CN116401154A - Visual perception system testing method and device, product and vehicle - Google Patents
Visual perception system testing method and device, product and vehicle Download PDFInfo
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Abstract
The embodiment of the specification discloses a method, a device, a product and a vehicle for testing a visual perception system. The scheme may include: acquiring first road environment image information acquired from a projection plate by a visual perception system of a target vehicle; the projection board is used for displaying the first road environment image information put in by the projection equipment; identifying the first road environment image information to generate a vehicle control instruction; controlling a target vehicle to run on a real road surface in a preset area according to a vehicle control instruction to obtain vehicle running information; based on the vehicle travel information, system performance of the visual perception system is verified.
Description
Technical Field
The application relates to the technical field of intelligent driving, in particular to a visual perception system testing method, a visual perception system testing device, a visual perception system product and a vehicle.
Background
With the continuous development of intelligent driving technology, the performance requirement of the visual perception system is higher and higher, and a great amount of tests are required to be carried out on the visual perception system so as to ensure the requirement that the performance of the visual perception system can be intelligently driven. In the prior art, the visual perception system is tested based on an actual road, but the product is still in a development stage, so that the stability is insufficient, if the product is tested in the actual road, various road conditions need to be considered for scene arrangement, the requirements on the field are high, and the scene arrangement cost is high.
Disclosure of Invention
The embodiment of the specification provides a testing method, a testing device, a testing product and a testing vehicle for a visual perception system, so as to solve the problems of high site requirements and high cost in the existing testing method for the visual perception system.
In order to solve the above technical problems, the embodiments of the present specification are implemented as follows:
the method for testing the visual perception system provided in the embodiment of the specification may include:
acquiring first road environment image information acquired from a projection plate by a visual perception system of a target vehicle; the projection board is used for displaying the first road environment image information put in by the projection equipment;
identifying the first road environment image information to generate a vehicle control instruction;
controlling the target vehicle to run on a real road surface in a preset area according to the vehicle control instruction to obtain vehicle running information;
and verifying the system performance of the visual perception system based on the vehicle driving information.
The device for testing a visual perception system provided in the embodiments of the present disclosure may include:
the first road environment image information acquisition module is used for acquiring first road environment image information acquired from the projection plate by the visual perception system of the target vehicle; the projection board is used for displaying the first road environment image information put in by the projection equipment;
The information identification module is used for identifying the first road environment image information and generating a vehicle control instruction;
the vehicle running information acquisition module is used for controlling the target vehicle to run on a real road surface in a preset area according to the vehicle control instruction to obtain vehicle running information;
and the system performance detection module is used for verifying the system performance of the visual perception system based on the vehicle running information.
A computer program product provided by embodiments of the present specification may include a computer program or instructions that, when executed by a processor, implement the steps of a method of testing a visual perception system.
The embodiment of the specification provides a visual perception system's test vehicle, test vehicle includes projection board, projection equipment, visual perception system, can include:
the visual perception system acquires first road environment image information from the projection plate; the projection board is used for displaying the first road environment image information put in by the projection equipment;
the visual perception system identifies the first road environment image information and generates a vehicle control instruction;
The test vehicle runs on a real road surface in a preset area according to the vehicle control instruction to obtain vehicle running information;
and verifying the system performance of the visual perception system based on the vehicle driving information.
At least one embodiment of the present disclosure can achieve the following beneficial effects: acquiring first road environment image information acquired from a projection plate by a visual perception system of a target vehicle; the projection board is used for displaying the first road environment image information put in by the projection equipment; identifying the first road environment image information to generate a vehicle control instruction; controlling a target vehicle to run on a real road surface in a preset area according to a vehicle control instruction to obtain vehicle running information; based on the vehicle travel information, system performance of the visual perception system is verified. The vehicle can run according to the road environment information displayed on the projection plate, and scene distribution in the field is not needed, so that the cost of scene arrangement can be saved, and the requirement on the field is low.
Drawings
In order to more clearly illustrate the embodiments of the present description or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present application, and that other drawings may be obtained according to these drawings without inventive effort to a person skilled in the art.
FIG. 1 is a flow chart of a testing method of a visual perception system according to an embodiment of the present disclosure;
FIG. 2 is a schematic view of the acquisition range of a visual perception system according to an embodiment of the present disclosure;
FIG. 3 is a schematic structural diagram of a testing device of a visual perception system according to an embodiment of the present disclosure;
FIG. 4 is a schematic structural diagram of a test device of a visual perception system according to an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of a test vehicle of a visual perception system according to an embodiment of the present disclosure.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of one or more embodiments of the present specification more clear, the technical solutions of one or more embodiments of the present specification will be clearly and completely described below in connection with specific embodiments of the present specification and corresponding drawings. It will be apparent that the described embodiments are only some, but not all, of the embodiments of the present specification. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without undue burden, are intended to be within the scope of one or more embodiments herein.
The following describes in detail the technical solutions provided by the embodiments of the present specification with reference to the accompanying drawings.
In the prior art, simulation test can be performed based on a bench, but the actual action of a real vehicle is separated, and the simulation is performed only for the vehicle in a stationary state, so that the simulation system has certain limitation. The other dynamic test is to test the visual perception system based on the actual road, but the product is still in the development stage and has insufficient stability, if the test is performed on the actual road, the scene arrangement needs to be performed in consideration of various road conditions, the requirements on the field are high, and the scene arrangement cost is high.
In order to solve the drawbacks of the prior art, the present solution provides the following embodiments:
fig. 1 is a flow chart of a testing method of a visual perception system according to an embodiment of the present disclosure. From the program perspective, the execution subject of the flow may be a program or an application client that is installed on an application server.
As shown in fig. 1, the process may include the steps of:
step 102: acquiring first road environment image information acquired from a projection plate by a visual perception system of a target vehicle; the projection board is used for displaying the first road environment image information put in by the projection equipment.
In the embodiment of the present disclosure, the visual perception system may be a system that captures image data through a camera sensor and extracts target information therefrom, where the system may include a system hardware, a perception algorithm model, a post-processing program, and the like; the reference information may be provided to the autonomous vehicle by acquiring the road environment information. The visual perception system may obtain image information of the road environment from the projection board. The road environment image information may be consistent with road environment information obtained by the visual perception system from an actual road of the same scene. The first road environment image information displayed on the projection plate can be set and projected by adopting historical real road environment information acquired by a vehicle in the previous driving process, and can also be projected by adopting virtual road environment information preset according to actual requirements. The method is not particularly limited, and the device can be selected according to the test requirement. Therefore, the cost can be reduced, the efficiency can be improved, and the safety can also be improved.
Step 104: and identifying the first road environment image information to generate a vehicle control instruction.
In the embodiment of the specification, the first road environment image information can be identified to obtain information such as road information, lane information, barrier information, signal lamp information, road sign information and the like. The lane information may include information such as type information of a lane line, traveling direction information of a lane marking, position information of the lane line, and the like. The type of lane lines may include at least one of a white solid line lane line, a white dotted line lane line, a yellow solid line lane line, and a double yellow line lane line. The obstacle information may include information such as travel speed information, position information, and travel direction information of other vehicles in front of the target vehicle; information such as traveling direction information, traveling speed information, and position information of the pedestrian may be included; information such as position information and appearance size information of the static obstacle at other fixed positions may be included. And planning the track of the target vehicle according to the information obtained by the identification and the information of the target vehicle, and generating a corresponding vehicle control instruction according to the track planning. The information of the target vehicle can collect the self-running speed information, the running direction information and the position information according to the self-loading sensor of the target vehicle, and the collected information is sent to the server to provide reference information for track planning.
Step 106: and controlling the target vehicle to run on a real road surface in a preset area according to the vehicle control instruction to obtain vehicle running information.
According to the embodiment of the specification, the open field with the preset size can be selected in advance according to the scene requirement to be tested. The vehicle can run on the real road surface according to the control instruction, so that the obtained vehicle running information has higher reference significance, and the accuracy of the information is improved. And can travel in open place according to the information on the projection board, do not need scene arrangement and lane line's cloth drawing in the place, can carry out a large amount of tests in limited less place.
Step 108: and verifying the system performance of the visual perception system based on the vehicle driving information.
According to the embodiment of the specification, the accuracy of information acquisition of the visual perception system and the performance excellence can be verified according to the vehicle running information contained in the test result. When the performance of the visual perception system is verified to not meet the use requirement, the visual perception system can be adjusted according to the test results, so that the visual perception system can be ensured to be available, and accurate and reliable information can be provided for safe running of the automatic driving vehicle.
It should be understood that the method according to one or more embodiments of the present disclosure may include the steps in which some of the steps are interchanged as needed, or some of the steps may be omitted or deleted.
The method in fig. 1, by acquiring first road environment image information acquired from a projection board by a visual perception system of a target vehicle; the projection board is used for displaying the first road environment image information put in by the projection equipment; identifying the first road environment image information to generate a vehicle control instruction; controlling a target vehicle to run on a real road surface in a preset area according to a vehicle control instruction to obtain vehicle running information; based on the vehicle travel information, system performance of the visual perception system is verified. The vehicle can run according to the road environment information displayed on the projection plate, the scene distribution in the field is not needed, and the cost of scene arrangement is saved.
On the other hand, because real road information is not required to be set, multiple tests of different scenes can be carried out on the same land, a large number of tests can be completed by using fewer land resources, and the cost of scene arrangement is saved.
Because the vehicle runs on the real road, the vehicle control instruction can be generated by combining the friction coefficient between the vehicle and the running road, so that the performance of the verified visual perception system is more in line with the performance of actual use. Compared with the simulation test adopted in the prior art, the system performance can be tested more comprehensively, for example, as the friction coefficient can be combined in the embodiment of the specification, the vehicle control instruction is generated, and the test of braking performance, transverse acceleration generated when the vehicle turns and the like can be performed.
Based on the method of fig. 1, the examples of the present specification also provide some specific implementations of the method, as described below.
Optionally, before the capturing the first road environment image information acquired from the projection board by the visual perception system of the target vehicle in the embodiments of the present disclosure, the method may further include:
acquiring first position information of the visual perception system;
acquiring second position information of the projection plate;
and determining parameter information of the projection equipment according to the first position information and the second position information, so that the projection equipment projects the first road environment image information to an area which can be acquired by the visual perception system in the projection board according to the parameter information.
In the embodiment of the specification, the height position information of the visual perception system relative to the ground and the height position information of the projection plate can be determined before the test is started, and the parameter information of the projection device is set according to the position information of the visual perception system and the position information of the projection plate; the parameter information may include information such as brightness information of the projection device, resolution information of the projection device, contrast information of the projection device, and scale information of the projection image; therefore, the projection equipment can project road environment information required by testing to an area on the projection plate, which can be acquired by the visual perception system, in real time, and the visual perception system can acquire complete road environment image information displayed on the projection plate. Wherein the road environment information of the test requirement may be first road environment image information.
In order to make the acquired data more accurate, determining the parameter information of the projection device in the embodiments of the present disclosure may include:
determining a proportional relation between road environment information on the projection plate and road environment information on the real road surface according to a first acquisition range of the visual perception system for the real road surface and a second acquisition range of the visual perception system for the projection plate;
and according to the proportional relation, determining parameter information of the projection equipment so that the projection equipment can project the first road environment image information onto the second acquisition range of the projection board.
The calculating unit in the embodiment of the present disclosure may calculate, according to the two collection range information, a proportional relationship between the road environment information on the projection board and the road environment information on the real road surface, so as to project the road environment information onto the projection board according to the proportional relationship. It will be appreciated that if the image information projected by the projection device can pass through the projection board, the projected image can coincide with the real road of the same scene when projected onto the real road surface according to the proportional relationship. Fig. 2 is a schematic diagram of a capturing range of a visual perception system according to an embodiment of the present disclosure. As shown in fig. 2, 20a may be a side view of the vehicle, 20b may be a top view of the vehicle, 21 may be a side view of the projection device, 22 may be a side view of the vision-sensing system, 23 may be a side view of the projection plate, V1 may be a height range where the vision-sensing system collects real roads, V2 may be a height range where the vision-sensing system collects the projection plate, H1 may be a width range where the vision-sensing system collects real roads, and H2 may be a width range where the vision-sensing system collects the projection plate.
The method may determine acquisition range information according to the position information, and before determining the parameter information of the projection device, in this embodiment of the present disclosure, the method may further include:
determining a first distance between the visual perception system and a real road surface according to the first position information;
determining a second distance between the visual perception system and the projection plate according to the first position information and the second position information;
determining a first acquisition range of the visual perception system for the real road surface according to the first distance;
and determining a second acquisition range of the visual perception system for the projection plate according to the second distance.
In the embodiment, the perceivable range of the visual perception system can be determined according to the parameter of the visual perception system, and the acquisition range when the visual perception system acquires information on the ground is determined by combining the height of the visual perception system from the ground; the acquisition range of the visual perception system when acquiring the information on the projection plate can also be obtained according to the self parameters and the distance between the visual perception system and the projection plate. In practical applications, other manners may be adopted, which are not limited herein.
In order to make the test more accurate, the test method of the visual perception system in the embodiment of the present disclosure may further include:
the head of the target vehicle is perpendicular to the ground to obtain an intersection point;
taking the position of the intersection point as an origin, and taking the position of the intersection point as a three-dimensional coordinate system;
and setting the position of the road environment object according to the three-dimensional coordinate system so as to display the road environment object on the projection plate.
The road environment object in the embodiment of the present specification may include at least one of a lane line, a road infrastructure, an obstacle, and a traffic light. The position in the middle of the headstock can be selected to be perpendicular to the ground to obtain an intersection point, the intersection point is taken as an origin, the north direction is taken as the vertical axis to be square, the east direction is taken as the horizontal axis to be positive, and the upward direction is taken as the positive direction of the third axis. The position information of the road environment objects such as lane lines, obstacles and signal lamps in the road in the three-dimensional coordinate system can be determined according to the historical real road environment information, or the position information of the road environment objects in the three-dimensional coordinate system can be set manually according to the test requirements, and the road environment objects are projected to the corresponding positions of the projection plates according to the position information in the three-dimensional coordinate system, so that the road environment objects on the projection plates collected by the visual perception system are consistent with the road environment objects collecting the actual road surfaces.
In order to accurately determine the performance of the visual perception system, in this embodiment of the present disclosure, the vehicle driving information may at least include driving track information of the target vehicle and vehicle information of the target vehicle, and the verifying the system performance of the visual perception system may include:
acquiring the first road environment image information displayed on the projection board;
determining preset road information in the first road environment image information;
generating planned track information based on the preset road information and the vehicle information;
comparing the driving track information with the planning track information to obtain a comparison result;
and judging whether the visual perception system meets the preset requirement or not according to the comparison result.
The vehicle information of the target vehicle in the embodiment of the present specification may include at least one of the target vehicle travel speed information, the position information, the acceleration information, and the travel direction information. The travel track information of the target vehicle may be a track along which the vehicle actually travels on an actual road according to the instruction. It is understood that the driving track is a factor that may affect the driving of the vehicle in combination with the external environment encountered during the driving of the vehicle, for example, the degree of road friction, the degree of road flatness, the external wind speed, etc. The planned track information may be a track generated according to the first road environment image information and the vehicle information and used for the vehicle to travel in an expected manner, and may be understood as an ideal track for the vehicle to travel without influence of other external factors.
In the embodiment of the specification, the first road environment image information which can be projected onto the projection plate and is contained in the projection equipment can be directly obtained through a known track planning model according to the association relation, the first road environment image information which is acquired by the visual perception system and is on the projection plate can be obtained, the planned track information which is obtained by carrying out track planning on the target vehicle according to the first road environment image information and the position information in the vehicle information can be obtained, and the target vehicle can be planned according to the speed information and the position information contained in the vehicle information, so that the speed and the acceleration corresponding to each position in the planned track can be obtained, and the recognition function of the visual perception system can be conveniently judged according to the speed and the acceleration corresponding to each position in the planned track. The planned track and the running track of the vehicle can be compared, whether the planned track is consistent with the running track of the vehicle or not is judged, and the consistency can be understood as that the similarity is larger than or equal to a preset threshold value. If the visual perception system is inconsistent, the visual perception system has some defects and needs to be adjusted. In practical application, multiple tests can be performed on the same visual perception system, and the performance of the visual perception system is determined based on the results of the multiple tests. To more accurately verify whether the visual perception system meets the preset requirements, for example: accurately identifying lane line information, accurately identifying guard rail information, and the like.
Before testing, comparing the image information acquired from the projection plate with the image information put in by the projection equipment to obtain a comparison result, and judging whether the similarity between the image information acquired from the projection plate and the image information put in by the projection equipment is larger than or equal to a similarity threshold value according to the comparison result; thereby determining the image acquisition performance of the visual perception system; and the influence of factors such as window jitter, acquisition frequency and the like on the test is avoided.
The visual perception system can collect image information on the projection plate and can also identify the image information so as to generate a vehicle control instruction according to an identification result. To make the testing of the visual perception system more comprehensive, in the embodiments of the present disclosure, the system performance at least includes obstacle recognition performance, and the verifying the system performance of the visual perception system may include:
judging whether the first road environment image information displayed on the projection board contains barrier information or not;
if the first road environment image information displayed on the projection plate contains barrier information, judging whether the target vehicle runs at a reduced speed or not based on the vehicle running information;
and if the target vehicle does not run at a reduced speed, determining that the visual perception system does not meet the obstacle recognition performance.
In the embodiment of the present disclosure, if the first road environment image information contains the movable obstacle information, whether the vehicle is decelerating according to the avoidance requirement can be determined according to the vehicle information and the running track of the vehicle, so as to avoid collision with the obstacle, that is, the distance between the vehicle and the obstacle is within the preset range, and whether the current speed of the vehicle is less than the speed of the previous moment of the vehicle is determined, and the vehicle is continuously decelerating within the preset time; it can also judge whether the vehicle can accelerate the safe surmount obstacle of traveling, namely there is and only one obstacle in the preset range around to accelerate and change the lane; thereby determining whether the visual perception system is able to accurately identify obstacle information. If the first road environment image information contains a signal lamp, judging whether the target vehicle is in a state of stopping running when the signal lamp is red, and if the form state of the target vehicle is in a state of stopping running, the visual perception system can meet the signal lamp identification performance. The specific performance of the visual perception system can be judged according to the information contained in the first road environment image information and the vehicle running information, and if the specific performance of the visual perception system cannot meet the requirement, the performance can be adjusted, so that the visual perception system has pertinence.
By the method, a large number of field tests can be performed on the same land resource according to different road environment information displayed on the projection board, so that a large number of tests can be performed on different scenes in a limited less open field, the land resource is saved, the cost of scene painting is reduced, the land requirement is low, meanwhile, the targeted analysis can be performed according to each test result, and the accuracy of the visual perception system test can be improved.
Based on the same thought, the embodiment of the specification also provides a device corresponding to the method. Fig. 3 is a schematic structural diagram of a testing device corresponding to the visual perception system of fig. 1 according to an embodiment of the present disclosure. As shown in fig. 3, the apparatus may include:
a first road environment image information obtaining module 302, configured to obtain first road environment image information collected from the projection board by the visual perception system of the target vehicle; the projection board is used for displaying the first road environment image information put in by the projection equipment;
the information identifying module 304 is configured to identify the first road environment image information, and generate a vehicle control instruction;
the vehicle running information obtaining module 306 is configured to control the target vehicle to run on a real road surface in a preset area according to the vehicle control instruction, so as to obtain vehicle running information;
A system performance detection module 308, configured to verify the system performance of the visual perception system based on the vehicle driving information.
The present examples also provide some embodiments of the method based on the apparatus of fig. 3, as described below.
Optionally, the testing device of the visual perception system may further include a projection device parameter information determining module, and may include:
a first position information obtaining unit, configured to obtain first position information of the visual perception system;
a second position information acquisition unit configured to acquire second position information of the projection plate;
and the parameter information determining unit is used for determining the parameter information of the projection equipment according to the first position information and the second position information, so that the projection equipment projects the first road environment image information to an area which can be acquired by the visual perception system in the projection plate according to the parameter information.
Optionally, the projection device parameter information determining module may be configured to:
determining a proportional relation between road environment information on the projection plate and road environment information on the real road surface according to a first acquisition range of the visual perception system for the real road surface and a second acquisition range of the visual perception system for the projection plate;
And according to the proportional relation, determining parameter information of the projection equipment so that the projection equipment can project the first road environment image information onto a second acquisition range of a projection plate.
Optionally, the projection device parameter information determining module may further include an acquisition range determining unit, which may be configured to:
determining a first distance between the visual perception system and a real road surface according to the first position information;
determining a second distance between the visual perception system and the projection plate according to the first position information and the second position information;
determining a first acquisition range of the visual perception system for the real road surface according to the first distance;
and determining a second acquisition range of the visual perception system for the projection plate according to the second distance.
Optionally, the testing device of the visual perception system may further include a road environment object setting module, which may be used for:
the head of the target vehicle is perpendicular to the ground to obtain an intersection point;
taking the position of the intersection point as an origin, and taking the position of the intersection point as a three-dimensional coordinate system;
and setting the position of the road environment object according to the three-dimensional coordinate system so as to display the road environment object on the projection plate.
Optionally, the system performance detection module may be configured to:
acquiring the first road environment image information displayed on the projection board;
determining preset road information in the first road environment image information;
generating planned track information based on the preset road information and the vehicle information;
comparing the driving track information with the planning track information to obtain a comparison result;
and judging whether the visual perception system meets the preset requirement or not according to the comparison result.
Optionally, the system performance detection module may be configured to:
judging whether the first road environment image information displayed on the projection board contains barrier information or not;
if the first road environment image information displayed on the projection plate contains barrier information, judging whether the target vehicle runs at a reduced speed according to the requirement or not based on the vehicle running information;
and if the target vehicle does not run at a reduced speed according to the requirement, determining that the visual perception system does not meet the obstacle recognition performance.
Based on the same thought, the embodiment of the specification also provides equipment corresponding to the method.
Fig. 4 is a schematic structural diagram of a computer device corresponding to fig. 1 according to an embodiment of the present disclosure. As shown in fig. 4, the device 400 may include a memory 430, a processor 410, and a computer program 420 stored on the memory, the processor 410 executing the computer program 420 to implement the steps of the method for testing a visual perception system described in any of the embodiments above.
Based on the same thought, the embodiment of the specification also provides a computer readable storage medium corresponding to the method. A computer readable storage medium has stored thereon a computer program or instructions executable by a processor to implement the method of testing a visual perception system described above.
Based on the same thought, the embodiment of the specification also provides a computer program product corresponding to the method. The computer program product comprises a computer program or instructions which, when executed by a processor, can implement the steps of the method of testing a visual perception system as described above.
Based on the same thought, the embodiment of the specification also provides a vehicle corresponding to the method.
Fig. 5 is a schematic structural diagram of a test vehicle corresponding to the visual perception system of fig. 1 according to an embodiment of the present disclosure. As shown in fig. 5, the test vehicle may include a projection board 510, a projection device 520, a visual perception system 530, which may be used to:
The visual perception system acquires first road environment image information from the projection plate; the projection board is used for displaying the first road environment image information put in by the projection equipment;
the visual perception system identifies the first road environment image information and generates a vehicle control instruction;
the test vehicle runs on a real road surface in a preset area according to the vehicle control instruction to obtain vehicle running information;
and verifying the system performance of the visual perception system based on the vehicle driving information.
In fig. 5 of the embodiment of the present disclosure, the projection plate 510 may be located at the junction between the vehicle windshield and the vehicle head, and the included angle between the projection plate and the vehicle windshield may be adjusted according to the acquisition range of the visual sensing system and the projection range of the projection device; the projection device 520 is mounted to the roof of the test vehicle; the vision sensing system 530 is mounted in a top intermediate position within the windshield.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for the apparatus shown in fig. 4, the description is relatively simple, as it is substantially similar to the method embodiment, with reference to the partial description of the method embodiment.
In the 90 s of the 20 th century, improvements to one technology could clearly be distinguished as improvements in hardware (e.g., improvements to circuit structures such as diodes, transistors, switches, etc.) or software (improvements to the process flow). However, with the development of technology, many improvements of the current method flows can be regarded as direct improvements of hardware circuit structures. Designers almost always obtain corresponding hardware circuit structures by programming improved method flows into hardware circuits. Therefore, an improvement of a method flow cannot be said to be realized by a hardware entity module. For example, a programmable logic device (ProgrammableLogicDevice, PLD), such as a Field programmable gate array (Field ProgrammableGateArray, FPGA), is an integrated circuit whose logic function is determined by the programming of the device by a user. A designer programs to "integrate" a digital system onto a PLD without requiring the chip manufacturer to design and fabricate application-specific integrated circuit chips. Moreover, nowadays, instead of manually manufacturing integrated circuit chips, such programming is mostly implemented by using "logic compiler" software, which is similar to the software compiler used in program development and writing, and the original code before the compiling is also written in a specific programming language, which is called hardware description language (HardwareDescriptionLanguage, HDL), and HDL is not only one but a plurality of kinds, such as ABEL (AdvancedBooleanExpressionLanguage), AHDL (Altera HardwareDescriptionLanguage), confluence, CUPL (CornellUniversity ProgrammingLanguage), HDCal, JHDL (javahard description language), lava, lola, myHDL, PALASM, RHDL (rubyhardhard description language), and so on, and VHDL (Very-High-SpeedIntegratedCircuitHardware DescriptionLanguage) and Verilog are most commonly used at present. It will also be apparent to those skilled in the art that a hardware circuit implementing the logic method flow can be readily obtained by merely slightly programming the method flow into an integrated circuit using several of the hardware description languages described above.
The controller may be implemented in any suitable manner, for example, the controller may take the form of, for example, a microprocessor or processor and a computer readable medium storing computer readable program code (e.g., software or firmware) executable by the (micro) processor, logic gates, switches, application specific integrated circuits (Application SpecificIntegratedCircuit, ASIC), programmable logic controllers, and embedded microcontrollers, examples of which include, but are not limited to, the following microcontrollers: ARC625D, atmelAT91SAM, microchipPIC F26K20 and silicane labsc8051F320, the memory controller may also be implemented as part of the control logic of the memory. Those skilled in the art will also appreciate that, in addition to implementing the controller in a pure computer readable program code, it is well possible to implement the same functionality by logically programming the method steps such that the controller is in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers, etc. Such a controller may thus be regarded as a kind of hardware component, and means for performing various functions included therein may also be regarded as structures within the hardware component. Or even means for achieving the various functions may be regarded as either software modules implementing the methods or structures within hardware components.
The system, apparatus, module or unit set forth in the above embodiments may be implemented in particular by a computer chip or entity, or by a product having a certain function. One typical implementation is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.
For convenience of description, the above devices are described as being functionally divided into various units, respectively. Of course, the functions of each element may be implemented in one or more software and/or hardware elements when implemented in the present application.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash memory (flashRAM). Memory is an example of computer-readable media.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Disks (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transshipment) such as modulated data signals and carrier waves.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The application may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The application may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and changes may be made to the present application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.
Claims (10)
1. A method for testing a visual perception system, comprising:
acquiring first road environment image information acquired from a projection plate by a visual perception system of a target vehicle; the projection board is used for displaying the first road environment image information put in by the projection equipment;
identifying the first road environment image information to generate a vehicle control instruction;
controlling the target vehicle to run on a real road surface in a preset area according to the vehicle control instruction to obtain vehicle running information;
and verifying the system performance of the visual perception system based on the vehicle driving information.
2. The method of claim 1, wherein prior to the acquiring the first road environment image information acquired from the projection board by the visual perception system of the target vehicle, further comprising:
Acquiring first position information of the visual perception system;
acquiring second position information of the projection plate;
and determining parameter information of the projection equipment according to the first position information and the second position information, so that the projection equipment projects the first road environment image information to an area which can be acquired by the visual perception system in the projection board according to the parameter information.
3. The method of claim 2, wherein the determining parameter information of the projection device comprises:
determining a proportional relation between road environment information on the projection plate and road environment information on the real road surface according to a first acquisition range of the visual perception system for the real road surface and a second acquisition range of the visual perception system for the projection plate;
and according to the proportional relation, determining parameter information of the projection equipment so that the projection equipment can project the first road environment image information onto the second acquisition range of the projection board.
4. The method of claim 2, wherein prior to determining the parameter information of the projection device, further comprising:
Determining a first distance between the visual perception system and a real road surface according to the first position information;
determining a second distance between the visual perception system and the projection plate according to the first position information and the second position information;
determining a first acquisition range of the visual perception system for the real road surface according to the first distance;
and determining a second acquisition range of the visual perception system for the projection plate according to the second distance.
5. The method according to claim 1, characterized in that the method further comprises:
the head of the target vehicle is perpendicular to the ground to obtain an intersection point;
taking the position of the intersection point as an origin, and taking the position of the intersection point as a three-dimensional coordinate system;
and setting the position of the road environment object according to the three-dimensional coordinate system so as to display the road environment object on the projection plate.
6. The method of claim 1, wherein the vehicle travel information includes at least travel track information of the target vehicle and vehicle information of the target vehicle, the verifying system performance of the visual perception system comprising:
acquiring the first road environment image information displayed on the projection board;
Determining preset road information in the first road environment image information;
generating planned track information based on the preset road information and the vehicle information;
comparing the driving track information with the planning track information to obtain a comparison result;
and judging whether the visual perception system meets the preset requirement or not according to the comparison result.
7. The method of claim 1, wherein the system performance includes at least an obstacle recognition performance, the verifying the system performance of the visual perception system comprising:
judging whether the first road environment image information displayed on the projection board contains barrier information or not;
if the first road environment image information displayed on the projection plate contains barrier information, judging whether the target vehicle runs at a reduced speed or not based on the vehicle running information;
and if the target vehicle does not run at a reduced speed, determining that the visual perception system does not meet the obstacle recognition performance.
8. A test device for a visual perception system, comprising:
the first road environment image information acquisition module is used for acquiring first road environment image information acquired from the projection plate by the visual perception system of the target vehicle; the projection board is used for displaying the first road environment image information put in by the projection equipment;
The information identification module is used for identifying the first road environment image information and generating a vehicle control instruction;
the vehicle running information acquisition module is used for controlling the target vehicle to run on a real road surface in a preset area according to the vehicle control instruction to obtain vehicle running information;
and the system performance detection module is used for verifying the system performance of the visual perception system based on the vehicle running information.
9. A computer program product comprising a computer program or instructions which, when executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
10. A test vehicle for a visual perception system, the test vehicle comprising a projection panel, a projection device, a visual perception system, comprising:
the visual perception system acquires first road environment image information from the projection plate; the projection board is used for displaying the first road environment image information put in by the projection equipment;
the visual perception system identifies the first road environment image information and generates a vehicle control instruction;
the test vehicle runs on a real road surface in a preset area according to the vehicle control instruction to obtain vehicle running information;
And verifying the system performance of the visual perception system based on the vehicle driving information.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116824869A (en) * | 2023-08-31 | 2023-09-29 | 国汽(北京)智能网联汽车研究院有限公司 | Vehicle-road cloud integrated traffic fusion perception testing method, device, system and medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116824869A (en) * | 2023-08-31 | 2023-09-29 | 国汽(北京)智能网联汽车研究院有限公司 | Vehicle-road cloud integrated traffic fusion perception testing method, device, system and medium |
| CN116824869B (en) * | 2023-08-31 | 2023-11-24 | 国汽(北京)智能网联汽车研究院有限公司 | Vehicle-road cloud integrated traffic fusion perception testing method, device, system and medium |
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