CN116659901A

CN116659901A - Method and device for testing self-adaptive cruise function and storage medium

Info

Publication number: CN116659901A
Application number: CN202310773751.6A
Authority: CN
Inventors: 张智飞; 王殿国; 汤实现
Original assignee: Chery New Energy Automobile Co Ltd
Current assignee: Chery New Energy Automobile Co Ltd
Priority date: 2023-06-27
Filing date: 2023-06-27
Publication date: 2023-08-29

Abstract

The application discloses a method and a device for testing a self-adaptive cruise function and a storage medium, and belongs to the field of intelligent driving. The method comprises the following steps: acquiring a plurality of lane switching data, and constructing a lane switching scene corresponding to each lane switching data in a virtual environment, wherein the virtual environment comprises a virtual target vehicle and a virtual test vehicle, and the virtual test vehicle deploys an adaptive cruise function; optimizing the self-adaptive cruising function of the virtual test vehicle based on each lane switching scene and a plurality of test cases in the virtual environment to enable the self-adaptive cruising function to meet the test specification; and deploying the self-adaptive cruise function meeting the test specification and the lane switching scene corresponding to each lane switching data on the real test vehicle, acquiring the test result of the self-adaptive cruise function of the real test vehicle, and adjusting the self-adaptive cruise function to meet the test specification. The test method of the self-adaptive cruise function can modify the self-adaptive cruise function at any time, and effectively improves the test efficiency.

Description

Method and device for testing self-adaptive cruise function and storage medium

Technical Field

The application relates to the field of intelligent driving, in particular to a method and a device for testing a self-adaptive cruise function and a storage medium.

Background

The adaptive cruise function is a vehicle driving assistance function. When the vehicle deploys the self-adaptive cruising function, the vehicle can sense the vehicle on the front road through the sensor, and automatically adjust the running speed of the vehicle according to different states of the front vehicle for cutting in and cutting out the lane relative to the vehicle so as to adapt to the front traffic condition. For example, when the front vehicle makes lane cut relative to the host vehicle, the host vehicle is controlled to decelerate or brake so as to keep a safe distance from the front vehicle; when the front vehicle makes a lane cut relative to the vehicle, the vehicle is controlled to accelerate so as to maintain a set speed or a speed keeping a safe distance from the front vehicle.

Before the adaptive cruise function is applied to a real vehicle, it is generally necessary to test the adaptive cruise function to ensure the safety of the actual driving process. In the related art, an adaptive cruise function is generally tested by adopting a simulation test method. That is, a virtual environment and a virtual model of a test vehicle are constructed using simulation software, an initial state of the test vehicle is set, then a virtual model of a front vehicle is constructed, and behaviors of the front vehicle including a position, a speed, an acceleration, a track of cutting in and out, and the like of the front vehicle are set according to a scene which may occur when the front vehicle cuts in and out. And executing the scenes of cutting in and cutting out the front vehicle in the built virtual environment, obtaining test results of the self-adaptive cruise function of the vehicle in different scenes, and analyzing and evaluating the test results so as to optimize the self-adaptive cruise function.

However, after the adaptive cruise function is optimized by the simulation test method, the optimized adaptive cruise function is deployed in a real vehicle, so that a large deviation may occur, and a certain safety accident may be caused.

Disclosure of Invention

The application provides a method and a device for testing an adaptive cruise function and a storage medium, which can improve the accuracy of the adaptive cruise function. The technical scheme is as follows:

in one aspect, a method for testing an adaptive cruise function is provided, the method comprising:

acquiring a plurality of lane switching data, wherein the lane switching data are obtained by acquiring data of lane switching scenes in a real environment, and each lane switching data corresponds to one lane switching scene;

based on the lane switching data, constructing a lane switching scene corresponding to each lane switching data in a virtual environment, wherein the virtual environment comprises a virtual target vehicle and a virtual test vehicle, the virtual target vehicle is positioned in front of the virtual test vehicle, and the virtual test vehicle is deployed with an adaptive cruise function;

optimizing the adaptive cruise function of the virtual test vehicle based on each lane switching scene and a plurality of test cases in the virtual environment so that the adaptive cruise function of the virtual test vehicle meets a test specification, wherein the plurality of test cases indicate the test requirement of the adaptive cruise function;

The method comprises the steps of deploying the self-adaptive cruise function meeting a test specification and a lane switching scene corresponding to each lane switching data on a real test vehicle, obtaining a test result of the self-adaptive cruise function of the real test vehicle in each lane switching scene, and adjusting the self-adaptive cruise function of the real test vehicle based on the test result so that the self-adaptive cruise function of the real test vehicle meets the test specification.

Optionally, the optimizing the adaptive cruise function of the virtual test vehicle based on each lane switching scenario and a plurality of test cases in the virtual environment so that the adaptive cruise function of the virtual test vehicle meets a test specification includes:

for each test case in the plurality of test cases, controlling the virtual test vehicle to run in the virtual environment according to the cruise test speed indicated by the test case;

and optimizing the self-adaptive cruise function of the virtual test vehicle based on each lane switching scene in the virtual environment in the process that the virtual test vehicle runs at the cruise test speed, so that the self-adaptive cruise function of the virtual test vehicle meets the test specification under the test case.

Optionally, the optimizing the adaptive cruise function of the virtual test vehicle based on each lane switching scenario in the virtual environment so that the adaptive cruise function of the virtual test vehicle meets the test specification under the test case includes:

measuring, by the virtual test vehicle, travel data of the virtual target vehicle in the process that the virtual target vehicle executes each lane switching scene in the virtual environment;

simulating the self-adaptive cruising function of the virtual test vehicle based on the running data of the virtual target vehicle to obtain a simulation result corresponding to the test case in each lane switching scene;

optimizing the self-adaptive cruise function of the virtual test vehicle based on the simulation result corresponding to the test case in each lane switching scene;

and if the optimized self-adaptive cruise function of the virtual test vehicle does not meet the test specification, re-simulating the self-adaptive cruise function of the virtual test vehicle until the self-adaptive cruise function of the virtual test vehicle meets the test specification under the test case.

Optionally, the deploying, in the real test vehicle, the adaptive cruise function satisfying the test specification and the lane switching scenario corresponding to each lane switching data includes:

and under the condition that the electronic equipment is connected with the real test vehicle through a CAN bus, the functional data corresponding to the self-adaptive cruise function meeting the test specification and the lane switching data are sent to the real test vehicle through the CAN bus, so that the real test vehicle deploys the self-adaptive cruise function meeting the test specification and the lane switching scene corresponding to each lane switching data.

Optionally, before the obtaining the test result of the adaptive cruise function of the real test vehicle in each lane switching scenario, the method further includes:

and under the condition that the electronic equipment is connected with the real test vehicle through a CAN bus, performing joint debugging test on a speed control interface and a brake interface of the real test vehicle through the CAN bus, so that the real test measurement CAN accurately execute the speed control request and the brake request of the self-adaptive cruise function.

Optionally, after the adjusting the adaptive cruise function of the real test vehicle based on the test result so that the adaptive cruise function of the real test vehicle meets the test specification, the method further includes:

Acquiring a real test result, wherein the real test result is obtained by testing the self-adaptive cruise function of the real test vehicle in the lane switching process of the real target vehicle relative to the real test vehicle under the condition that the self-adaptive cruise function of the real test vehicle meets the test specification;

obtaining a virtual test result, wherein the virtual test result is obtained by testing the self-adaptive cruise function of the virtual test vehicle in the lane switching process of the virtual target vehicle relative to the virtual test vehicle under the condition that the self-adaptive cruise function of the virtual test vehicle meets the test specification;

and comparing and analyzing the real test result and the virtual test result to obtain a test report of the self-adaptive cruise function.

Optionally, the plurality of lane-switching data includes a plurality of lane-in data and/or a plurality of lane-out data.

In another aspect, there is provided a test device for an adaptive cruise function, the device comprising:

the data acquisition module is used for acquiring a plurality of lane switching data, wherein the lane switching data are obtained by acquiring data of lane switching scenes in a real environment, and each lane switching data corresponds to one lane switching scene;

The scene construction module is used for constructing a lane switching scene corresponding to each lane switching data in a virtual environment based on the lane switching data, wherein the virtual environment comprises a virtual target vehicle and a virtual test vehicle, the virtual target vehicle is positioned in front of the virtual test vehicle, and the virtual test vehicle is provided with an adaptive cruise function;

the function optimization module is used for optimizing the self-adaptive cruise function of the virtual test vehicle based on each lane switching scene and a plurality of test cases in the virtual environment so that the self-adaptive cruise function of the virtual test vehicle meets the test specification, and the plurality of test cases indicate the test requirements of the self-adaptive cruise function;

the first real vehicle testing module is used for deploying the self-adaptive cruise function meeting the testing specification and the lane switching scene corresponding to each lane switching data on the real testing vehicle, obtaining the testing result of the self-adaptive cruise function of the real testing vehicle under each lane switching scene, and adjusting the self-adaptive cruise function of the real testing vehicle based on the testing result so that the self-adaptive cruise function of the real testing vehicle meets the testing specification.

Optionally, the function optimization module includes:

the virtual vehicle control sub-module is used for controlling the virtual test vehicle to run in the virtual environment according to the cruise test speed indicated by the test cases for each test case in the plurality of test cases;

and the function optimization sub-module is used for optimizing the self-adaptive cruise function of the virtual test vehicle based on each lane switching scene in the virtual environment in the process that the virtual test vehicle runs at the cruise test speed, so that the self-adaptive cruise function of the virtual test vehicle meets the test specification under the test case.

Optionally, the function optimization submodule is specifically configured to:

Optionally, the first real vehicle testing module is specifically configured to:

Optionally, the apparatus further comprises:

and the second real vehicle testing module is used for performing joint debugging test on a speed control interface and a braking interface of the real test vehicle through the CAN bus under the condition that the electronic equipment is connected with the real test vehicle through the CAN bus, so that the real test measurement CAN accurately execute the speed control request and the braking request of the self-adaptive cruise function.

Optionally, the apparatus further comprises:

the real result acquisition module is used for acquiring a real test result, wherein the real test result is obtained by testing the self-adaptive cruise function of the real test vehicle in the lane switching process of the real target vehicle relative to the real test vehicle under the condition that the self-adaptive cruise function of the real test vehicle meets the test standard;

the virtual result acquisition module is used for acquiring a virtual test result, wherein the virtual test result is obtained by testing the self-adaptive cruise function of the virtual test vehicle in the process of switching lanes of the virtual target vehicle relative to the virtual test vehicle under the condition that the self-adaptive cruise function of the virtual test vehicle meets the test standard;

and the comparison analysis module is used for comparing and analyzing the real test result and the virtual test result to obtain a test report of the self-adaptive cruise function.

In another aspect, a computer device is provided, the computer device including a memory for storing a computer program and a processor for executing the computer program stored on the memory to implement the steps of the method for testing an adaptive cruise function described above.

In another aspect, a computer readable storage medium is provided, in which a computer program is stored, which computer program, when being executed by a processor, implements the steps of the method for testing an adaptive cruise function described above.

In another aspect, a computer program product is provided comprising instructions which, when run on a computer, cause the computer to perform the steps of the method of testing an adaptive cruise function described above.

The technical scheme provided by the application has at least the following beneficial effects:

the embodiment of the application provides a novel test method for a self-adaptive cruise function, which is characterized in that a real-world front vehicle cut-in and cut-out scene is acquired, a plurality of lane switching data are generated, a virtual scene based on the real front vehicle scene data is constructed by using simulation software, the self-adaptive cruise function of a test vehicle is initially tested in the virtual scene, and the test of the real vehicle is carried out after the self-adaptive cruise function is stable. The method can modify the self-adaptive cruise function at any time, does not deviate from the running state of a real vehicle, effectively improves the test efficiency and improves the safety of the test process.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a flow chart of a method for testing an adaptive cruise function according to an embodiment of the present application;

fig. 2 is a schematic diagram of a virtual scene built based on a real vehicle according to an embodiment of the present application;

FIG. 3 is a schematic diagram of lane cut in a testing process according to an embodiment of the present application;

FIG. 4 is a structural framework diagram of an adaptive cruise function test method provided by an embodiment of the present application;

FIG. 5 is a schematic structural diagram of a test device for adaptive cruise function according to an embodiment of the present application;

fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the following detailed description of the embodiments of the present application will be given with reference to the accompanying drawings.

Before explaining the method for testing the adaptive cruise function in detail, the application scenario and the implementation environment related to the embodiment of the application are described.

Before the adaptive cruise function is applied to a real vehicle, the adaptive cruise function is usually required to be tested for multiple times, so that the adaptive cruise function meets the specified requirements, and the adaptive cruise function can be safely and reliably used in various scenes of actual driving. In the related art, the test method for the adaptive cruise function generally includes a real vehicle test and a simulation test, and the specific test process is as follows:

if the real vehicle test is adopted, the real vehicle is required to be used for the test on the real road. That is, one vehicle is selected as a target vehicle (also referred to as a front vehicle), various cut-in/cut-out operations are performed, one vehicle having an adaptive cruise function is selected as a test vehicle (also referred to as a rear vehicle), and it is ensured that necessary sensors are mounted thereto to detect the state of the target vehicle. During the running of the test vehicle on the road, the test vehicle is controlled by the adaptive cruise function on the test vehicle based on various cut-in and cut-out operations of the target vehicle. However, when testing with real vehicles, the test scenario is limited by traffic and environmental conditions, which may lead to insufficient diversity and complexity of the test scenario, inability to cover all possible driving situations, and a certain risk of the test procedure, requiring additional safety measures to prevent accidents, which increases the complexity and cost of the test.

If the simulation test is adopted, virtual environment and a virtual model of the test vehicle are required to be built by using simulation software, an initial state of the test vehicle is set, then a virtual model of the target vehicle is built, and behaviors of the target vehicle including position, speed, acceleration, track of cutting in and cutting out and the like are set according to a scene which possibly occurs when the target vehicle cuts in and cuts out. And executing the scenes of cutting in and cutting out the target vehicle in the built virtual environment, obtaining test results of the self-adaptive cruise function of the vehicle in different scenes, and analyzing and evaluating the test results so as to optimize the self-adaptive cruise function. However, the simulation test method cannot completely simulate the real state of the vehicle, and has larger deviation from the data of the front vehicle in the real world during cutting in and out, so that the application effect of the self-adaptive cruise function on the actual vehicle is affected.

Therefore, the embodiment of the application provides a novel test method for the self-adaptive cruise function, which is used for collecting the cut-in and cut-out scenes of the front vehicles in the real world, generating a plurality of lane switching data, constructing a virtual scene based on the real front vehicle scene data by using simulation software, performing initial test on the self-adaptive cruise function of the test vehicle in the virtual scene, and performing test on the real vehicle after the self-adaptive cruise function is stable. The method can modify the self-adaptive cruise function at any time, does not deviate from the running state of a real vehicle, effectively improves the test efficiency and improves the safety of the test process.

The execution main body of the test method for the adaptive cruise function provided in the embodiment of the application is an electronic device, such as a PC (Personal Computer ), a mobile phone, a smart phone, a PDA (Personal Digital Assistant ), a palm computer PPC (Pocket PC), a tablet personal computer, a smart car machine, and the like.

It will be appreciated by those skilled in the art that the above-described electronic devices are merely examples, and that other electronic devices that may be present in the present application or that may be present in the future are intended to be included within the scope of the embodiments of the present application and are incorporated herein by reference.

It should be noted that, the application scenario described in the embodiment of the present application is for more clearly describing the technical solution of the embodiment of the present application, and does not constitute a limitation on the technical solution provided in the embodiment of the present application, and as a person of ordinary skill in the art can know that, with the appearance of a new application scenario, the technical solution provided in the embodiment of the present application is applicable to similar technical problems.

The following explains in detail the method for testing the adaptive cruise function provided by the embodiment of the present application.

Fig. 1 is a flowchart of a method for testing an adaptive cruise function according to an embodiment of the present application, where the method is applied to the above-mentioned electronic device. Referring to fig. 1, the method includes the following steps.

Step 101: and acquiring a plurality of lane switching data, wherein the plurality of lane switching data are obtained by acquiring data of lane switching scenes in a real environment, and each lane switching data corresponds to one lane switching scene.

The plurality of lane-switching data includes a plurality of lane-cut data and/or a plurality of lane-cut data. That is, the plurality of lane-switching data includes a plurality of lane-in data, or the plurality of lane-switching data includes a plurality of lane-out data, or the plurality of lane-switching data includes a plurality of lane-in data and a plurality of lane-out data.

When acquiring a plurality of lane change data, a real vehicle is required to travel on a real road in the real world for data acquisition. That is, two real vehicles are required to collect data, one as a test vehicle and one as a target vehicle, both of which are driven by the driver, and the test vehicle is required to have necessary sensors mounted on its body to collect lane switching data of the target vehicle with respect to the test vehicle. That is, the driver drives the target vehicle to perform various lane switching scenes with respect to the test vehicle, which is located behind the target vehicle during traveling, for collecting a plurality of lane switching data of the target vehicle.

The intelligent forward-looking camera has a good effect on identifying lane line targets, the millimeter wave radar is accurate in identifying the speed distance of a moving target, and data collected by the two sensors are fused, so that collected lane switching data is more reliable. Of course, in other embodiments, other types of sensors may be employed for testing the sensors on the vehicle.

In driving the target vehicle, the driver needs to perform a plurality of lane switching operations to acquire a plurality of lane switching data. The lane-switching operation includes a plurality of lane-in operations and/or a plurality of lane-out operations. When a plurality of lane cutting operations are performed, the lane cutting operations are performed on the test vehicle at different speeds and different positions of the target vehicle from the test vehicle in different lanes; when a plurality of lane cut-out operations are performed, it is necessary to cover that the target vehicle performs the lane cut-out operations on the test vehicle at different speeds in different lanes and from different positions of the test vehicle. Each lane-switching operation of the target vehicle is to collect corresponding lane-switching data by a sensor on the test vehicle, i.e. each lane-switching data corresponds to one lane-switching scene.

When the target vehicle performs a plurality of lane switching operations, the test vehicle needs to monitor the running state of the target vehicle through the sensor and record lane switching data of the target vehicle. The lane switching data includes information such as a distance between the target vehicle and the test vehicle when the target vehicle is traveling, a speed of the target vehicle, a lane in which the target vehicle is located, a traveling track, and the like.

The real-world real roads are used for collecting the plurality of lane switching data and using the lane switching data in a later test process, so that the test data source is more fit with the actual situation, the collected plurality of lane switching data can be used for multiple times after being classified and data are transferred, and the development and test efficiency of the self-adaptive cruise function are improved.

Step 102: based on the lane switching data, constructing a lane switching scene corresponding to each lane switching data in a virtual environment, wherein the virtual environment comprises a virtual target vehicle and a virtual test vehicle, the virtual target vehicle is positioned in front of the virtual test vehicle, and the virtual test vehicle is provided with an adaptive cruise function.

And constructing a lane switching scene corresponding to each lane switching data in the virtual environment by using simulation software by utilizing a plurality of lane switching data collected in the real world, so that the development and the test of the adaptive cruise function are performed by using the virtual environment.

Optionally, based on the plurality of lane-switching data, before constructing a lane-switching scene corresponding to each lane-switching data in the virtual environment, the plurality of lane-switching data may be further preprocessed, including data cleaning, denoising, correction, and the like, so as to ensure quality and accuracy of the collected data.

The virtual environment comprises a virtual road and a virtual vehicle, wherein the virtual road comprises environment data such as road types, lane lines, traffic signals and the like so as to simulate actual road conditions, and the virtual vehicle comprises a virtual target vehicle and a virtual test vehicle. Based on a plurality of lane switching data collected in the real world, constructing a lane switching scene corresponding to each lane switching data in simulation software, associating the virtual target vehicle with the lane switching scene corresponding to each lane switching data, and ensuring the authenticity and accuracy of the lane switching scene of the virtual target vehicle.

And constructing a virtual test vehicle in the simulation software, and deploying an adaptive cruise function on the virtual test vehicle to ensure that the virtual test vehicle is associated with a virtual target vehicle in a lane switching scene. In this way, the simulation operation is performed in the virtual environment, and the virtual target vehicle can be simulated to perform lane switching operation relative to the virtual test vehicle according to the lane switching scene in the real world, so that the adaptive cruise function on the virtual test vehicle is tested, and the algorithm development and test in the adaptive cruise function are supported.

Step 103: and optimizing the self-adaptive cruise function of the virtual test vehicle based on each lane switching scene and a plurality of test cases in the virtual environment so that the self-adaptive cruise function of the virtual test vehicle meets the test specification, wherein the plurality of test cases indicate the test requirements of the self-adaptive cruise function.

In some embodiments, the adaptive cruise function of the virtual test vehicle is optimized based on each lane-switching scenario and a plurality of test cases in the virtual environment by steps (1) - (2) below so that the adaptive cruise function of the virtual test vehicle meets the test specification.

(1) And for each test case in the plurality of test cases, controlling the virtual test vehicle to run in the virtual environment according to the cruise test speed indicated by the test case.

In the virtual environment, based on each lane switching scene, a plurality of test cases are used for setting the starting state of the virtual test vehicle so as to test the performance of the self-adaptive cruise function of the virtual test vehicle in different states in each lane switching scene. The test cases cover the test requirements of the self-adaptive cruise function and can include information such as the initial position, the cruise speed, the direction and the like of the virtual test vehicle.

Because the multiple test cases are used for setting different states of the virtual test vehicle, in order to ensure that the adaptive cruise function of the virtual test vehicle meets the test requirement, the adaptive cruise function of the virtual test vehicle is required to meet the test specification under each test case. Therefore, the adaptive cruise function of the virtual test vehicle needs to be optimized next for each test case.

(2) And optimizing the self-adaptive cruise function of the virtual test vehicle based on each lane switching scene in the virtual environment in the process that the virtual test vehicle runs at the cruise test speed, so that the self-adaptive cruise function of the virtual test vehicle meets the test specification under the test case.

Measuring the running data of the virtual target vehicle through the virtual test vehicle in the process that the virtual target vehicle executes each lane switching scene in the virtual environment; based on the running data of the virtual target vehicle, simulating the self-adaptive cruising function of the virtual test vehicle to obtain a simulation result corresponding to the test case in each lane switching scene; optimizing the self-adaptive cruising function of the virtual test vehicle based on the simulation result corresponding to the test case in each lane switching scene; and if the optimized self-adaptive cruise function of the virtual test vehicle does not meet the test specification, re-simulating the self-adaptive cruise function of the virtual test vehicle until the self-adaptive cruise function of the virtual test vehicle meets the test specification under the test case.

Different lane switching scenes of the virtual target vehicle are simulated in simulation software, and the virtual test vehicle collects running data of the virtual target vehicle by utilizing a virtual sensor on the virtual test vehicle in the process of running behind the virtual target vehicle according to the requirements of the test case. Based on the running data collected by the virtual test vehicle, the self-adaptive cruising function of the virtual test vehicle is simulated, and a simulation result corresponding to the test case under each lane switching scene is obtained. That is, the virtual test vehicle determines whether the speed control or the braking operation is required to be performed on the virtual test vehicle according to the running data of the virtual target vehicle through an algorithm in the adaptive cruise function, and further controls the virtual test vehicle based on the determined result, thereby completing the simulation of the adaptive cruise function of the virtual test vehicle. And then, optimizing an algorithm in the self-adaptive cruise function based on a simulation result, improving the performance and the adaptability of the self-adaptive cruise function, and ensuring that the virtual test vehicle can stably respond to multiple lane switching operations of the virtual target vehicle.

After optimizing the algorithm in the adaptive cruise function based on the simulation result, the test result of the adaptive cruise function of the virtual test vehicle under the test case is also required to be evaluated to check whether the acceleration and the braking response of the virtual test vehicle in different lane switching scenes and the distance change between the virtual test vehicle and the virtual target vehicle meet the test specification, if so, the adaptive cruise function is determined to be qualified under the test case, if not, the adaptive cruise function is determined to be imperfect, and at the moment, the adaptive cruise function of the virtual test vehicle is required to be simulated again based on the optimized adaptive cruise function and the lane switching data until the adaptive cruise function of the virtual test vehicle meets the test specification under the test case.

Based on various lane switching data acquired in the real world, a virtual scene is constructed in simulation software, and the self-adaptive cruise function is developed and primarily tested according to a plurality of test cases.

For example, please refer to fig. 2, fig. 2 is a schematic diagram of a virtual test scenario based on a real vehicle setup according to an embodiment of the present application. The two rectangles in fig. 2 represent vehicles in a virtual test scenario, the front vehicle being a virtual target vehicle and the rear vehicle being a virtual test vehicle. The simulation software firstly builds road information comprising road width, lane lines and the like, then builds a lane switching scene of the virtual target vehicle by using lane switching data, then builds an initial state of the virtual test vehicle according to the test case, and carries sensors and self-adaptive cruising functions on the virtual test vehicle. And then, the virtual test vehicle monitors the running data of the virtual target vehicle entering the monitoring range in real time through the installed sensor. The two oblique lines on the outer side are the detection range of the radar, and the two oblique lines in the outer side are the detection range of the camera.

Referring to fig. 3, fig. 3 is a schematic diagram of a lane cut in a test process according to an embodiment of the present application, a virtual target vehicle enters a monitoring range of a sensor on the virtual test vehicle, and the virtual target vehicle performs a lane cut operation, and at this time, an adaptive cruise function of the virtual test vehicle controls a vehicle to slow down or brake to keep a safe driving distance so as to avoid collision with the virtual target vehicle. If the virtual target vehicle performs lane-cut operation, the adaptive cruise function of the virtual test vehicle controls vehicle acceleration to maintain a set speed or a speed that maintains a safe distance from the preceding vehicle.

Step 104: the self-adaptive cruise function meeting the test standard and the lane switching scene corresponding to each lane switching data are deployed on a real test vehicle, a test result of the self-adaptive cruise function of the real test vehicle in each lane switching scene is obtained, and the self-adaptive cruise function of the real test vehicle is adjusted based on the test result, so that the self-adaptive cruise function of the real test vehicle meets the test standard.

Since the optimization of the adaptive cruise function in the virtual environment is an ideal condition, there may be a deviation between the situation in the real environment and the situation in the virtual environment, so, through the above step 103, after the adaptive cruise function in the virtual environment is optimized, although the adaptive cruise function in the virtual environment can stably respond to various lane switching operations, the adaptive cruise function in the real environment may not necessarily stably respond to various lane switching operations, so, after the adaptive cruise function satisfying the test specification in the virtual environment is obtained, it is also necessary to deploy the adaptive cruise function satisfying the test specification and the lane switching scene corresponding to each lane switching data to the real test vehicle, and test the adaptive cruise function in the real environment.

When the self-adaptive cruise function meeting the test specification and the lane switching scene corresponding to each lane switching data are deployed on the real test vehicle, under the condition that the electronic equipment is connected with the real test vehicle through a CAN (Controller Area Network ) bus, the functional data and the plurality of lane switching data corresponding to the self-adaptive cruise function meeting the test specification are sent to the real test vehicle through the CAN bus, so that the real test vehicle deploys the self-adaptive cruise function meeting the test specification and the lane switching scene corresponding to each lane switching data.

After the functional data and the lane switching data, which are obtained through optimization of the simulation software and meet the test specification, corresponding to the self-adaptive cruise function are sent to the real test vehicle through the CAN bus, the real test vehicle CAN deploy the self-adaptive cruise function on the real test vehicle based on the functional data corresponding to the self-adaptive cruise function, and at the moment, the self-adaptive cruise function is the self-adaptive cruise function meeting the test specification in the virtual environment. The real test vehicle may also obtain a plurality of lane-switching scenarios based on the plurality of lane-switching data.

The real test vehicle may then perform a real vehicle test on the adaptive cruise function based on the plurality of lane-switching scenarios. The real test vehicle can simulate a virtual target vehicle to run in front of the real test vehicle through the plurality of lane switching scenes, and the self-adaptive cruise function on the real test vehicle is tested according to various lane switching behaviors of the virtual target vehicle to obtain test results under different lane switching scenes, including data such as vehicle speed, following distance, braking response time and the like.

The electronic equipment can acquire the test result of the self-adaptive cruise function of the real vehicle in each lane switching scene, analyze the test result of the self-adaptive cruise function in each lane switching scene, evaluate the performance and accuracy of the self-adaptive cruise function, and optimize and adjust the algorithm of the self-adaptive cruise function according to the evaluation result so as to improve the stability and reliability of the self-adaptive cruise function. The real vehicle test may need to be performed multiple times, so as to iterate and optimize the algorithm until the adaptive cruise function can meet the requirement of the test specification.

For example, please refer to fig. 4, fig. 4 is a structural frame diagram of an adaptive cruise function test method according to an embodiment of the present application. The method comprises the steps of acquiring real lane switching data by using a single current intelligent camera and a forward millimeter wave radar, outputting the lane switching data to an algorithm in an adaptive cruise function for development and preliminary test, connecting the stable adaptive cruise function after multiple iterative tests to a real test vehicle through a CAN bus, and verifying the performance of the vehicle under a real environment.

In some embodiments, in the case that the electronic device is connected with the real test vehicle through a CAN bus, a joint debugging test is performed on a speed control interface and a brake interface of the real test vehicle through the CAN bus, so that the real test measurement CAN accurately execute a speed control request and a brake request of an adaptive cruise function.

Before the real vehicle test of the self-adaptive cruise function is carried out on the real test vehicle, the interface of the real test vehicle is required to be tested and mainly comprises a speed control interface and a brake interface, the speed change and brake request of an algorithm in the self-adaptive cruise function can be accurately executed by debugging the interface of the real test vehicle, and then the test can be carried out according to different lane switching scenes.

When determining whether the real test vehicle can accurately respond to the requirement of the algorithm in the self-adaptive cruise function, the speed control interface needs to test whether the acceleration of the real test vehicle can reach the required value when the self-adaptive cruise algorithm gives a certain acceleration; the braking interface needs to test whether the vehicle can respond in time to brake the vehicle or not when the self-adaptive cruise algorithm gives a braking instruction.

In some embodiments, a real test result may also be obtained, where the real test result is obtained by testing the adaptive cruise function of the real test vehicle during lane switching of the real target vehicle relative to the real test vehicle when the adaptive cruise function of the real test vehicle meets a test specification; obtaining a virtual test result, wherein the virtual test result is obtained by testing the self-adaptive cruise function of the virtual test vehicle in the lane switching process of the virtual target vehicle relative to the virtual test vehicle under the condition that the self-adaptive cruise function of the virtual test vehicle meets the test specification; and comparing and analyzing the real test result and the virtual test result to obtain a test report of the self-adaptive cruise function.

After the self-adaptive cruise function meeting the test specification requirements is obtained through the virtual environment test and the real vehicle test, the control algorithm of the self-adaptive cruise function is relatively stable, so that the self-adaptive cruise function test is carried out on a real road by adopting a real vehicle, and a real test result is obtained.

A relatively stable adaptive cruise function is deployed on a real test vehicle and a sensor is installed on the real test vehicle to monitor travel data of a real target vehicle that comes within a monitoring range. The method comprises the steps that a real test vehicle runs on a real lane at a given initial speed, a real target vehicle runs in front of the real test vehicle, and various lane switching behaviors are carried out; based on various lane switching behaviors of a real target vehicle, testing the self-adaptive cruise function on the real test vehicle to obtain test results under different lane switching scenes, namely real test results, including data such as vehicle speed, following distance, braking response time and the like.

The virtual test result is test data under different lane switching scenes in a virtual scene simulated by simulation software, and the test data comprise data such as vehicle speed, following distance, braking response time and the like.

Comparing the obtained real test result with the virtual test result, determining the difference and the similarity between the real test result and the virtual test result on key indexes, analyzing the performance condition of the self-adaptive cruise function in a virtual ideal environment and a real lane environment according to the comparison result, obtaining a test report of the self-adaptive cruise function according to the evaluation result, and improving and optimizing the self-adaptive cruise function based on the test report to improve the performance of the self-adaptive cruise function in the real environment and improve the reliability and the practicability of the self-adaptive cruise function in the real environment.

The test of the self-adaptive cruising function can be completed through the operation, namely, a plurality of lane switching data are collected by using a real vehicle on a real road; constructing a plurality of lane switching scenes in simulation software according to each lane switching data, namely, reproducing lane switching operation of a real vehicle by using a virtual target vehicle in the simulation software, simulating virtual test vehicles in various states according to test cases, and developing and primarily testing an algorithm in a self-adaptive cruise function by using data of the virtual target vehicle monitored by the virtual test vehicle; the self-adaptive cruise function obtained by the preliminary test and the lane switching scene corresponding to each lane switching data are deployed on a real test vehicle to perform real vehicle test, and the self-adaptive cruise function of the real test vehicle is adjusted according to the test result; at the moment, the self-adaptive cruise function is stable, the self-adaptive cruise function is deployed on a real test vehicle by using a CAN bus, and the performance of the self-adaptive cruise function in a real environment is verified.

The embodiment of the application provides a novel test method of a self-adaptive cruise function, which is characterized in that a real-world front vehicle cut-in and cut-out scene is collected, a plurality of lane switching data are generated, a virtual scene based on the real front vehicle lane switching data is constructed by using simulation software, the self-adaptive cruise function of a test vehicle is subjected to initial test in the virtual scene, the self-adaptive cruise function meeting the standard requirement after the initial test is deployed on the real test vehicle, the real vehicle test is carried out by utilizing the plurality of lane switching data of the virtual target vehicle, and the self-adaptive cruise function is optimized again; and finally, applying the relatively stable self-adaptive cruise function to the real vehicle. The method can modify the algorithm of the self-adaptive cruise function at any time, and the method does not deviate from the running state of a real vehicle, so that the test efficiency is effectively improved, and the safety of the test process is improved.

Fig. 5 is a schematic structural diagram of an apparatus for adaptive cruise function according to an embodiment of the present application, where the apparatus may be implemented as part or all of an electronic device by software, hardware, or a combination of both. Referring to fig. 5, the apparatus includes: a data acquisition module 501, a scene construction module 502, a function optimization module 503 and a first real vehicle test module 504.

The data acquisition module 501 is configured to acquire a plurality of lane-switching data, where the plurality of lane-switching data are obtained by performing data acquisition on lane-switching scenes in a real environment, and each lane-switching data corresponds to one lane-switching scene;

the scene construction module 502 is configured to construct a lane switching scene corresponding to each lane switching data in a virtual environment based on the plurality of lane switching data, where the virtual environment includes a virtual target vehicle and a virtual test vehicle, the virtual target vehicle is located before the virtual test vehicle, and the virtual test vehicle is deployed with an adaptive cruise function;

a function optimization module 503, configured to optimize an adaptive cruise function of the virtual test vehicle based on each lane switching scenario and a plurality of test cases in the virtual environment, so that the adaptive cruise function of the virtual test vehicle meets a test specification, where the plurality of test cases indicate test requirements of the adaptive cruise function;

the first real vehicle testing module 504 is configured to deploy, on a real test vehicle, an adaptive cruise function that meets a test specification and a lane switching scenario corresponding to each lane switching data, obtain a test result of the adaptive cruise function of the real test vehicle in each lane switching scenario, and adjust the adaptive cruise function of the real test vehicle based on the test result, so that the adaptive cruise function of the real test vehicle meets the test specification.

Optionally, the function optimization module 503 includes:

the virtual vehicle control sub-module is used for controlling the virtual test vehicle to run in the virtual environment according to the cruise test speed indicated by each test case in the plurality of test cases;

and the function optimization sub-module is used for optimizing the self-adaptive cruise function of the virtual test vehicle based on each lane switching scene in the virtual environment in the process that the virtual test vehicle runs at the cruise test speed so that the self-adaptive cruise function of the virtual test vehicle meets the test specification under the test case.

Optionally, the function optimization submodule is specifically configured to:

measuring the running data of the virtual target vehicle through a virtual test vehicle in the process that the virtual target vehicle executes each lane switching scene in the virtual environment;

based on the running data of the virtual target vehicle, simulating the self-adaptive cruising function of the virtual test vehicle to obtain a simulation result corresponding to the test case in each lane switching scene;

optimizing the self-adaptive cruising function of the virtual test vehicle based on the simulation result corresponding to the test case in each lane switching scene;

And if the self-adaptive cruise function of the virtual test vehicle after optimization does not meet the test specification, re-simulating the self-adaptive cruise function of the virtual test vehicle until the self-adaptive cruise function of the virtual test vehicle meets the test specification under the test case.

Optionally, the first real vehicle module 504 is specifically configured to:

under the condition that the electronic equipment is connected with the real test vehicle through a CAN bus, the functional data and the lane switching data corresponding to the self-adaptive cruise function meeting the test specification are sent to the real test vehicle through the CAN bus, so that the real test vehicle deploys the self-adaptive cruise function meeting the test specification and the lane switching scene corresponding to each lane switching data.

Optionally, the apparatus further comprises:

the real result acquisition module is used for acquiring a real test result, wherein the real test result is obtained by testing the self-adaptive cruise function of the real test vehicle in the lane switching process of the real target vehicle relative to the real test vehicle under the condition that the self-adaptive cruise function of the real test vehicle meets the test specification;

The virtual result acquisition module is used for acquiring a virtual test result, wherein the virtual test result is obtained by testing the self-adaptive cruise function of the virtual test vehicle in the lane switching process of the virtual target vehicle relative to the virtual test vehicle under the condition that the self-adaptive cruise function of the virtual test vehicle meets the test standard;

In the embodiment of the application, a novel test method of the self-adaptive cruise function is provided, a real-world front vehicle cut-in and cut-out scene is acquired, a plurality of lane switching data are generated, a virtual scene based on the real front vehicle scene data is constructed by using simulation software, the self-adaptive cruise function of a test vehicle is initially tested in the virtual scene, and the test of the real vehicle is carried out after the self-adaptive cruise function is stable. The method can modify the self-adaptive cruise function at any time, does not deviate from the running state of a real vehicle, effectively improves the test efficiency and improves the safety of the test process.

It should be noted that: the test device for the adaptive cruise function provided in the above embodiment only illustrates the division of the above functional modules when testing the adaptive cruise function, and in practical application, the above functional allocation may be completed by different functional modules according to needs, i.e. the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the device for testing the adaptive cruise function provided in the above embodiment and the method embodiment for testing the adaptive cruise function belong to the same concept, and detailed implementation processes of the device are shown in the method embodiment, which is not repeated herein.

Fig. 6 is a block diagram of an electronic device 600 according to an embodiment of the present application. The electronic device 600 may be a portable mobile terminal such as: a smart phone, a tablet computer, an MP3 player (Moving Picture Experts Group Audio Layer III, motion picture expert compression standard audio plane 3), an MP4 (Moving Picture Experts Group Audio Layer IV, motion picture expert compression standard audio plane 4) player, a notebook computer, or a desktop computer. Electronic device 600 may also be referred to by other names of user devices, portable terminals, laptop terminals, desktop terminals, etc.

In general, the electronic device 600 includes: a processor 601 and a memory 602.

Processor 601 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and the like. The processor 601 may be implemented in at least one hardware form of DSP (Digital Signal Processing ), FPGA (Field-Programmable Gate Array, field programmable gate array), PLA (Programmable Logic Array ). The processor 601 may also include a main processor, which is a processor for processing data in an awake state, also called a CPU (Central Processing Unit ), and a coprocessor; a coprocessor is a low-power processor for processing data in a standby state. In some embodiments, the processor 601 may integrate a GPU (Graphics Processing Unit, image processor) for rendering and drawing of content required to be displayed by the display screen. In some embodiments, the processor 601 may also include an AI (Artificial Intelligence ) processor for processing computing operations related to machine learning.

The memory 602 may include one or more computer-readable storage media, which may be non-transitory. The memory 602 may also include high-speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In some embodiments, a non-transitory computer readable storage medium in memory 602 is used to store at least one instruction for execution by processor 601 to implement the test method of the adaptive cruise functionality provided by the method embodiments of the present application.

In some embodiments, the electronic device 600 may further optionally include: a peripheral interface 603, and at least one peripheral. The processor 601, memory 602, and peripheral interface 603 may be connected by a bus or signal line. The individual peripheral devices may be connected to the peripheral device interface 603 via buses, signal lines or a circuit board. Specifically, the peripheral device includes: at least one of radio frequency circuitry 604, a touch display 605, a camera 606, audio circuitry 607, a positioning component 608, and a power supply 609.

Peripheral interface 603 may be used to connect at least one Input/Output (I/O) related peripheral to processor 601 and memory 602. In some embodiments, the processor 601, memory 602, and peripheral interface 603 are integrated on the same chip or circuit board; in some other embodiments, either or both of the processor 601, memory 602, and peripheral interface 603 may be implemented on separate chips or circuit boards, which is not limited in this embodiment.

The Radio Frequency circuit 604 is configured to receive and transmit RF (Radio Frequency) signals, also known as electromagnetic signals. The radio frequency circuit 604 communicates with a communication network and other communication devices via electromagnetic signals. The radio frequency circuit 604 converts an electrical signal into an electromagnetic signal for transmission, or converts a received electromagnetic signal into an electrical signal. Optionally, the radio frequency circuit 604 includes: antenna systems, RF transceivers, one or more amplifiers, tuners, oscillators, digital signal processors, codec chipsets, subscriber identity module cards, and so forth. The radio frequency circuitry 604 may communicate with other electronic devices via at least one wireless communication protocol. The wireless communication protocol includes, but is not limited to: the world wide web, metropolitan area networks, intranets, generation mobile communication networks (2G, 3G, 4G, and 6G), wireless local area networks, and/or WiFi (Wireless Fidelity ) networks. In some embodiments, the radio frequency circuit 604 may also include NFC (Near Field Communication ) related circuits, as embodiments of the application are not limited in this respect.

The display screen 605 is used to display a UI (User Interface). The UI may include graphics, text, icons, video, and any combination thereof. When the display 605 is a touch display, the display 605 also has the ability to collect touch signals at or above the surface of the display 605. The touch signal may be input as a control signal to the processor 601 for processing. At this point, the display 605 may also be used to provide virtual buttons and/or virtual keyboards, also referred to as soft buttons and/or soft keyboards. In some embodiments, the display 605 may be one, providing a front panel of the electronic device 600; in other embodiments, the display screen 605 may be at least two, respectively disposed on different surfaces of the electronic device 600 or in a folded design; in still other embodiments, the display 605 may be a flexible display disposed on a curved surface or a folded surface of the electronic device 600. Even more, the display 605 may be arranged in a non-rectangular irregular pattern, i.e., a shaped screen. The display 605 may be made of LCD (Liquid Crystal Display ), OLED (Organic Light-Emitting Diode) or other materials.

The camera assembly 606 is used to capture images or video. Optionally, the camera assembly 606 includes a front camera and a rear camera. In general, a front camera is disposed on a front panel of an electronic device, and a rear camera is disposed on a rear surface of the electronic device. In some embodiments, the at least two rear cameras are any one of a main camera, a depth camera, a wide-angle camera and a tele camera, so as to realize that the main camera and the depth camera are fused to realize a background blurring function, and the main camera and the wide-angle camera are fused to realize a panoramic shooting and Virtual Reality (VR) shooting function or other fusion shooting functions. In some embodiments, camera assembly 606 may also include a flash. The flash lamp can be a single-color temperature flash lamp or a double-color temperature flash lamp. The dual-color temperature flash lamp refers to a combination of a warm light flash lamp and a cold light flash lamp, and can be used for light compensation under different color temperatures.

The audio circuit 607 may include a microphone and a speaker. The microphone is used for collecting sound waves of users and environments, converting the sound waves into electric signals, and inputting the electric signals to the processor 601 for processing, or inputting the electric signals to the radio frequency circuit 604 for voice communication. For purposes of stereo acquisition or noise reduction, the microphone may be multiple and separately disposed at different locations of the electronic device 600. The microphone may also be an array microphone or an omni-directional pickup microphone. The speaker is used to convert electrical signals from the processor 601 or the radio frequency circuit 604 into sound waves. The speaker may be a conventional thin film speaker or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, not only the electric signal can be converted into a sound wave audible to humans, but also the electric signal can be converted into a sound wave inaudible to humans for ranging and other purposes. In some embodiments, the audio circuit 607 may also include a headphone jack.

The location component 608 is used to locate the current geographic location of the electronic device 600 to enable navigation or LBS (Location Based Service, location-based services). The positioning component 608 may be a positioning component based on the United states GPS (Global Positioning System ), the Beidou system of China, or the Galileo system of Russia.

The power supply 609 is used to power the various components in the electronic device 600. The power source 609 may be alternating current, direct current, disposable battery or rechargeable battery. When the power source 609 includes a rechargeable battery, the rechargeable battery may be a wired rechargeable battery or a wireless rechargeable battery. The wired rechargeable battery is a battery charged through a wired line, and the wireless rechargeable battery is a battery charged through a wireless coil. The rechargeable battery may also be used to support fast charge technology.

In some embodiments, the electronic device 600 further includes one or more sensors 610. The one or more sensors 610 include, but are not limited to: acceleration sensor 611, gyroscope sensor 612, pressure sensor 613, fingerprint sensor 614, optical sensor 616, and proximity sensor 616.

The acceleration sensor 611 can detect the magnitudes of accelerations on three coordinate axes of the coordinate system established with the electronic device 600. For example, the acceleration sensor 611 may be used to detect components of gravitational acceleration in three coordinate axes. The processor 601 may control the touch display screen 605 to display a user interface in a landscape view or a portrait view according to the gravitational acceleration signal acquired by the acceleration sensor 611. The acceleration sensor 611 may also be used for the acquisition of motion data of a game or a user.

The gyro sensor 612 may detect a body direction and a rotation angle of the electronic device 600, and the gyro sensor 612 may cooperate with the acceleration sensor 611 to collect a 3D motion of the user on the electronic device 600. The processor 601 may implement the following functions based on the data collected by the gyro sensor 612: motion sensing (e.g., changing UI according to a tilting operation by a user), image stabilization at shooting, game control, and inertial navigation.

The pressure sensor 613 may be disposed at a side frame of the electronic device 600 and/or at an underlying layer of the touch screen 605. When the pressure sensor 613 is disposed on a side frame of the electronic device 600, a grip signal of the user on the electronic device 600 may be detected, and the processor 601 performs a left-right hand recognition or a shortcut operation according to the grip signal collected by the pressure sensor 613. When the pressure sensor 613 is disposed at the lower layer of the touch display screen 605, the processor 601 controls the operability control on the UI interface according to the pressure operation of the user on the touch display screen 605. The operability controls include at least one of a button control, a scroll bar control, an icon control, and a menu control.

The fingerprint sensor 614 is used for collecting the fingerprint of the user, and the processor 601 identifies the identity of the user according to the fingerprint collected by the fingerprint sensor 614, or the fingerprint sensor 614 identifies the identity of the user according to the collected fingerprint. Upon recognizing that the user's identity is a trusted identity, the processor 601 authorizes the user to perform relevant sensitive operations including unlocking the screen, viewing encrypted information, downloading software, paying for and changing settings, etc. The fingerprint sensor 614 may be provided on the front, back, or side of the electronic device 600. When a physical key or vendor Logo is provided on the electronic device 600, the fingerprint sensor 614 may be integrated with the physical key or vendor Logo.

The optical sensor 616 is used to collect the ambient light intensity. In one embodiment, processor 601 may control the display brightness of touch display 605 based on the intensity of ambient light collected by optical sensor 616. Specifically, when the intensity of the ambient light is high, the display brightness of the touch display screen 605 is turned up; when the ambient light intensity is low, the display brightness of the touch display screen 605 is turned down. In another embodiment, the processor 601 may also dynamically adjust the shooting parameters of the camera assembly 606 based on the ambient light intensity collected by the optical sensor 616.

A proximity sensor 616, also referred to as a distance sensor, is typically provided on the front panel of the electronic device 600. The proximity sensor 616 is used to capture the distance between the user and the front of the electronic device 600. In one embodiment, when the proximity sensor 616 detects a gradual decrease in the distance between the user and the front of the electronic device 600, the processor 601 controls the touch display 605 to switch from the bright screen state to the off screen state; when the proximity sensor 616 detects that the distance between the user and the front of the electronic device 600 gradually increases, the processor 601 controls the touch display 605 to switch from the off-screen state to the on-screen state.

Those skilled in the art will appreciate that the structure shown in fig. 6 is not limiting of the electronic device 600 and may include more or fewer components than shown, or may combine certain components, or may employ a different arrangement of components.

In some embodiments, there is also provided a computer readable storage medium having stored therein a computer program which, when executed by a processor, implements the steps of the test method of adaptive cruise functionality of the above embodiments. For example, the computer readable storage medium may be ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage device, etc.

It is noted that the computer readable storage medium mentioned in the embodiments of the present application may be a non-volatile storage medium, in other words, may be a non-transitory storage medium.

It should be understood that all or part of the steps to implement the above-described embodiments may be implemented by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. The computer instructions may be stored in the computer-readable storage medium described above.

That is, in some embodiments, there is also provided a computer program product containing instructions that, when run on a computer, cause the computer to perform the steps of the method of testing an adaptive cruise function described above.

It should be understood that references herein to "at least one" mean one or more, and "a plurality" means two or more. In the description of the embodiments of the present application, unless otherwise indicated, "/" means or, for example, a/B may represent a or B; "and/or" herein is merely an association relationship describing an association object, and means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. In addition, in order to facilitate the clear description of the technical solution of the embodiments of the present application, in the embodiments of the present application, the words "first", "second", etc. are used to distinguish the same item or similar items having substantially the same function and effect. It will be appreciated by those of skill in the art that the words "first," "second," and the like do not limit the amount and order of execution, and that the words "first," "second," and the like do not necessarily differ.

It should be noted that, the information (including but not limited to user equipment information, user personal information, etc.), data (including but not limited to data for analysis, stored data, presented data, etc.), and signals related to the embodiments of the present application are all authorized by the user or are fully authorized by the parties, and the collection, use, and processing of the related data is required to comply with the relevant laws and regulations and standards of the relevant countries and regions.

The above embodiments are not intended to limit the present application, and any modifications, equivalent substitutions, improvements, etc. within the spirit and principle of the present application should be included in the scope of the present application.

Claims

1. A method for testing an adaptive cruise function, the method being applied to an electronic device, the method comprising:

2. The method of claim 1, wherein optimizing the adaptive cruise function of the virtual test vehicle based on each lane-switching scenario and a plurality of test cases in the virtual environment such that the adaptive cruise function of the virtual test vehicle meets a test specification comprises:

3. The method of claim 2, wherein optimizing the adaptive cruise function of the virtual test vehicle based on each lane-switching scenario in the virtual environment such that the adaptive cruise function of the virtual test vehicle meets the test specification under the test case comprises:

4. The method of claim 1, wherein deploying the adaptive cruise function satisfying the test specification and the lane-switching scenario corresponding to each lane-switching data to the real test vehicle comprises:

and under the condition that the electronic equipment is connected with the real test vehicle through a Controller Area Network (CAN) bus, the functional data corresponding to the self-adaptive cruise function meeting the test specification and the lane switching data are sent to the real test vehicle through the CAN bus, so that the real test vehicle deploys the self-adaptive cruise function meeting the test specification and the lane switching scene corresponding to each lane switching data.

5. The method of claim 1, wherein the obtaining the test results of the adaptive cruise function of the real test vehicle in each lane-switching scenario is preceded by:

And under the condition that the electronic equipment is connected with the real test vehicle through a Controller Area Network (CAN) bus, performing joint debugging test on a speed control interface and a brake interface of the real test vehicle through the CAN bus, so that the real test measurement CAN accurately execute a speed control request and a brake request of the self-adaptive cruise function.

6. The method of claim 1, wherein after adjusting the adaptive cruise function of the real test vehicle based on the test result such that the adaptive cruise function of the real test vehicle meets the test specification, the method further comprises:

7. The method of claim 1, wherein the plurality of lane-switching data comprises a plurality of lane-cut data and/or a plurality of lane-cut data.

8. A test device for an adaptive cruise function, the device comprising:

9. A computer device, characterized in that it comprises a memory for storing a computer program and a processor for executing the computer program stored on the memory for carrying out the steps of the method according to any of the preceding claims 1-7.

10. A computer-readable storage medium, characterized in that the storage medium has stored therein a computer program which, when executed by a processor, implements the steps of the method of any of claims 1-7.