CN115729810B - Vehicle-mounted test system for intelligent automobile road test - Google Patents
Vehicle-mounted test system for intelligent automobile road test Download PDFInfo
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The invention discloses a vehicle-mounted test system for intelligent vehicle road test, which belongs to the technical field of intelligent vehicles, fully considers road distribution conditions in a test area and demand test items of a target vehicle, adjusts a path in real time according to real-time test road demand item completion conditions, preferentially completes test road demand items with smaller random completion probability, and adjusts the paths in real time according to the completion conditions of current test road demand items and conditions between a next test node and adjacent test nodes when approaching each node, thereby avoiding the occurrence of conditions that the target vehicle has larger completion degree of part of test road demand items and smaller part of test road demand items in the test process, remarkably reducing the time cost of the test process, ensuring more intelligent automatic route planning, and avoiding the occurrence of conditions that staff adjusts routes in real time according to different test items to cause the improvement of labor cost and planning difficulty.
Description
Technical Field
The invention belongs to the technical field of intelligent network automobiles, and particularly relates to a vehicle-mounted test system for intelligent automobile road tests.
Background
The intelligent automobile collects a large amount of external information by using the sensor, performs planning decision after being analyzed by the processor and performs auxiliary driving of the automobile, and because the intelligent automobile needs to be separated from control of a person to perform partial or even complete decision, the intelligent automobile is still in a development stage at present, so that the intelligent automobile has considerable danger if the intelligent automobile is directly marketed, and therefore, in actual operation, the intelligent automobile needs to be subjected to a large amount of road tests, the defects of an intelligent control system of the intelligent automobile can be found and timely adjusted by analyzing a large amount of road test data, so that the evaluation of the intelligent automobile is realized.
In the prior art, the safety, stability and rationality of a vehicle are mainly evaluated when the road test is carried out, so that the running state of the vehicle under different road conditions is required to be tested, but the road sections required to be tested are obviously different according to different test targets, so that professional staff is required to plan the test path of the vehicle before the test is carried out, and part of enterprises can even execute the operation of the fixed route test.
Disclosure of Invention
The invention aims to provide a vehicle-mounted test system for intelligent automobile road test, which solves the problems of high labor cost and time cost consumed by road test in the prior art.
The aim of the invention can be achieved by the following technical scheme:
an in-vehicle testing system for intelligent automotive road testing, comprising:
the road planning unit is used for planning a subsequent path according to the current position of the target vehicle and the completion condition of each test road demand item;
the positioning unit is used for acquiring the position information of the target vehicle in real time;
the position information storage unit is used for storing the position information of each test node in the test area;
the working method of the vehicle-mounted test system for intelligent vehicle road test comprises the following steps:
s1, marking a vehicle to be tested as a target vehicle, defining a test area, setting a plurality of test nodes in the test area, wherein a path between two adjacent test nodes is a preset fixed path, and at least one test road requirement item is met between the two adjacent test nodes;
s2, acquiring the completion condition of a test road demand item of the target vehicle, and planning a test path of the target vehicle in a test area according to the test road demand item by a road planning unit at each test node, and preferentially carrying out the test road demand item with lower completion degree;
s3, returning the target vehicle subjected to road testing.
As a further scheme of the invention, the test road demand items comprise an intersection section, a traffic signal lamp section, an ascending road section with a certain gradient, a descending road section with a certain gradient, a high-speed road section, a common straight road section and a curve road section.
As a further aspect of the present invention, a method for planning a test path by a road planning unit includes:
s21, marking the satisfaction degree of each test road demand item of the test road demand items of the target vehicle as W;
s22, acquiring unit quantities D1 corresponding to the n items of test road demand items X1 to Xn in the test area, and marking the unit quantities as D11, D12, … … and D1n in sequence;
obtaining unit quantities D2 corresponding to n test road demand items of a target vehicle, and marking the unit quantities as D21, D22, … … and D2n in sequence;
calculating according to a formula B=D2/D1 to obtain a distribution ratio B corresponding to a test road demand item, wherein i is more than or equal to 1 and less than or equal to n;
s23, selecting a test node as an initial node in the test area according to the current position of the target vehicle;
obtaining test nodes which are communicated with the initial node and marking the test nodes as adjacent nodes, and obtaining the types and the quantity of test road demand items between the initial node and the adjacent nodes;
for a fixed route between a starting node and an adjacent node, acquiring the distribution ratio B of each test road demand item between the starting node and the adjacent node, and marking the acquired distribution ratio of each test road demand item as B1, B2, … … and Bk in sequence;
acquiring the current satisfaction W of the test road demand items corresponding to the distribution proportion of the k items from B1 to Bk, and marking the k corresponding satisfaction W as W1, W2, … … and Wk in sequence;
calculating a priority value Y of a corresponding fixed route according to a formula Y= (B1×W1+B2×W2+, … …, +Bk×Wk)/k;
sequentially calculating to obtain priority values between the starting node and each adjacent node, and selecting the adjacent node corresponding to the maximum priority value as the next test node;
s24, acquiring position information of a target vehicle through a positioning unit, when the path distance between the target vehicle and a next test node on a corresponding planned path is smaller than a preset value, sending positioning information to a road planning unit, designating the next test node to be reached as a starting node by the road planning unit, and then acquiring a subsequent route according to the method of the step S23;
s25, selecting test nodes according to the method of the step S24 until the satisfaction W of the test road demand items corresponding to the target vehicles is greater than or equal to 1, and at the moment, considering that the corresponding intelligent automobile road tests are finished.
As a further scheme of the invention, the method for detecting the path distance between the target vehicle and the test node comprises the following steps:
acquiring the position information of the target vehicle in real time through a positioning unit;
acquiring a current running path of a target vehicle through a road planning unit, and acquiring position information of a next test node corresponding to the current running path;
and obtaining the path distance between the target vehicle and the test node according to the current running path of the target vehicle and the position information of the vehicle and the next test node.
The invention has the beneficial effects that:
(1) The road distribution conditions in the test area and the requirement test items of the target vehicle are fully considered, the paths are adjusted in real time according to the real-time test road requirement item completion conditions, particularly, the test road requirement items with smaller random completion probability are preferentially completed, and when the nodes are close to each other, the road distribution conditions are adjusted in real time according to the completion conditions of the current test road requirement items and the conditions between the next test node and each adjacent test node, so that the conditions that the target vehicle has larger completion degree of part of test road requirement items and smaller part of test road requirement items in the test process are avoided, the time cost of the test process can be obviously reduced, the automatic route planning is more intelligent, and the conditions that the labor cost and the planning difficulty are improved due to the fact that the workers adjust the route in real time according to different test items are avoided;
(2) The step takes the test node as a unit, and when the target vehicle approaches or reaches one test node, the next path planning is carried out, so that the influence of burst factors on the road test is effectively reduced, and the road test efficiency is improved;
(3) Because different vehicles and different types of systems to be tested are different, road conditions to be tested are different, when the vehicles need to be tested on the road each time, a worker is required to plan the road according to actual conditions, so that the vehicles can finish all required road requirement items to be tested as soon as possible, but the planning workload is high, and the road requirement items cannot be changed according to real-time conditions of the road.
Drawings
The invention is further described below with reference to the accompanying drawings.
Fig. 1 is a schematic diagram of a frame structure of a vehicle-mounted test system for intelligent automobile road testing according to the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
An in-vehicle test system for intelligent vehicle road testing, as shown in fig. 1, comprising:
the road planning unit is used for planning a subsequent path according to the current position of the target vehicle and the completion condition of each test road demand item;
the positioning unit is used for acquiring the position information of the target vehicle in real time;
the position information storage unit is used for storing the position information of each test node in the test area;
the working method of the vehicle-mounted test system for intelligent vehicle road test comprises the following steps:
s1, marking a vehicle to be tested as a target vehicle, defining a test area, setting a plurality of test nodes in the test area, wherein a path between two adjacent test nodes is a preset fixed path, and at least one test road requirement item is met between the two adjacent test nodes;
the test road demand items comprise an intersection section, a traffic signal lamp section, an ascending road section with a certain gradient, a descending road section with a certain gradient, a high-speed road section, a common straight road section and a curve road section;
s2, acquiring the completion condition of a test road demand item of the target vehicle, and planning a test path of the target vehicle in a test area according to the test road demand item by a road planning unit at each test node, and preferentially carrying out the test road demand item with lower completion degree;
because different vehicles and different types of systems to be tested are different, road conditions to be tested are different, when the vehicles need to be tested on the road each time, a worker is required to plan the road according to actual conditions, so that the vehicles can finish all required road requirement items to be tested as soon as possible, but the planning workload is high, and the road requirement items cannot be changed according to real-time conditions of the road.
S3, returning the target vehicle subjected to road testing.
The method for planning the test path by the road planning unit comprises the following steps:
s21, marking test road demand items of a target vehicle as X1, X2, … … and Xn in sequence, wherein n is the number of the test road demand items of the target vehicle, and marking the satisfaction degree of each test road demand item as W;
the satisfaction represents the current completion of the corresponding test road demand item, for example, the test road demand is that 20 crossroad sections are passed, and if 12 crossroad sections are passed currently, the satisfaction of the corresponding test road demand item is 60%;
s22, acquiring unit quantities D1 corresponding to the n items of test road demand items X1 to Xn in the test area, and marking the unit quantities as D11, D12, … … and D1n in sequence;
obtaining unit quantities D2 corresponding to n test road demand items of a target vehicle, and marking the unit quantities as D21, D22, … … and D2n in sequence;
calculating according to a formula B=D2/D1 to obtain a distribution ratio B corresponding to a test road demand item, wherein i is more than or equal to 1 and less than or equal to n;
it should be noted that the unit quantity units corresponding to different test road demand items are different;
s23, selecting a test node as an initial node in the test area according to the current position of the target vehicle;
obtaining test nodes which are communicated with the initial node and marking the test nodes as adjacent nodes, and obtaining the types and the quantity of test road demand items between the initial node and the adjacent nodes;
taking a fixed route between a starting node and an adjacent node as an example, acquiring the distribution duty ratio B of each test road demand item between the starting node and the adjacent node, and marking the acquired distribution duty ratio of each test road demand item as B1, B2, … … and Bk in sequence;
acquiring the current satisfaction W of the test road demand items corresponding to the distribution proportion of the k items from B1 to Bk, and marking the k corresponding satisfaction W as W1, W2, … … and Wk in sequence;
calculating a priority value Y of a corresponding fixed route according to a formula Y= (B1×W1+B2×W2+, … …, +Bk×Wk)/k;
sequentially calculating to obtain priority values between the starting node and each adjacent node according to the method, and selecting the adjacent node corresponding to the maximum priority value as the next test node, namely, the vehicle moves on a fixed route between the starting node and the corresponding adjacent node;
the step takes the test node as a unit, and when a target vehicle approaches or arrives at one test node, the next path planning is carried out, so that the influence of burst factors on road tests is effectively reduced, for example, when the road tests are carried out under open road conditions and the vehicle density has test requirements, the influence of the burst factors can be reduced by making adjustment according to real-time changes, and the road test efficiency is improved;
s24, acquiring position information of a target vehicle through a positioning unit, when the path distance between the target vehicle and a next test node on a corresponding planned path is smaller than a preset value R, sending positioning information to a road planning unit, designating the next test node to be reached as a starting node by the road planning unit, and then acquiring a subsequent route according to the method of the step S23;
in one embodiment of the invention, the method for detecting the path distance between the target vehicle and the test node comprises the following steps:
acquiring the position information of the target vehicle in real time through a positioning unit;
acquiring a current running path of a target vehicle through a road planning unit, and acquiring position information of a next test node corresponding to the current running path;
when the path distance between the target vehicle and the corresponding test node is smaller than a preset value, the target vehicle sends a positioning message to the road planning unit, and the road planning unit performs subsequent operation.
The setting of the R should be capable of meeting the requirement that the target vehicle acquires a subsequent planned path before reaching the corresponding test node and leaves a corresponding distance to enable the target vehicle to execute corresponding lane changing and other operations.
S25, selecting test nodes according to the method of the step S24 until the satisfaction W of the test road demand items corresponding to the target vehicles is greater than or equal to 1, and at the moment, considering that the corresponding intelligent automobile road tests are finished, and returning the target vehicles.
The invention fully considers the road distribution condition in the test area and the requirement test items of the target vehicle, adjusts the path in real time according to the real-time test road requirement item completion condition, specifically, preferentially completes the test road requirement items with smaller random completion probability (namely smaller real-time distribution occupation ratio B), and adjusts the path in real time according to the completion condition of each current test road requirement item and the condition between the next test node and each adjacent test node when approaching each node, thereby avoiding the condition that the target vehicle has larger completion degree of part of test road requirement items and smaller part of test road requirement items in the test process, remarkably reducing the time cost of the test process, ensuring that the automatic path planning is more intelligent, and avoiding the condition that the labor cost and the planning difficulty are improved due to the real-time adjustment of the path according to different test items.
In the description of the present specification, the descriptions of the terms "one embodiment," "example," "specific example," and the like, mean 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 present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The foregoing is merely illustrative and explanatory of the invention, as various modifications and additions may be made to the particular embodiments described, or in a similar manner, by those skilled in the art, without departing from the scope of the invention or exceeding the scope of the invention as defined in the claims.
Claims (2)
1. An on-board test system for intelligent vehicle road testing, comprising:
the road planning unit is used for planning a subsequent path according to the current position of the target vehicle and the completion condition of each test road demand item;
the positioning unit is used for acquiring the position information of the target vehicle in real time;
the position information storage unit is used for storing the position information of each test node in the test area;
the working method of the vehicle-mounted test system for intelligent vehicle road test comprises the following steps:
s1, marking a vehicle to be tested as a target vehicle, defining a test area, setting a plurality of test nodes in the test area, wherein a path between two adjacent test nodes is a preset fixed path, and at least one test road requirement item is met between the two adjacent test nodes;
s2, acquiring the completion condition of a test road demand item of the target vehicle, and planning a test path of the target vehicle in a test area according to the test road demand item by a road planning unit at each test node;
s3, returning the target vehicle subjected to road test;
the test road demand items comprise crossroad sections, traffic signal lamp sections, ascending road sections, descending road sections, high-speed road sections, common straight line sections and curve sections;
the method for planning the test path by the road planning unit comprises the following steps:
s21, marking the satisfaction degree of each test road demand item of the target vehicle as W, wherein the satisfaction degree represents the current completion degree of the corresponding test road demand item;
s22, acquiring unit quantities D1 corresponding to the n items of test road demand items X1 to Xn in the test area, and marking the unit quantities as D11, D12, … … and D1n in sequence;
obtaining unit quantities D2 corresponding to n test road demand items of a target vehicle, and marking the unit quantities as D21, D22, … … and D2n in sequence;
calculating according to a formula B=D2/D1 to obtain a distribution duty ratio B corresponding to the test road demand items;
s23, selecting a test node as an initial node in the test area according to the current position of the target vehicle;
obtaining test nodes which are communicated with the initial node and marking the test nodes as adjacent nodes, and obtaining the types and the quantity of test road demand items between the initial node and the adjacent nodes;
for a fixed route between a starting node and an adjacent node, acquiring the distribution ratio B of each test road demand item between the starting node and the adjacent node, and marking the acquired distribution ratio of each test road demand item as B1, B2, … … and Bk in sequence;
acquiring the current satisfaction W of the test road demand items corresponding to the distribution proportion of the k items from B1 to Bk, and marking the k corresponding satisfaction W as W1, W2, … … and Wk in sequence;
calculating a priority value Y of a corresponding fixed route according to a formula Y= (B1×W1+B2×W2+, … …, +Bk×Wk)/k;
sequentially calculating to obtain priority values between the starting node and each adjacent node, and selecting the adjacent node corresponding to the maximum priority value as the next test node;
s24, acquiring position information of a target vehicle through a positioning unit, when the path distance between the target vehicle and a next test node on a corresponding planned path is smaller than a preset value, sending positioning information to a road planning unit, designating the next test node to be reached as a starting node by the road planning unit, and then acquiring a subsequent route according to the method of the step S23;
s25, selecting test nodes according to the method of the step S24 until the satisfaction W of the test road demand items corresponding to the target vehicles is greater than or equal to 1, and at the moment, considering that the corresponding intelligent automobile road tests are finished.
2. The vehicle-mounted test system for intelligent vehicle road testing according to claim 1, wherein the method for detecting the path distance between the target vehicle and the test node comprises the following steps:
acquiring the position information of the target vehicle in real time through a positioning unit;
acquiring a current running path of a target vehicle through a road planning unit, and acquiring position information of a next test node corresponding to the current running path;
and obtaining the path distance between the target vehicle and the test node according to the current running path of the target vehicle and the position information of the vehicle and the next test node.
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- 2022-11-02 CN CN202211359067.5A patent/CN115729810B/en active Active
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| WO2014195406A1 (en) * | 2013-06-07 | 2014-12-11 | Continental Automotive Gmbh | Method for acquiring on-vehicle navigation information and on-vehicle navigation system |
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