CN115236646A - Method, device, equipment and medium for testing perception performance of vehicle-mounted sensor - Google Patents
Method, device, equipment and medium for testing perception performance of vehicle-mounted sensor Download PDFInfo
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Abstract
The application relates to the technical field of automatic driving equipment testing, in particular to a method, a device, equipment and a medium for testing the perception performance of a vehicle-mounted sensor, wherein the method comprises the following steps: acquiring sensing data obtained by sensing a test target by a sensor to be tested in the test process; recognizing the perception relative position between the test vehicle and the test target according to the perception data; and calculating the perception error of the sensor to be tested according to the actual relative position and the perception relative position between the test vehicle and the test target at the same position, judging that the perception performance test of the sensor to be tested is qualified when any perception error is smaller than a preset qualified threshold value in the test process, and otherwise judging that the perception performance test of the sensor to be tested is unqualified. Therefore, the problems that the test cost of the sensing performance test of the vehicle-mounted sensor is high, the convenience is poor and the like in the related art are solved.
Description
Technical Field
The application relates to the technical field of automatic driving equipment testing, in particular to a method, a device, equipment and a medium for testing the perception performance of a vehicle-mounted sensor.
Background
Along with the popularization of intelligent driving systems, in order to guarantee reliability and safety of intelligent driving, more and more sensors are used in the intelligent driving systems. Effective testing and evaluation of the perception performance of vehicle-mounted sensors, particularly vehicles at short distances (within 10 meters), is a difficult problem of intelligent driving technology.
At present, the existing scheme mainly tests a real-value system of a vehicle mounted with a higher-precision sensor (such as a laser radar) or uses special test equipment. In the related technology, a near field test theory and a near field test method use an FPGA circuit and the adjustability of an output/input standard and a mode to design a corresponding test device, replace a corresponding electronic circuit of the existing measurement equipment, improve the performance, reduce the power consumption of the circuit and the physical size and cost of key design, but need to independently increase hardware.
However, the method using a high-precision sensor needs to rely on equipment such as a laser radar, and is not beneficial to batch development of test implementation in terms of cost and use in a development stage; meanwhile, special test equipment is used, professional development or purchase is needed, and continuous test application is not facilitated in consideration of time, cost and maintenance.
Disclosure of Invention
The application provides a method and a device for testing the sensing performance of a vehicle-mounted sensor, testing equipment and a storage medium, which are used for solving the problems that the testing cost of the sensing performance test of the vehicle-mounted sensor in the related technology is high, the convenience is poor and the like.
An embodiment of a first aspect of the present application provides a method for testing sensing performance of a vehicle-mounted sensor, including the following steps: acquiring sensing data obtained by sensing a test target by a sensor to be tested in the test process; identifying a perception relative position between a test vehicle and the test target according to the perception data; and calculating the perception error of the sensor to be tested according to the actual relative position between the test vehicle and the test target at the same position and the perception relative position, judging that the perception performance test of the sensor to be tested is qualified when any perception error is smaller than a preset qualified threshold value in the test process, and otherwise judging that the perception performance test of the sensor to be tested is unqualified.
According to the technical characteristics, the sensor sensing performance testing and evaluating method and device can be used for completing the testing and evaluating of the sensor sensing performance on the premise that the high-precision testing equipment is not additionally arranged based on the vehicle signal, so that the development cost can be effectively saved, the testing cost of the sensing performance testing of the vehicle-mounted sensor is greatly reduced, the actual sensing testing convenience is improved, and the testing experience is improved.
Further, before calculating a perception error of the sensor to be tested according to an actual relative position and the perceived relative position between the test vehicle and the test target at the same position, the method further includes: acquiring the position coordinates of the test vehicle in the test process; and calculating to obtain the actual relative position according to the position coordinate of the test vehicle and the position coordinate of the test target.
According to the technical characteristics, the actual position between the test vehicle and the test target can be determined based on the vehicle signal, high-precision test equipment does not need to be additionally added during testing, and the test cost is reduced.
Further, after the actual relative position is calculated according to the position coordinates of the test vehicle and the position coordinates of the test target, the method further includes: acquiring the actual posture of the test vehicle and the actual shape of the test target in the test process; correcting the actual relative position based on the actual pose and/or the actual shape.
According to the technical characteristics, the actual posture of the test vehicle can be considered during testing, the actual relative position is modified through the actual posture, and the testing accuracy is improved.
Further, before identifying the perceived relative position between the test vehicle and the test target according to the perception data, the method further comprises: acquiring an actual distance between the test vehicle and the test target; and calculating the actual sensing distance of the sensor to be tested according to the actual distance, and screening out data of which the actual sensing distance is smaller than the target test distance from the sensing data.
According to the technical characteristics, the vehicle short-distance sensing performance detection method and the vehicle short-distance sensing performance detection device can test the short-distance sensing performance based on the vehicle short-distance sensing performance detection requirement, and effectively meet the test requirement of the short-distance sensing performance.
The embodiment of the second aspect of the present application provides a sensing performance testing apparatus for a vehicle-mounted sensor, including: the first acquisition module is used for acquiring sensing data obtained by sensing a test target by a sensor to be tested in the test process; the recognition module is used for recognizing the perception relative position between the test vehicle and the test target according to the perception data; and the calculation module is used for calculating the perception error of the sensor to be tested according to the actual relative position between the test vehicle and the test target at the same position and the perception relative position, judging that the perception performance test of the sensor to be tested is qualified when any perception error is smaller than a preset qualified threshold value in the test process, and otherwise judging that the perception performance test of the sensor to be tested is unqualified.
Further, the method also comprises the following steps: the second acquisition module is used for acquiring the position coordinates of the test vehicle in the test process before calculating the perception error of the sensor to be tested according to the actual relative position and the perception relative position between the test vehicle and the test target at the same position; and calculating to obtain the actual relative position according to the position coordinate of the test vehicle and the position coordinate of the test target.
Further, still include: the correction module is used for acquiring the actual posture of the test vehicle and the actual shape of the test target in the test process after calculating the actual relative position according to the position coordinate of the test vehicle and the position coordinate of the test target; correcting the actual relative position based on the actual pose and/or the actual shape.
Further, the method also comprises the following steps: the third acquisition module is used for acquiring the actual distance between the test vehicle and the test target before recognizing the perception relative position between the test vehicle and the test target according to the perception data; and calculating the actual sensing distance of the sensor to be tested according to the actual distance, and screening out data of which the actual sensing distance is smaller than the target test distance from the sensing data.
An embodiment of a third aspect of the present application provides a test apparatus, including: the device comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the perception performance testing method of the vehicle-mounted sensor according to the embodiment.
A fourth aspect of the present application provides a computer-readable storage medium, on which a computer program is stored, where the program is executed by a processor, so as to implement the method for testing the sensing performance of the vehicle-mounted sensor according to the foregoing embodiments.
Therefore, the application has at least the following beneficial effects:
(1) According to the embodiment of the application, the sensing performance of the sensor can be tested and evaluated on the basis of the signal of the vehicle without additionally increasing high-precision testing equipment, so that the development cost can be effectively saved, the testing cost of the sensing performance test of the vehicle-mounted sensor is greatly reduced, the convenience of the actual sensing test is improved, and the testing experience is improved;
(2) The method and the device can determine the actual position between the test vehicle and the test target based on the vehicle signal, do not need to additionally increase high-precision test equipment during testing, and reduce the test cost;
(3) According to the embodiment of the application, the actual posture of the test vehicle can be considered during testing, the actual relative position is modified through the actual posture, and the testing accuracy is improved;
(4) The embodiment of the application can test the close-range perception performance based on the detection requirement of the close-range perception performance of the vehicle, and effectively meets the test requirement of the close-range perception performance.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The above and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flowchart of a method for testing the sensing performance of a vehicle-mounted sensor according to an embodiment of the present application;
FIG. 2 is a schematic view of a sensing and measuring system provided in accordance with an embodiment of the present application;
FIG. 3 is a schematic diagram of coordinate system establishment provided in accordance with an embodiment of the present application;
fig. 4 is a schematic view of setting up an initial value measurement environment provided according to an embodiment of the present application;
FIG. 5 is a flow chart of a process for providing measurement data according to an embodiment of the present application;
FIG. 6 is a diagram comparing a sensing result with a target truth value according to an embodiment of the present disclosure;
FIG. 7 is a block diagram of a device for testing the sensing performance of an on-board sensor according to an embodiment of the present disclosure;
fig. 8 is a schematic structural diagram of a test apparatus provided in an embodiment of the present application.
Description of reference numerals:
1-ultrasonic sensor, 2-forward connecting wire harness, 3-data recording and processing equipment, 4-sensor signal processing, 5-camera connecting wire harness, 6-whole vehicle bus, 7-backward connecting wire harness, 8-rear ultrasonic sensor, 9-camera, 10-vehicle, 11-initial position under measuring coordinate system, 12-real-time position of vehicle under measuring coordinate system, 13-test target, 14-test target, 100-perception performance testing device of vehicle-mounted sensor, 110-first obtaining module, 120-identification module and 130-calculation module.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative and intended to explain the present application and should not be construed as limiting the present application.
The following describes a method, an apparatus, a test device, and a storage medium for testing the sensing performance of a vehicle-mounted sensor according to an embodiment of the present application with reference to the drawings. In order to solve the problems of high test cost and poor convenience of the sensing performance test of the vehicle-mounted sensor in the related technology mentioned in the background technology, the application provides the sensing performance test method of the vehicle-mounted sensor.
Specifically, as shown in fig. 1, the method for testing the sensing performance of the vehicle-mounted sensor includes the following steps:
in step S101, sensing data obtained by sensing a test target by a sensor to be tested in a test process is obtained.
The sensor to be tested may include a sensing sensor such as an ultrasonic wave sensor and a camera, and a person skilled in the art may specifically select the sensor according to the requirement of the actual test, which is not specifically limited; the test target is a target for testing the sensing performance setting of the sensor to be tested, and may be, for example, a static target, so that the sensor performs static sensing and the like, and the position of the test target may be specifically set according to actual test requirements, which is not specifically limited.
During specific testing, the sensor to be tested can sense the position of a test target in real time and record the sensing data of the sensor to be tested, and the embodiment of the application can read the recorded data for processing after the sensing data of the sensor to be tested is recorded.
In step S102, a perceived relative position between the test vehicle and the test target is identified from the perception data.
Before specific testing, the sensor to be tested can be installed at the target position of the test vehicle, the target position refers to the installation position matched with the vehicle according to the type of the sensor to be tested, and the relative position of the sensor to be tested on the test vehicle is recorded and is input to the perception sensor processing module as the configuration parameter, so that testing is facilitated.
Therefore, the relative position of the test target and the test vehicle can be sensed based on the sensing data and the relative position of the sensor to be tested in the test vehicle, and the sensing data is recorded in the sensing data, so that the sensing relative position between the test vehicle and the test target can be obtained by directly identifying the sensing data during testing.
In an embodiment of the present application, before identifying the perceived relative position between the test vehicle and the test target according to the perception data, the method further includes: acquiring an actual distance between a test vehicle and a test target; and calculating the actual sensing distance of the sensor to be tested according to the actual distance, and screening data of which the actual sensing distance is smaller than the target testing distance from the sensing data.
The target test distance may be specifically set according to the requirement of the actual test, which is not specifically limited.
During actual test, the sensing distance required to be tested can be specifically set, for example, the sensing distance can be set based on the detection requirement of the close-range sensing performance of the vehicle, so that the close-range sensing performance can be tested, the testing requirement of the close-range sensing performance can be effectively met, and the problems of effective testing and evaluation of the close-range (within 10 meters for example) of the vehicle can be solved.
In step S103, a perception error of the sensor to be tested is calculated according to the actual relative position and the perception relative position between the test vehicle and the test target at the same position, and when any perception error is smaller than a preset qualified threshold value in the test process, it is determined that the perception performance test of the sensor to be tested is qualified, otherwise, it is determined that the perception performance test of the sensor to be tested is not qualified.
The preset qualified threshold may be specifically set or calibrated according to an actual situation, which is not specifically limited.
When whether the sensor to be tested is qualified or not is tested, the sensing error can be calculated based on the sensing position sensed at the same position and the actual position of the test target, and the sensing error is facilitated to realize the evaluation of the sensing performance.
Therefore, the embodiment of the application can complete the test and evaluation of the sensor sensing performance on the premise of not additionally increasing high-precision test equipment based on the vehicle signal, so that the development cost can be effectively saved, the test cost of the sensing performance test of the vehicle-mounted sensor is greatly reduced, the actual sensing test convenience is improved, and the test experience is improved.
In the embodiment of the present application, before calculating the perception error of the sensor to be tested according to the actual relative position and the perceived relative position between the test vehicle and the test target at the same position, the method further includes: acquiring the position coordinates of a test vehicle in the test process; and calculating to obtain an actual relative position according to the position coordinates of the test vehicle and the position coordinates of the test target.
Before the test is started, a coordinate system which takes the center of the rear axle of the vehicle as the origin, the direction of the vehicle head as the X-axis and the left direction as the Y-axis is established on an open and smooth road surface, and meanwhile, a test target is placed under the coordinate system, and the truth relation between the vehicle and the target under the scene can be obtained according to the initial position of the test target.
The embodiment of the application can carry out testing based on the established coordinate system, and because the testing vehicle is provided with vehicle conventional systems such as an anti-lock system, an electric power steering system and the like, the information such as pulse signals of four wheels of the vehicle, a vehicle yaw angle, a steering wheel corner and the like can be obtained, so that the position of the vehicle when the vehicle moves relative to the power-on state can be calculated through the information such as the wheel speed pulses of the four wheels of the vehicle, the steering wheel corner, the front wheel corner, the vehicle body width, the wheel base and the like, and the coordinate of a testing target is known, so that the actual relative position can be obtained through coordinate calculation. Therefore, the actual position between the test vehicle and the test target can be determined based on the vehicle signal, high-precision test equipment does not need to be additionally added during testing, and the test cost is reduced.
In this embodiment of the present application, after calculating the actual relative position according to the position coordinates of the test vehicle and the position coordinates of the test target, the method further includes: acquiring the actual posture of a test vehicle and the actual shape of a test target in the test process; the actual relative position is corrected based on the actual pose and/or the actual shape.
When a coordinate system is established, the initial pose of the vehicle under the coordinate system is calculated, and the true value relationship between the vehicle and the target under the scene can be obtained according to the initial position and the shape of the test target.
During specific testing, the actual posture of the vehicle is obtained while the position of the vehicle relative to the electrified moving process is calculated through the wheel speed pulses of the four wheels of the vehicle and the information such as the steering wheel corner, the front wheel corner, the vehicle body width and the wheel base, so that the truth relation between the vehicle and the target under the scene is determined based on the actual position and the actual posture, and the testing accuracy is effectively improved.
In specific application, the embodiment of the application can construct a sensing and measuring system based on the output of a test vehicle and a sensing sensor and vehicle information processing, and during actual test, the system records the pose information of the vehicle and the sensing information output by the sensor; after the test is finished, a coordinate system is established based on the center of the rear axle of the vehicle, the pose of the vehicle under the coordinate system is calculated according to the original information and the pose of the vehicle, and meanwhile, the output information of the sensor is mapped under the coordinate system, so that the sensing data of the sensor can be converted into a global coordinate system before the vehicle moves, the data is processed under the same coordinate system, the results of the statistical truth value and the sensing data are compared conveniently, and the accurate evaluation of the sensing performance of the sensor is realized.
The method for testing the sensing performance of the vehicle-mounted sensor is explained by using a specific embodiment, taking the sensing and measuring system shown in fig. 2 as an example, the sensor to be tested takes the ultrasonic sensor 1, the ultrasonic sensor 8 and the camera 9 as an example, the ultrasonic sensor 1, the ultrasonic sensor 8 and the camera 9 are installed at a specified position on a test vehicle 10 and are connected with the sensor signal processor 4 through the connecting wire harness 2, the camera wire harness 5 and the backward connecting wire harness 7, and the data recording and processing unit 3 is connected with the vehicle CAN bus 6. After the original sensing signals of the ultrasonic waves and the camera are input to the sensing signal processing module 4, the sensing signal processing module 4 obtains sensing information through calculation processing and outputs the sensing information to the data recording and processing module 3, and the data recording and processing module 3 records the CAN signals of the vehicle body and the sensing signals together.
Before actual testing, a coordinate system and an initial value measurement environment are established. Therein, as shown in fig. 3, global coordinates established using wheel speed pulses, steering wheel angles, and body parameters are used. After the test vehicle 10 is at an initial position 11, the center of a rear axle of the vehicle is taken as an original point, the right front of the vehicle is taken as an x-axis, and the left of the vehicle is taken as a y-axis, a coordinate system is established, and after the vehicle moves, the position 12 of the test vehicle under the coordinate system is calculated in real time according to information such as left and right wheel speeds, steering wheel angles, wheelbases, wheel bases and yaw rates. As shown in fig. 4, the initial value measurement environment is set up, the target 13 and the target 14 are placed with the vehicle rear axle center as the origin, and the positions P13 (x, y) and P14 (x, y) thereof with respect to the origin are recorded. If other targets or scenes need to be tested, the initial positions of the targets or scenes in the coordinate system can be recorded after the targets or scenes are placed in positions according to test requirements, and a measurement environment is established.
In an actual test, as shown in fig. 5, the method for testing the sensing performance of the vehicle-mounted sensor includes the following steps:
(1) And after initialization is started, reading the recorded data file, and loading the vehicle body data and the sensing data of the sensor into a working space.
(2) And establishing a measuring coordinate system with the rear axle center as a coordinate origin, the vehicle body direction as an X axis and the lateral left direction as a Y axis, inputting the recorded target original position, and calculating and updating the pose of the vehicle under the measuring coordinate system according to the vehicle body data recorded in the current calculation period under the measuring coordinate system.
(3) Based on the latest real vehicle pose at present, the recorded sensor sensing data is transferred to a measurement coordinate system, the output value of the sensor in the test coordinate system is obtained, and the sensing deviation can be calculated according to the initial position and the real-time sensing position.
(4) And judging whether the recorded data is processed in the current period, if not, entering the next cycle for continuous processing, and if so, outputting the perception deviation and the statistical data to generate a test result comparison graph.
The comparison graph of the sensing result and the target truth value is shown in fig. 6, two obstacles are placed in front of the vehicle, the vehicle moves straight and approaches, the corresponding test results are respectively a comparison graph of an actual measurement position and a target position, a curve of position error changing along with the vehicle speed, a curve of longitudinal distance deviation of the obstacle 1, a curve of longitudinal distance deviation of the obstacle 2 and a curve of distance deviation changing along with time. From this, the following conclusions can be drawn: the maximum deviation of the longitudinal position of the obstacle 2 is 40cm, the maximum deviation of the position at the start of measurement is obtained, and the deviation of the position becomes smaller as the distance between the vehicle and the target becomes shorter. The maximum deviation of the longitudinal position of the obstacle 1 is 30cm, the maximum deviation of the position at the start of measurement is obtained, and the deviation of the position becomes smaller as the distance between the vehicle and the target becomes shorter.
According to the sensing performance testing method of the vehicle-mounted sensor, the sensing performance of the sensor can be tested and evaluated on the basis of the signal of the vehicle without additionally increasing high-precision testing equipment, so that the development cost can be effectively saved, the testing cost of the sensing performance test of the vehicle-mounted sensor is greatly reduced, the convenience of the actual sensing test is improved, and the testing experience is improved; the actual position between the test vehicle and the test target can be determined based on the vehicle signal, and no high-precision test equipment is required to be additionally added during testing, so that the testing cost is reduced; the actual posture of the test vehicle can be considered during testing, and the actual relative position is modified through the actual posture, so that the testing accuracy is improved; based on the detection requirement of the close-range perception performance of the vehicle, the close-range perception performance can be tested, and the test requirement of the close-range perception performance is effectively met.
Next, a sensing performance testing device of a vehicle-mounted sensor according to an embodiment of the present application is described with reference to the drawings.
Fig. 7 is a block diagram schematically illustrating a device for testing the sensing performance of the vehicle-mounted sensor according to the embodiment of the present application.
As shown in fig. 7, the device 100 for testing the sensing performance of the in-vehicle sensor includes: a first acquisition module 110, a recognition module 120, and a calculation module 130.
The first obtaining module 110 is configured to obtain sensing data obtained by sensing a test target by a sensor to be tested in a test process; the identification module 120 is configured to identify a perceived relative position between the test vehicle and the test target according to the perception data; the calculating module 130 is configured to calculate a sensing error of the sensor to be tested according to the actual relative position and the sensing relative position between the test vehicle and the test target at the same position, and determine that the sensing performance test of the sensor to be tested is qualified when any sensing error is smaller than a preset qualified threshold value in the test process, or determine that the sensing performance test of the sensor to be tested is unqualified.
In the embodiment of the present application, the apparatus 10 of the embodiment of the present application further includes: and a second obtaining module. The second acquisition module is used for acquiring the position coordinates of the test vehicle in the test process before calculating the perception error of the sensor to be tested according to the actual relative position and the perception relative position between the test vehicle and the test target at the same position; and calculating to obtain the actual relative position according to the position coordinates of the test vehicle and the position coordinates of the test target.
In an embodiment of the present application, the apparatus 10 of the embodiment of the present application further includes: and a correction module. The correction module is used for acquiring the actual posture of the test vehicle and the actual shape of the test target in the test process after calculating the actual relative position according to the position coordinate of the test vehicle and the position coordinate of the test target; the actual relative position is corrected based on the actual pose and/or the actual shape.
In the embodiment of the present application, the apparatus 10 of the embodiment of the present application further includes: and a third obtaining module. The third acquisition module is used for acquiring the actual distance between the test vehicle and the test target before recognizing the perception relative position between the test vehicle and the test target according to the perception data; and calculating the actual sensing distance of the sensor to be tested according to the actual distance, and screening out data of which the actual sensing distance is smaller than the target test distance from the sensing data.
It should be noted that the foregoing explanation of the embodiment of the method for testing the sensing performance of the vehicle-mounted sensor is also applicable to the device for testing the sensing performance of the vehicle-mounted sensor of the embodiment, and details are not repeated here.
According to the sensing performance testing device of the vehicle-mounted sensor, the sensing performance of the sensor can be tested and evaluated on the basis of the signal of the vehicle without additionally increasing high-precision testing equipment, so that the development cost can be effectively saved, the testing cost of the sensing performance test of the vehicle-mounted sensor is greatly reduced, the convenience of the actual sensing test is improved, and the testing experience is improved; the actual position between the test vehicle and the test target can be determined based on the vehicle signal, and no high-precision test equipment is required to be additionally added during testing, so that the testing cost is reduced; the actual posture of the test vehicle can be considered during testing, and the actual relative position is modified through the actual posture, so that the testing accuracy is improved; based on the detection requirement of the close-range perception performance of the vehicle, the test can be performed aiming at the close-range perception performance, and the test requirement of the close-range perception performance is effectively met.
Fig. 8 is a schematic structural diagram of a test apparatus provided in an embodiment of the present application. The test apparatus may include:
a memory 801, a processor 802, and a computer program stored on the memory 801 and executable on the processor 802.
The processor 802 executes the program to implement the method for testing the sensing performance of the vehicle-mounted sensor provided in the above-described embodiments.
Further, the test apparatus further comprises:
a communication interface 803 for communicating between the memory 801 and the processor 802.
A memory 801 for storing computer programs operable on the processor 802.
The Memory 801 may include a high-speed RAM (Random Access Memory) Memory, and may also include a non-volatile Memory, such as at least one disk Memory.
If the memory 801, the processor 802, and the communication interface 803 are implemented independently, the communication interface 803, the memory 801, and the processor 802 may be connected to each other via a bus and perform communication with each other. The bus may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 8, but this is not intended to represent only one bus or type of bus.
Optionally, in a specific implementation, if the memory 801, the processor 802, and the communication interface 803 are integrated on one chip, the memory 801, the processor 802, and the communication interface 803 may complete communication with each other through an internal interface.
The processor 802 may be a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to implement embodiments of the present Application.
The embodiment of the application also provides a computer readable storage medium, on which a computer program is stored, and the program is executed by a processor to implement the above method for testing the sensing performance of the vehicle-mounted sensor.
In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Moreover, various embodiments or examples and features of various embodiments or examples described in this specification can be combined and combined by one skilled in the art without being mutually inconsistent.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "N" means at least two, e.g., two, three, etc., unless explicitly defined otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more N executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present application.
It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a programmable gate array, a field programmable gate array, or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.
Claims (10)
1. The method for testing the perception performance of the vehicle-mounted sensor is characterized by comprising the following steps of:
acquiring sensing data obtained by sensing a test target by a sensor to be tested in the test process;
identifying a perception relative position between a test vehicle and the test target according to the perception data;
and calculating the perception error of the sensor to be tested according to the actual relative position between the test vehicle and the test target at the same position and the perception relative position, judging that the perception performance test of the sensor to be tested is qualified when any perception error is smaller than a preset qualified threshold value in the test process, and otherwise judging that the perception performance test of the sensor to be tested is unqualified.
2. The method of claim 1, further comprising, prior to calculating a perception error of the sensor under test from the perceived relative position and an actual relative position between the test vehicle and the test target at the same location:
acquiring the position coordinates of the test vehicle in the test process;
and calculating to obtain the actual relative position according to the position coordinate of the test vehicle and the position coordinate of the test target.
3. The method of claim 2, further comprising, after calculating the actual relative position from the position coordinates of the test vehicle and the position coordinates of the test object:
acquiring the actual posture of the test vehicle and the actual shape of the test target in the test process;
correcting the actual relative position based on the actual pose and/or the actual shape.
4. The method of any of claims 1-3, further comprising, prior to identifying the perceived relative position between the test vehicle and the test target from the perception data:
acquiring an actual distance between the test vehicle and the test target;
and calculating the actual sensing distance of the sensor to be tested according to the actual distance, and screening out data of which the actual sensing distance is smaller than the target test distance from the sensing data.
5. The utility model provides a perception capability test device of on-vehicle sensor which characterized in that includes:
the first acquisition module is used for acquiring sensing data obtained by sensing a test target by a sensor to be tested in the test process;
the recognition module is used for recognizing the perception relative position between the test vehicle and the test target according to the perception data;
and the calculation module is used for calculating the perception error of the sensor to be tested according to the actual relative position and the perception relative position between the test vehicle and the test target at the same position, judging that the perception performance test of the sensor to be tested is qualified when any perception error is smaller than a preset qualified threshold value in the test process, and otherwise judging that the perception performance test of the sensor to be tested is unqualified.
6. The apparatus of claim 5, further comprising:
the second acquisition module is used for acquiring the position coordinates of the test vehicle in the test process before calculating the perception error of the sensor to be tested according to the actual relative position and the perception relative position between the test vehicle and the test target at the same position; and calculating to obtain the actual relative position according to the position coordinate of the test vehicle and the position coordinate of the test target.
7. The apparatus of claim 6, further comprising:
the correction module is used for acquiring the actual posture of the test vehicle and the actual shape of the test target in the test process after calculating the actual relative position according to the position coordinate of the test vehicle and the position coordinate of the test target; correcting the actual relative position based on the actual pose and/or the actual shape.
8. The apparatus of any one of claims 5-7, further comprising:
the third acquisition module is used for acquiring the actual distance between the test vehicle and the test target before recognizing the perception relative position between the test vehicle and the test target according to the perception data; and calculating the actual sensing distance of the sensor to be tested according to the actual distance, and screening out data of which the actual sensing distance is smaller than the target test distance from the sensing data.
9. A test apparatus, comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the method for testing the perceptual performance of an in-vehicle sensor according to any one of claims 1 to 4.
10. A computer-readable storage medium, on which a computer program is stored, the program being executed by a processor for implementing the method for perceptual performance testing of an in-vehicle sensor according to any one of claims 1 to 4.
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| CN112147632A (en) * | 2020-09-23 | 2020-12-29 | 中国第一汽车股份有限公司 | Method, device, equipment and medium for testing vehicle-mounted laser radar perception algorithm |
| CN113561963A (en) * | 2020-04-29 | 2021-10-29 | 华为技术有限公司 | Parking method and device and vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113561963A (en) * | 2020-04-29 | 2021-10-29 | 华为技术有限公司 | Parking method and device and vehicle |
| CN112147632A (en) * | 2020-09-23 | 2020-12-29 | 中国第一汽车股份有限公司 | Method, device, equipment and medium for testing vehicle-mounted laser radar perception algorithm |
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