal based on the early warning information, and the early warning signal is used for prompting the vehicle to deviate from a lane line;
step 503: the vehicle testing module tests the performance of the LDW module based on the time when the vehicle sends out the early warning signal.
Optionally, the vehicle testing module tests the performance of the LDW module based on the time when the vehicle sends the warning signal, including:
the vehicle testing module determines the distance of the vehicle deviating from the lane line when the vehicle sends the early warning signal based on the time when the vehicle sends the early warning signal;
the vehicle testing module tests the performance of the LDW module based on the distance of the vehicle deviating from the lane line and the target distance when the vehicle sends out the early warning signal.
Optionally, the vehicle testing module tests the performance of the LDW module based on the distance that the vehicle deviates from the lane line and the target distance when the vehicle sends the warning signal, and includes:
if the difference value between the distance of the vehicle deviating from the lane line and the target distance is lower than the reference difference value when the vehicle sends out the early warning signal, the vehicle testing module determines that the performance of the LDW module is the first-grade performance;
and if the difference between the distance of the vehicle deviating from the lane line and the target distance exceeds the reference difference when the vehicle sends out the early warning signal, the vehicle testing module determines that the performance of the LDW module is the second-level performance, and the second-level performance is lower than the first-level performance.
Optionally, the vehicle testing module determines a distance of the vehicle deviating from the lane line when the vehicle sends the warning signal based on the time when the vehicle sends the warning signal, and includes:
based on the time when the vehicle sends the early warning signal and the road environment data collected by the LDW module, the vehicle testing module determines the distance of the vehicle deviating from the lane line when the vehicle sends the early warning signal.
Optionally, the vehicle testing module comprises an LDW testing component, a camera component and a positioning component, and the camera component and the positioning component are respectively connected with the LDW testing component;
the method further comprises the following steps:
the LDW testing component acquires road environment data acquired by the camera component and the positioning component;
the LDW testing component determines the distance of the vehicle deviating from the lane line when the vehicle sends out the early warning signal based on the time when the vehicle sends out the early warning signal and the road environment data collected by the camera component and the positioning component.
Optionally, the vehicle further comprises an on-board automatic diagnostic OBD module;
the method further comprises the following steps:
the vehicle test module acquires the time of the vehicle collected by the OBD module for sending out the early warning signal.
Optionally, the method further comprises:
the vehicle testing module determines the speed of the vehicle when the vehicle sends out the early warning signal based on the time when the vehicle sends out the early warning signal;
the vehicle testing module tests the performance of the LDW module based on the vehicle speed and the target vehicle speed of the vehicle when the vehicle sends out the early warning signal.
Optionally, the vehicle testing module tests the performance of the LDW module based on the vehicle speed and the target vehicle speed when the vehicle sends the warning signal, including:
if the speed of the vehicle is lower than the target speed when the vehicle sends out the early warning signal, the vehicle testing module determines that the performance of the LDW module is the third-level performance;
and if the vehicle speed of the vehicle exceeds the target vehicle speed when the vehicle sends the early warning signal, the vehicle testing module determines that the performance of the LDW module is fourth-level performance, and the fourth-level performance is higher than the third-level performance.
The vehicle testing method and the vehicle control system provided by the above embodiment belong to the same concept, and the specific implementation process is detailed in the embodiment of the vehicle control system, and are not described again.
In the embodiment of the application, the LDW module collects road environment data of a vehicle and generates early warning information based on the road environment data. The vehicle control unit controls the vehicle to send out an early warning signal based on the early warning information, and the vehicle testing module tests the performance of the LDW module based on the time of sending out the early warning signal by the vehicle. Therefore, the vehicle testing module in the embodiment of the application can rapidly test the performance of the LDW module through the linkage effect of other devices on the vehicle, so that developers can optimize and improve the LDW module in time.
In some embodiments, there is also provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of the vehicle testing method in the above embodiments. For example, the computer readable storage medium may be a ROM, a RAM, a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.
It is noted that the computer-readable storage medium referred to in the embodiments of the present application may be a non-volatile storage medium, in other words, a non-transitory storage medium.
It should be understood that all or part of the steps for implementing the above embodiments may be implemented by software, hardware, firmware or any combination thereof. When implemented in software, it may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. The computer instructions may be stored in the computer-readable storage medium described above.
That is, in some embodiments, there is also provided a computer program product containing instructions which, when run on a computer, cause the computer to perform the steps of the vehicle testing method described above.
It should be noted that the information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data for analysis, stored data, displayed data, etc.) and signals referred to in the embodiments of the present application are authorized by the user or fully authorized by each party, and the collection, use and processing of the relevant data need to comply with relevant laws and regulations and standards in relevant countries and regions.
It is to be understood that reference herein to "at least one" means one or more and "a plurality" means two or more. In the description of the embodiments of the present application, "/" indicates an alternative meaning, for example, a/B may indicate a or B; "and/or" herein is merely an association describing an associated object, and means that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, in order to facilitate clear description of technical solutions of the embodiments of the present application, in the embodiments of the present application, terms such as "first" and "second" are used to distinguish the same items or similar items having substantially the same functions and actions. Those skilled in the art will appreciate that the terms "first," "second," etc. do not denote any order or quantity, nor do the terms "first," "second," etc. denote any order or importance.
The above-mentioned embodiments are provided not to limit the present application, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (10)
1. The vehicle control system is characterized by comprising a vehicle testing module, a lane departure early warning LDW module and a vehicle control unit, wherein the vehicle testing module and the vehicle control unit are respectively connected with the LDW module;
the LDW module is used for collecting road environment data of vehicles and generating early warning information based on the road environment data;
the vehicle control unit is used for controlling the vehicle to send out an early warning signal based on the early warning information, and the early warning signal is used for prompting the vehicle to deviate from a lane line;
the vehicle testing module is used for testing the performance of the LDW module based on the time when the vehicle sends out the early warning signal.
2. The vehicle control system of claim 1, wherein the vehicle testing module is to:
determining the distance of the vehicle deviating from a lane line when the vehicle sends an early warning signal based on the time when the vehicle sends the early warning signal;
and testing the performance of the LDW module based on the distance of the vehicle deviating from the lane line and the target distance when the vehicle sends out the early warning signal.
3. The vehicle control system of claim 2, wherein the vehicle testing module is to:
if the difference value between the distance of the vehicle deviating from the lane line and the target distance is lower than a reference difference value when the vehicle sends out an early warning signal, determining that the performance of the LDW module is a first-level performance;
and if the difference between the distance of the vehicle deviating from the lane line and the target distance exceeds the reference difference when the vehicle sends out the early warning signal, determining that the performance of the LDW module is the second-level performance, wherein the second-level performance is lower than the first-level performance.
4. The vehicle control system of claim 2, wherein the vehicle testing module is to:
and determining the distance of the vehicle deviating from the lane line when the vehicle sends the early warning signal based on the time when the vehicle sends the early warning signal and the road environment data collected by the LDW module.
5. The vehicle control system of claim 2, wherein the vehicle test module comprises a LDW test component, a camera component, and a positioning component, the camera component and the positioning component being respectively connected to the LDW test component;
the LDW testing component is used for acquiring road environment data acquired by the camera component and the positioning component;
the LDW testing component is further used for determining the distance of the vehicle deviating from a lane line when the vehicle sends out the early warning signal based on the time when the vehicle sends out the early warning signal and the road environment data collected by the camera component and the positioning component.
6. The vehicle control system of claim 1, further comprising an on-board automatic diagnostic (OBD) module;
the vehicle testing module is also used for acquiring the time of the vehicle for sending out the early warning signal, which is acquired by the OBD module.
7. The vehicle control system of claim 1, wherein the vehicle testing module is to:
determining the speed of the vehicle when the vehicle sends out the early warning signal based on the time when the vehicle sends out the early warning signal;
and testing the performance of the LDW module based on the vehicle speed and the target vehicle speed of the vehicle when the vehicle sends out the early warning signal.
8. The vehicle control system of claim 7, wherein the vehicle testing module is to:
if the vehicle speed is lower than the target vehicle speed when the vehicle sends out an early warning signal, determining that the performance of the LDW module is third-level performance;
and if the vehicle speed of the vehicle exceeds the target vehicle speed when the vehicle sends out an early warning signal, determining that the performance of the LDW module is fourth-level performance, wherein the fourth-level performance is higher than the third-level performance.
9. The vehicle testing method is characterized by being applied to a vehicle control system, wherein the vehicle control system comprises a vehicle testing module, a lane departure early warning LDW module and a vehicle control unit;
the method comprises the following steps:
the LDW module collects road environment data of a vehicle and generates early warning information based on the road environment data;
the vehicle control unit controls the vehicle to send out an early warning signal based on the early warning information, wherein the early warning signal is used for prompting the vehicle to deviate from a lane line;
the vehicle testing module tests the performance of the LDW module based on the time when the vehicle sends out the early warning signal.
10. The method of claim 9, wherein the vehicle testing module testing the performance of the LDW module based on the time at which the vehicle issued the early warning signal comprises:
the vehicle testing module determines the distance of the vehicle deviating from a lane line when the vehicle sends out the early warning signal based on the time when the vehicle sends out the early warning signal;
the vehicle testing module tests the performance of the LDW module based on the distance of the vehicle deviating from a lane line and the target distance when the vehicle sends out an early warning signal.
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| CN202210812670.8A CN115219236A (en) | 2022-07-11 | 2022-07-11 | Vehicle control system and vehicle testing method |
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| CN202210812670.8A CN115219236A (en) | 2022-07-11 | 2022-07-11 | Vehicle control system and vehicle testing method |
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