CN115828608A - Scene construction method for intelligent parking test - Google Patents
Scene construction method for intelligent parking test Download PDFInfo
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- CN115828608A CN115828608A CN202211599572.7A CN202211599572A CN115828608A CN 115828608 A CN115828608 A CN 115828608A CN 202211599572 A CN202211599572 A CN 202211599572A CN 115828608 A CN115828608 A CN 115828608A
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Abstract
The invention relates to a vehicle test scene, in particular to a scene construction method for intelligent parking test, which comprises the following steps: the method comprises the steps of obtaining a test stage of an intelligent parking system of a vehicle to be tested with a cruising function, wherein the test stage comprises a parking cruising stage, a parking stage and a parking stage, and each test stage comprises a test scene and a scene working condition; drawing frame lines on the road surface according to a test scene to form a scene boundary and a scene area, and laying a moving pedestrian target or a fixed target to the scene area and/or the scene boundary according to scene working conditions; and arranging the acquisition equipment, the sensing equipment and the camera equipment on a moving pedestrian target or a fixed target, and calibrating the acquisition equipment, the sensing equipment and the camera equipment. The invention constructs a plurality of test scenes and scene working conditions in a limited space, and has the advantages of small occupied area, low cost and high test efficiency.
Description
Technical Field
The invention relates to a vehicle test scene, in particular to a scene construction method for intelligent parking test.
Background
The intelligent parking is an important function of the intelligent function of the automobile, and can be widely applied to vehicle products such as unmanned automobiles, electric automobiles and the like. The intelligent parking function is developed through additional automatic parking and remote control parking in parking spaces in the early stage, and an intelligent parking system capable of cruising to a position near the parking spaces at a longer distance and then performing intelligent automatic parking is generated.
In order for the intelligent parking system to allow the vehicle to stably and reliably cruise and then park, it is necessary to perform a performance test on the intelligent parking system of the vehicle. The performance test of the intelligent parking system is realized, sites and scenes during the test are generally distributed according to corresponding test standards and specifications, or sites and sites which are actually distributed and meet requirements are selected according to the standards and the specifications, however, the sites and the scenes tested by the intelligent parking system have more scene working conditions, and the test environment is not identical, so that the sites and the sites which are used for building the test need larger areas, the cost for building the sites and the scenes which are used for covering the scene working conditions is higher, a plurality of sites which are used for testing can be rolled, and the test efficiency is reduced.
Disclosure of Invention
The invention aims to provide a scene construction method for an intelligent parking test, which solves the problems of large field area, high cost and low efficiency of rolling a plurality of test fields required by constructing a test field and scene on the premise of ensuring scientific and objective evaluation.
The scene construction method for the intelligent parking test in the scheme comprises the following steps:
step 1, obtaining a test stage of an intelligent parking system of a vehicle to be tested with a cruising function, wherein the test stage comprises a parking cruising stage, a parking stage and a parking stage, and each test stage comprises a test scene and a scene working condition;
step 2, drawing frame lines on the road surface according to a test scene to form a scene boundary and a scene area, arranging the scene area outside the scene boundary, and arranging a moving pedestrian target or a fixed target to the scene area and/or the scene boundary according to scene working conditions;
and 3, laying the acquisition equipment, the sensing equipment and the camera equipment on a moving pedestrian target or a fixed target, and calibrating the acquisition equipment, the sensing equipment and the camera equipment.
The beneficial effect of this scheme is:
according to the intelligent parking system, a frame line is drawn according to a test scene in a test stage, a test boundary and a scene area are constructed and formed, a moving pedestrian target and a fixed target are set according to scene working conditions, equipment related to the test is laid and calibrated, and the construction of the whole test scene is completed. The construction of various test scenes and scene working conditions can be carried out in a limited space through the specially-arranged scene boundary and the scene area, the occupied area is small, the cost is low, a proper place is not required to be searched for the test through rolling, and the test efficiency is high.
Further, in step 2, the scene boundary includes a road boundary and a parking space boundary, and the scene area includes a driving area and a parking space area.
The beneficial effects are that: through the dynamic establishment of roads and parking spaces, the test driving scene of the vehicle to be tested can be quickly formed, and the flexibility is higher.
Further, in step 2, it includes children's model and adult model to move pedestrian's target, children's model and adult model move through setting up the walking wheel, fixed target includes static vehicle, awl bucket obstacle, lift gate, parking stall ground lock and fire hydrant case, fixed target sets up through portable mode.
The beneficial effects are that: through the arrangement of the moving pedestrian target and the fixed target, various environment working conditions in the actual driving process of the vehicle can be covered, and the moving pedestrian target and the fixed target can also be convenient for moving positions so as to construct corresponding scenes.
Further, in the step 2, a start point identifier and an end point identifier for enabling the moving pedestrian target to move along the parking space area edge or the scene area edge are respectively added on the scene boundary and the scene area edge, and the target parking space of the vehicle to be tested is located at the middle position of the start point identifier and the end point identifier, so that a test scene under a relatively safe scene in the parking cruise stage, the parking stage and the parking exit stage is constructed.
The beneficial effects are that: by setting the corresponding identification for moving the pedestrian target along the edge of the parking space area or the edge of the scene area, the scene for moving the pedestrian target along the parking space area is constructed, so that the subsequent test scenes under the safe condition in different test stages are provided, and the coverage and the integrity of the test scenes are increased.
Further, the test scenario of the relative safety condition is that the moving pedestrian target is located in the field of view in front of the vehicle to be tested.
The beneficial effects are that: by the definition of the test scene of the relative safety situation, the safety problem that whether the intelligent parking system generates collision and the like under the relative safety situation can be pre-designed, the detail performance of the intelligent parking-out system can be tested in a supplementing manner, and the test accuracy of the intelligent parking-out system is improved.
Further, in the step 2, in the cruising stage, the moving pedestrian target is made to slowly move along the road edge formed by the frame line in the test scene, the distance between the walking path of the moving pedestrian target and the road edge on the right side of the walking direction of the moving pedestrian target is set to be one fourth of the width of the current lane, and the walking speed is set to be 3km/h.
The beneficial effects are that: this scenario is provided with two important features: firstly, the walking path of the moving pedestrian target is not in the center of the lane, but is not completely at the edge of the lane; and secondly, the walking speed of the moving pedestrian target is set to be 3km/h and is lower than the normal running speed of the test vehicle in the cruising stage, and the moving pedestrian target simulates an actual pedestrian. The setting of the position of the moving pedestrian target not only ensures that the test vehicle can detect the existence of the moving pedestrian target when normally running along the middle of the lane, but also ensures that the moving pedestrian target has certain offset relative to the center of the vehicle head, thereby increasing the difficulty of detecting the moving pedestrian target; the target speed of the moving pedestrian is set, so that the test vehicle needs to be decelerated or detoured to pass if the test vehicle does not collide. The position and the speed of the scene moving pedestrian target are specially set so as to objectively and scientifically measure and evaluate the cruising stage of the intelligent parking function.
Further, in the step 2, in the parking stage and the parking-out stage, the moving pedestrian target is positioned in front of the vehicle to be tested and moves along the road edge in the test scene, so as to construct and form the test scene capable of interrupting the parking track planned and completed by the intelligent parking system in the midway.
The beneficial effects are that: the intelligent parking system needs to complete the planning of parking tracks under limited conditions due to the fact that the parking operation time and space in the parking stage or the parking out stage are very limited, however, in actual life, the parking in and parking out positions of vehicles are likely to be interfered by surrounding moving pedestrian targets, a scene that the moving pedestrian targets walk along the edge of a road is introduced in the parking in and parking out processes of the test vehicles when the test scene is built, the dialing in and parking out processes of the vehicles are planned midway by the moving pedestrian targets, the intelligent parking function track planning strain capacity is inspected, the intelligent performance of the intelligent parking system can be tested comprehensively and accurately, and the comprehensiveness and accuracy of test results are improved.
Further, a step 4 is included, when the starting point identification and the end point identification are added, arranging an initiator on the moving pedestrian target, and arranging a communicator for receiving the positioning signal sent by the initiator at the end point identification, so that the communicator receives the positioning signal to represent that the moving pedestrian target moves along the edge of the parking space area.
The beneficial effects are that: through the setting of sender and communicator, can guarantee the accuracy that removes pedestrian's target.
Further, when the communicator does not receive the positioning signal, the communicator sends an estimation signal for triggering the abnormal estimation.
The beneficial effects are that: the communicator sends an estimation signal to trigger abnormal estimation, so that other tests can be started when the moving pedestrian target does not move according to a preset edge, and the variability and the richness of a test scene are improved.
Drawings
FIG. 1 is a schematic block diagram of a first embodiment of a scene construction method for an intelligent parking test according to the present invention;
FIG. 2 is a scene building diagram of a moving pedestrian target moving along the edge of a parking space area in a cruising phase in the first scene building method for the intelligent parking test according to the embodiment of the invention;
FIG. 3 is a scene construction diagram of a moving object moving down parallel parking spaces at a constant speed across the edges of the parking spaces in a parking stage according to an embodiment of the scene construction method for the intelligent parking test of the present invention;
FIG. 4 is a scene construction diagram of a moving pedestrian object moving down a vertical parking space at a constant speed across the edge of the parking space in a parking stage in the first embodiment of the scene construction method for the intelligent parking test of the present invention;
FIG. 5 is a scene construction diagram of a moving pedestrian object moving down parallel parking spaces at a constant speed across a middle line of a lane in a parking-out stage according to the scene construction method for the intelligent parking test of the present invention;
fig. 6 is a scene construction diagram of a moving pedestrian target moving down a vertical parking space at a constant speed across a middle line of a lane in a parking-out stage in the scene construction method for the intelligent parking test according to the embodiment of the invention.
Detailed Description
The following is a more detailed description of the present invention by way of specific embodiments.
Example one
The scene construction method for the intelligent parking test is shown in fig. 1 and comprises the following steps:
step 1, obtaining a test stage of an intelligent parking system of a vehicle to be tested with a cruising function, wherein the test stage comprises a parking cruising stage, a parking stage and a parking stage, each test stage comprises a test scene and a scene working condition, each test stage comprises a plurality of test sites, each test site corresponds to the scene working condition, and the corresponding conditions of the test stage, the test sites, the test scenes and the scene working conditions are shown in table 1, table 2 and table 3.
TABLE 1 test scenario for cruise phase of parking
TABLE 2 test scenario for docking phase
TABLE 3 test scenarios for pull-out phase
In tables 1, 2 and 3, the scene of the slow-walking working condition of the moving pedestrian target on the underground straight road of the open field along the edge of the road in the cruising stage is set up as shown in fig. 2; the construction of the working condition that adults walk over the edge of the parking space at a constant speed in the process of putting the kneading bases on the underground parallel parking spaces of the open-air field in the parking stage is shown in fig. 3, and the construction of the working condition that adults walk over the edge of the parking space at a constant speed in the process of putting the kneading bases on the underground vertical parking spaces of the open-air field in the parking stage is shown in fig. 4; the construction of the working condition that the adults walk through the middle line of the lane at a constant speed in the process of kneading and discharging the garages in the underground parallel parking spaces of the open-air field in the discharging stage is shown in fig. 5, and the construction of the working condition that the adults walk through the middle line of the lane at a constant speed in the process of kneading and discharging the garages in the underground vertical parking spaces of the open-air field in the discharging stage is shown in fig. 6.
Step 2, drawing frame lines on the road surface according to the test scene to form a scene boundary and a scene area, and arranging the scene area outside the scene boundary, wherein the scene boundary comprises a road boundary and a parking space boundary, the road boundary is a boundary for identifying the driving range of the vehicle to be tested, such as a straight road and a turning road, the parking space boundary is a boundary of a parallel parking space, a vertical parking space and an oblique parking space, the scene area comprises a driving area and a parking space area, and the two frame lines form the driving area.
The method comprises the steps that a moving pedestrian target or a fixed target is arranged to a scene area and/or a scene boundary according to scene working conditions, the moving pedestrian target comprises a child model and an adult model, the child model and the adult model move through the arrangement of walking wheels, the fixed target comprises a static vehicle, a cone barrel obstacle, a lifting gate, a parking space ground lock and a fire hydrant box, and the fixed target is arranged in a movable mode.
In the step 2, a start point identifier and an end point identifier for enabling the moving pedestrian target to move along the parking space area edge or the scene area edge are respectively added on the scene boundary and the scene area edge, and the target parking space of the vehicle to be tested is located at the middle position of the start point identifier and the end point identifier, so as to construct a test scene under a relatively safe scene in the parking cruise stage, the parking stage and the parking exit stage, wherein the test scene under the relatively safe condition is that the moving pedestrian target is located in the visual field range in front of the vehicle to be tested.
In the cruising stage, the moving pedestrian target is enabled to slowly move along the road edge formed by the frame line, the road edge is the edge of a scene area, the distance between the walking path of the moving pedestrian target and the road edge on the right side of the walking direction of the moving pedestrian target is set to be one fourth of the width of the current lane, the right side is the right side which is normally driven to the right, the walking speed is set to be 3km/h, and the scene working condition that the moving pedestrian target deviates from the center of the vehicle to be tested and is located in the collision range of the vehicle to be tested is constructed.
In the parking stage and the parking stage, the moving pedestrian target is positioned in front of the running vehicle to be tested and moves along the road edge in the test scene, the road edge is the parking space edge formed by the frame line, a test scene capable of interrupting the parking track planned and completed by the intelligent parking system in the midway is constructed, and the scene working condition of the parking track or the parking track is dynamically planned by the intelligent parking system.
And 3, laying the acquisition equipment, the sensing equipment and the camera equipment on the moving pedestrian target or the fixed target, calibrating the acquisition equipment, the sensing equipment and the camera equipment, wherein the acquisition equipment, the sensing equipment and the camera equipment all adopt the existing equipment, and the calibration of each equipment also belongs to the prior art, which is not repeated herein.
The embodiment aims at the intelligent parking system on the vehicle to be tested, obtains the test stages of cruising, parking in and parking out, draws a frame line according to the test scene of the test stage, and constructs and forms a test boundary and a scene area. And then setting a moving pedestrian target and a fixed target according to the scene working condition, and setting a corresponding identifier for enabling the moving pedestrian target to move along the edge of the parking space region or the edge of the scene region to construct a scene for enabling the moving pedestrian target to move along the parking space region so as to provide a test scene under different test stages of cruising, parking in and parking out under a safer condition. And finally, laying and calibrating the equipment related to the test to complete the construction of the whole test scene. The scene boundary and the scene area are formed by drawing the special frame line, so that various test scenes and scene working conditions can be constructed in a limited space, the floor area is small, the cost is low, a proper place is not required to be searched for the test by rolling, and the test efficiency is high.
In addition, a test scene under the relative safety condition is constructed and formed aiming at different stages of cruising, parking in and parking out, the safety problem that whether the intelligent parking system generates collision and the like under the relative safety condition can be designed in advance, the detailed performance of the intelligent parking out system can be tested in a supplementing mode, and the test accuracy of the intelligent parking out system is improved.
In the actual driving process, the parking environment conditions are very limited, the parking distance is short, the parking-in or parking-out time of parking is short, usually about 10s, so that the existing intelligent auxiliary system of the vehicle can plan a parking path and a parking speed in advance. Compared with the existing test with a static target, the embodiment tests the detection performance under cruising by slowly moving the moving pedestrian target at a certain distance from the edge of the area when the moving pedestrian target is positioned in front of the vehicle to be tested and walks along the edge of the corresponding area, and tests the intelligent performance of dynamic programming during parking or parking by enabling the intelligent parking system to dynamically program the scene of parking in or parking out of the track by repeatedly interrupting the parking track planned and more comprehensively and accurately test the performance of the intelligent parking system with cruising function. Corresponding scene conditions are constructed by moving the pedestrian targets in the cruising stage, the parking-in stage and the parking-out stage.
Furthermore, because the moving pedestrian target is located in the visual field range in the scene, no visual angle blind area exists, the performance test of the intelligent parking system of the vehicle under the condition that the moving pedestrian target moves along the edge during cruising, parking in or parking out is generally not considered, the safety of the driving environment per se is higher, and the performance test of the intelligent parking system under the condition is generally not considered in the range, so the embodiment increases the detail range of the performance test of the intelligent parking system, and improves the accuracy and the comprehensiveness of the test result.
Example two
The scene construction method for the intelligent parking test is different from the first embodiment in that the scene construction method further comprises a step 4, when the start point identification and the end point identification are added, the sender can be an existing infrared transmitter, a communicator which receives a positioning signal sent by the sender is arranged at the end point identification, the communicator can be a plurality of infrared receivers which are arranged in a certain error range and have a plurality of receiving angles, the communicator receives the positioning signal to represent that the moving pedestrian target moves along the edge of the vehicle area, the position of the communicator is adaptively adjusted according to the scene working conditions, the signal of the sender on the moving pedestrian target can be received as a standard to represent that the moving pedestrian target moves along a certain edge, when the communicator does not receive the positioning signal, the communicator sends an estimated signal which triggers abnormal estimation, and the estimated signal can be an electric signal which is fed back when the infrared receiver does not receive the infrared signal.
When the moving pedestrian target is interfered by external wind power or other factors to cause the change of the activity track, the corresponding scene cannot be completely and accurately constructed and formed. Therefore, in the process of constructing the test scene of the intelligent parking system, the paired transmitter and communicator are arranged at the moving pedestrian target and the end point identifier to monitor whether the moving pedestrian target moves along the edge, if not, the communicator sends an estimation signal to trigger abnormal estimation, and when the moving pedestrian target does not move according to the preset edge, other tests can be started, so that the variability and richness of the test scene are improved.
The foregoing is merely an example of the present invention and common general knowledge of known specific structures and features of the embodiments is not described herein in any greater detail. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.
Claims (9)
1. The scene construction method for the intelligent parking test is characterized by comprising the following steps of:
step 1, obtaining a test stage of an intelligent parking system of a vehicle to be tested with a cruising function, wherein the test stage comprises a parking cruising stage, a parking stage and a parking stage, and each test stage comprises a test scene and a scene working condition;
step 2, drawing frame lines on the road surface according to a test scene to form a scene boundary and a scene area, arranging the scene area outside the scene boundary, and arranging a moving pedestrian target or a fixed target to the scene area and/or the scene boundary according to scene working conditions;
and 3, laying the acquisition equipment, the sensing equipment and the camera equipment on a moving pedestrian target or a fixed target, and calibrating the acquisition equipment, the sensing equipment and the camera equipment.
2. The scene construction method for the intelligent parking test according to claim 1, characterized in that: in the step 2, the scene boundary includes a road boundary and a parking space boundary, and the scene area includes a driving area and a parking space area.
3. The scene construction method for the intelligent parking test according to claim 2, characterized in that: in step 2, remove pedestrian's target and include child model and adult model, child model and adult model remove through setting up the walking wheel, fixed target includes static vehicle, awl bucket obstacle, lift gate, parking stall ground lock and fire hydrant case, fixed target sets up through portable mode.
4. The scene construction method for the intelligent parking test according to claim 3, characterized in that: in the step 2, a start point identifier and an end point identifier which enable a moving pedestrian target to move along the parking space area edge or the scene area edge are respectively added on the scene boundary and the scene area edge, and a target parking space of a vehicle to be tested is located at the middle position of the start point identifier and the end point identifier, so that a test scene in a relatively safe scene in a parking cruise stage, a parking stage and a parking exit stage is constructed.
5. The scene construction method for the intelligent parking test according to claim 4, characterized in that: the test scene of the relative safety condition is that the moving pedestrian target is positioned in the visual field range in front of the vehicle to be tested.
6. The scene construction method for the intelligent parking test according to claim 5, characterized in that: in the step 2, in the cruising stage, the moving pedestrian target is enabled to slowly move along the edge of the road formed by the frame line in the test scene, the distance between the walking path of the moving pedestrian target and the edge of the road on the right side of the walking direction of the moving pedestrian target is set to be one fourth of the width of the current lane, and the walking speed is set to be 3km/h.
7. The scene construction method for the intelligent parking test according to claim 6, characterized in that: in the step 2, in the parking stage and the parking-out stage, the moving pedestrian target is positioned in front of the running vehicle to be tested and moves along the road edge in the test scene, and the test scene capable of interrupting the parking track planned by the intelligent parking system in midway is constructed.
8. The scene construction method for the intelligent parking test according to any one of claims 4 to 7, characterized in that: and 4, arranging an initiator on the moving pedestrian target when the starting point identifier and the end point identifier are added, and arranging a communicator for receiving the positioning signal transmitted by the initiator at the end point identifier, wherein the communicator receives the positioning signal to represent that the moving pedestrian target moves along the edge of the parking space area.
9. The scene construction method for the intelligent parking test according to claim 8, characterized in that: when the communicator does not receive the positioning signal, the communicator sends an estimation signal for triggering the abnormal estimation.
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