WO2024066388A1

WO2024066388A1 - Lane centering control function test method and apparatus based on straight lane scene

Info

Publication number: WO2024066388A1
Application number: PCT/CN2023/094448
Authority: WO
Inventors: 郭干; 蒋云飞; 吴迪
Original assignee: 魔门塔(苏州)科技有限公司
Priority date: 2022-09-26
Filing date: 2023-05-16
Publication date: 2024-04-04
Also published as: CN117804494A

Abstract

A lane centering control function test method and apparatus based on a straight lane scene. The method comprises: acquiring first point positioning information of a plurality of lane line points collected by a point positioning device (S101); collecting vehicle positioning information and speed information of a test vehicle, and a vehicle control unit local area network signal, and receiving base station positioning information of a fixed base station (S102); according to the first point positioning information, the vehicle positioning information, and the base station positioning information, calculating a transverse distance between the test vehicle and a straight lane line (S103); and according to the transverse distance, the speed information, and the vehicle control unit local area network signal, testing a lane centering control function (S104).

Description

A test method and device for lane centering keeping function based on straight road scenario

This application claims the priority of the Chinese patent application filed with the China Patent Office on September 26, 2022, with application number 202211173619.3 and application name “A testing method and device for lane centering keeping function based on straight road scenarios”, the entire contents of which are incorporated by reference in the application.

Technical Field

The present application relates to the field of intelligent automobile control technology, and in particular to a method for testing a lane centering keeping function based on a straight road scenario, a device for testing a lane centering keeping function based on a straight road scenario, a system for testing a lane centering keeping function based on a straight road scenario, an electronic device, and a computer-readable storage medium.

Background technique

With the development of the automotive electronics industry, the safety of active automotive systems has received more and more attention from the industry and customers. The LCC (Lane Centering Control) function is a type of active safety system. When the driver turns on the LCC function, the lateral travel of the vehicle can be controlled to ensure that the vehicle can travel along the center line of the lane.

In the related art, there is a method of using surveying equipment to survey the entire lane line to test the LCC function. However, this method surveys the entire lane line, resulting in a long operation time and low verification efficiency of the LCC function.

In addition, any discussion of background technology throughout the specification does not mean that the background technology is necessarily the prior art known to technicians in the relevant field, and any discussion of prior art throughout the specification does not mean that the prior art is necessarily widely known or necessarily constitutes common knowledge in the field.

Summary of the invention

In view of this, the present application provides a test method for a lane centering keeping function based on a straight road scenario, a test device for a lane centering keeping function based on a straight road scenario, a test system for a lane centering keeping function based on a straight road scenario, an electronic device, a computer-readable storage medium, a computer program product, a chip and a vehicle, which can accurately measure the distance that the test vehicle deviates from the straight road lane line, and verify the specific performance of the lane centering keeping function in the straight road scenario through high-precision and objective data values.

In a first aspect, an embodiment of the present application provides a method for testing a lane centering function based on a straight road scenario, comprising: obtaining first point location information of a plurality of lane line points collected by a marking device, wherein the plurality of lane line points are arranged along a straight road lane line; while a test vehicle is driving along the straight road lane line, collecting vehicle location information, speed information, and information about the lane centering function of the test vehicle; The vehicle controller local area network signal related to the lane centering function and the base station positioning information of the fixed base station are received; the lateral distance between the test vehicle and the straight lane line is calculated according to the first point positioning information of multiple lane line points, the vehicle positioning information and the base station positioning information; the lane centering function is tested according to the lateral distance, speed information and the vehicle controller local area network signal.

The lane centering keeping function testing method based on the straight road scenario according to the embodiment of the present application may also have the following additional technical features:

In the above technical solution, optionally, the marking device is provided with a device positioning module and a spirit level; the first point positioning information of the lane line point is obtained by the device positioning module when the spirit level is in a horizontal state.

In any of the above technical solutions, optionally, the lane centering keeping function is tested according to the lateral distance, the speed information and the vehicle controller local area network signal, including: calculating the lateral collision time of the test vehicle with the straight lane line according to the lateral distance and speed information; and testing the lane centering keeping function according to the lateral collision time and the vehicle controller local area network signal.

In any of the above technical solutions, optionally, the lateral distance between the test vehicle and the straight lane line is calculated based on the first point positioning information of multiple lane line points, the vehicle positioning information and the base station positioning information, including: determining the position information of the wheels of the test vehicle based on the vehicle positioning information, the base station positioning information and the installation distance between the wheels of the test vehicle and the first vehicle positioning antenna of the test vehicle; determining the lateral distance of the wheels of the test vehicle relative to the straight lane line based on the first point positioning information of multiple lane line points and the position information of the wheels of the test vehicle; wherein the first vehicle positioning antenna is used to collect vehicle positioning information, and the wheels of the test vehicle include left wheels and/or right wheels.

In the second aspect, an embodiment of the present application provides a testing device for a lane centering function based on a straight road scenario, comprising an acquisition module and a vehicle control module arranged on a test vehicle; wherein the acquisition module is used to obtain first point positioning information of multiple lane line points collected by a marking device, and in the process of the test vehicle traveling along the straight lane line, obtain the vehicle positioning information, speed information and vehicle controller local area network signal related to the lane centering function of the test vehicle, and receive base station positioning information of a fixed base station, wherein multiple lane line points are arranged along the straight lane line; the vehicle control module is used to calculate the lateral distance between the test vehicle and the straight lane line according to the first point positioning information of the multiple lane line points, the vehicle positioning information and the base station positioning information, and test the lane centering function according to the lateral distance, speed information and vehicle controller local area network signal.

The lane centering keeping function testing device based on the straight road scenario according to the embodiment of the present application may also have the following additional technical features:

In any of the above technical solutions, optionally, the vehicle control module is specifically used to calculate the lateral collision time of the test vehicle on the straight lane line according to the lateral distance and speed information, and The lateral collision time and vehicle controller area network signal are used to test the lane centering function.

In any of the above technical solutions, optionally, the acquisition module includes: a first vehicle positioning antenna, used to acquire vehicle positioning information and speed information; and a controller area network signal acquisition module, used to acquire the controller area network signal of the entire vehicle.

In any of the above technical solutions, optionally, the vehicle control module is specifically used to determine the position information of the wheels of the test vehicle based on the vehicle positioning information, the base station positioning information and the installation distance between the wheels of the test vehicle and the first vehicle positioning antenna, and to determine the lateral distance of the wheels of the test vehicle relative to the straight lane line based on the first point positioning information of multiple lane line points and the position information of the wheels of the test vehicle; wherein the wheels of the test vehicle include left wheels and/or right wheels.

In a third aspect, an embodiment of the present application provides a test system for a lane centering keeping function based on a straight road scenario, comprising: a test device, a marking device and a fixed base station for the lane centering keeping function as in the second aspect; wherein the marking device is used to collect first point positioning information of multiple lane line points on the straight road lane line in the test field.

The lane centering keeping function test system based on the straight road scenario according to the embodiment of the present application may also have the following additional technical features:

In the above technical solution, optionally, the dotting device includes a dotting rod, a device positioning module and a spirit level, the device positioning module is set at the first end of the dotting rod, the second end of the dotting rod is used to align with the lane line point, and the spirit level is set on the dotting rod; wherein, the device positioning module is used to collect the first point positioning information of the lane line point when the spirit level is in a horizontal state.

In a fourth aspect, an embodiment of the present application provides an electronic device, which includes a processor, wherein the processor is coupled to a memory, and the memory stores programs or instructions that can be executed on the processor, and when the programs or instructions are executed by the processor, the steps of the method of the first aspect are implemented.

In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a program or instruction is stored, and when the program or instruction is executed by a processor, the steps of the method of the first aspect are implemented.

In a sixth aspect, an embodiment of the present application provides a computer program product, which is stored in a storage medium and is executed by at least one processor to implement the method of the first aspect.

In the seventh aspect, an embodiment of the present application provides a chip, which includes a processor and a communication interface, the communication interface and the processor are coupled, and the processor is used to run programs or instructions to implement the method of the first aspect.

In an eighth aspect, an embodiment of the present application provides a vehicle comprising a processor, wherein the processor is coupled to a memory, and the memory stores programs or instructions that can be executed on the processor, and when the programs or instructions are executed by the processor, the steps of the method of the first aspect are implemented.

In the embodiment of the present application, first, the first point location information of multiple lane line points of the marking device is obtained, wherein the number of the multiple lane line points is at least two, and the multiple lane line points are sequentially arranged along the straight lane line, and the straight lane line can be a straight lane. There is no need to survey the entire straight lane line. The principle of determining a straight line through at least two points is equivalent to collecting Positioning information of the straight lane line. Then, while the test vehicle is driving along the straight lane line, the vehicle positioning information, speed information and vehicle controller local area network signals related to the test vehicle and the lane centering function are collected, wherein the vehicle controller local area network signals include activation signals and enable signals of the lane centering function, and the base station positioning information of the fixed base station set in the test field is received during driving. Finally, based on the first point positioning information of multiple lane line points, the vehicle positioning information and the base station positioning information, the lateral distance between the test vehicle and the straight lane line is determined, and combined with the speed information and the vehicle controller local area network signals, the performance of the lane centering function of the test vehicle, such as early activation, delayed activation, early time difference, delayed time difference, etc., is tested to generate test results.

In the embodiment of the present application, when the test vehicle is traveling on a straight road, the distance that the test vehicle deviates from the straight lane line can be accurately measured, and the specific performance of the lane centering function in the straight road scenario can be verified through high-precision and objective data values. Furthermore, the stability and accuracy of the lane centering function can be continuously optimized based on the test results, thereby achieving the role of lane centering assistance in the straight road scenario, helping the vehicle to better travel on the straight road. In addition, the dot survey method for the straight lane line in the embodiment of the present application does not need to survey the entire lane line, making it simpler to survey the lane line, avoiding the problem of low verification efficiency of the lane centering function due to long operation time, and improving the efficiency of testing the lane centering function.

The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below.

BRIEF DESCRIPTION OF THE DRAWINGS

The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

FIG1 is a schematic flow chart of a method for testing a lane centering keeping function based on a straight road scenario according to an embodiment of the present application;

FIG2 shows a structural block diagram of a test device for a lane centering keeping function based on a straight road scenario according to an embodiment of the present application;

FIG3 shows a structural block diagram of a fixed base station according to an embodiment of the present application;

FIG4 shows a structural block diagram of a dotting device according to an embodiment of the present application;

FIG5 is a schematic diagram showing the lane line points marked by the marking rod according to an embodiment of the present application;

FIG6 is a schematic diagram showing a curved lane line surveyed by a curved lane surveying device according to an embodiment of the present application;

FIG. 7 shows a structural block diagram of an electronic device according to an embodiment of the present application.

The corresponding relationship between the reference numerals and component names in FIGS. 2 to 7 is as follows:

10. Vehicle control module, 11. Vehicle display module, 12. Vehicle power supply, 13. Vehicle controller, 14. First vehicle positioning antenna, 15. CAN signal acquisition module, 16. Vehicle differential positioning Position module, 17, second vehicle positioning antenna, 161, first real-time dynamic differential module, 162, first communication antenna, 20, fixed base station, 21, base station GPS antenna, 22, base station differential positioning module, 221, second real-time dynamic differential module, 222, second communication antenna, 30, equipment control module, 31, equipment GPS antenna, 32, equipment differential positioning module, 33, equipment display module, 34, equipment power supply, 35, equipment controller, 321, third real-time dynamic differential module, 322, third communication antenna, 51, horizontal pole, 52, GPS antenna, 70, electronic device, 71, processor, 72, memory.

Detailed ways

The following will be combined with the drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the present application belong to the scope of protection of this application.

The terms "first", "second", etc. in the specification and claims of this application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and/or" in the specification and claims represents at least one of the connected objects, and the character "/" generally indicates that the objects associated with each other are in an "or" relationship.

In conjunction with the accompanying drawings, the following detailed description is given of a method for testing a lane centering keeping function based on a straight road scenario, a device for testing a lane centering keeping function based on a straight road scenario, a system for testing a lane centering keeping function based on a straight road scenario, an electronic device, a computer-readable storage medium, a computer program product, and a chip provided in an embodiment of the present application through specific embodiments and their application scenarios.

The present application embodiment provides a method for testing a lane centering keeping function based on a straight road scenario, as shown in FIG1 , the method comprising:

Step S101, obtaining first point location information of a plurality of lane line points collected by a marking device, wherein the plurality of lane line points are arranged along a straight lane line;

Step S102, when the test vehicle is driving along the straight lane, the vehicle positioning information, speed information and vehicle controller local area network signal related to the lane centering function of the test vehicle are collected, and the base station positioning information of the fixed base station is received;

Step S103, calculating the lateral distance between the test vehicle and the straight lane line according to the first point positioning information of the plurality of lane line points, the vehicle positioning information and the base station positioning information;

Step S104, testing the lane centering function based on the lateral distance, speed information and vehicle controller local area network signal.

In this embodiment, the test vehicle is provided with a test device for the LCC function and an LCC function, and the test method for the LCC function of the embodiment of the present application is applied to the test device for the LCC function.

First, obtain the first point positioning information of multiple lane line points collected by the marking device. In the method, the number of lane line points is at least two, and the lane line points are sequentially arranged along a straight lane line, which may be a straight lane in the center of the road or on both sides of the road. It is not necessary to survey the entire straight lane line, and the principle of determining a straight line through at least two points is equivalent to collecting the positioning information of the straight lane line.

Then, while the test vehicle is driving along the straight lane, the vehicle positioning information, speed information and vehicle CAN (Controller Area Network) signals related to the test vehicle and the LCC function are collected, where the vehicle CAN signals include activation signals and enable signals of the LCC function, etc., and the base station positioning information of the fixed base station set in the test field is received during the driving process.

Finally, based on the first-point positioning information of multiple lane line points, the vehicle positioning information and the base station positioning information, the lateral distance between the test vehicle and the straight lane line is determined, and combined with the speed information and the vehicle CAN signal, the test vehicle's LCC function's early activation, delayed activation, advance time difference, delayed time difference, centering driving control information and other performance are tested to generate test results.

In the embodiment of the present application, when the test vehicle is driving on a straight road, the distance that the test vehicle deviates from the straight road lane line can be accurately measured, and the specific performance of the LCC function in the straight road scenario can be verified through high-precision and objective data values. Furthermore, the stability and accuracy of the LCC function can be continuously optimized based on the test results, so as to achieve the role of lane centering assistance in the straight road scenario and help the vehicle to drive better on the straight road.

It is worth noting that the dot survey method for straight lane lines in the embodiment of the present application does not need to survey the entire lane line, making the lane line survey simpler, avoiding the problem of low verification efficiency of the LCC function due to long operation time, and improving the efficiency of testing the LCC function.

It should be noted that different control speeds can be pre-set to control the test vehicle to perform multiple LCC function tests, so as to verify the specific performance of the LCC function at different speeds in the straight-line scenario.

It should be noted that the test method of the lane centering function of the embodiment of the present application is also applicable to the curved scene. In the curved scene, the positioning device is a curved survey device, and the target lane line is the curved lane line. The curved survey device needs to survey the entire curved lane line to ensure the accuracy of the positioning information (i.e., the turning situation) of the curved lane line.

In one embodiment of the present application, the marking device is provided with a device positioning module and a spirit level; the first point positioning information of the lane line point is obtained by the device positioning module when the spirit level is in a horizontal state.

In this embodiment, the dotting device includes a dotting rod, a device positioning module and a spirit level. The device positioning module is installed on the top of the dotting rod, and the bottom is aligned with the lane line point on the straight lane line. The spirit level on the dotting rod is used to ensure that the top device positioning module and the bottom lane line point are at the same vertical height, thereby improving the accuracy of the first point positioning information collection of the lane line point by the device positioning module.

In one embodiment of the present application, the LCC function is tested according to the lateral distance, speed information and the vehicle CAN signal, including: calculating the lateral collision time of the test vehicle on the straight lane line according to the lateral distance and speed information; calculating the lateral collision time according to the vehicle CAN signal, Test the LCC function.

In this embodiment, while the test vehicle is traveling along the straight lane line, the speed information of the test vehicle (i.e., lateral deviation speed) can also be collected, and then combined with the lateral distance between the test vehicle and the straight lane line to obtain the lateral TTC (Time To Collision). Finally, based on the lateral TTC and the vehicle CAN signal, the LCC function of the test vehicle is further tested.

Through the above method, the LCC function can be accurately tested and the comprehensiveness of the test can be improved.

In one embodiment of the present application, the lateral distance between the test vehicle and the straight lane line is calculated based on the first point positioning information of multiple lane line points, the vehicle positioning information and the base station positioning information, including: determining the position information of the test vehicle's wheels based on the vehicle positioning information, the base station positioning information and the installation distance between the test vehicle's wheels and the first vehicle positioning antenna (i.e., GPS (Global Positioning System) antenna) of the test vehicle; determining the lateral distance of the test vehicle's wheels relative to the straight lane line based on the first point positioning information of multiple lane line points and the position information of the test vehicle's wheels; wherein the first vehicle positioning antenna is used to collect vehicle positioning information, and the wheels of the test vehicle include left wheels and/or right wheels.

In this embodiment, the test vehicle is equipped with a first vehicle positioning antenna for collecting vehicle positioning information.

Based on the installation position of the first vehicle positioning antenna on the test vehicle, the installation distance of the left wheel and/or right wheel of the test vehicle relative to the first vehicle positioning antenna is obtained, and the vehicle positioning information is compensated to the left wheel and/or right wheel of the test vehicle by compensation, and the position information of the left wheel and/or right wheel can be obtained at this time. Then, according to the first point positioning information of multiple lane line points and the position information of the wheels of the test vehicle, the lateral distance of the wheels of the test vehicle relative to the straight lane line is determined.

The embodiment of the present application improves the accuracy of the LCC function test by precisely calculating the lateral distance between the wheels of the test vehicle and the straight lane line.

In one embodiment of the present application, after collecting the vehicle positioning information of the test vehicle, it also includes: obtaining first positioning correction information of the test vehicle, and calibrating the vehicle positioning information using the first positioning correction information.

In this embodiment, the vehicle positioning information obtained by using the first vehicle positioning antenna will be affected by factors such as the environment and distance during the signal transmission process, resulting in low accuracy. Therefore, the embodiment of the present application is based on the RTK (Real-Time Kinematic) carrier phase differential positioning principle, and uses the first positioning correction information to calibrate the obtained vehicle positioning information. Compared with using only GPS positioning, it can reduce positioning errors and improve the accuracy of positioning the test vehicle.

The above-mentioned method for determining the position information of the left wheel and/or the right wheel includes: obtaining the relative positioning information of the test vehicle relative to the fixed base station based on the vehicle positioning information and the base station positioning information after calibration, and obtaining the position information of the left wheel and/or the right wheel based on the relative positioning information and the installation distance.

In one embodiment of the present application, the lateral distance between the test vehicle and the straight lane line is calculated based on the first point positioning information of the plurality of lane line points, the vehicle positioning information and the base station positioning information, including: obtaining the relative distance of the test vehicle to the straight lane line based on the calibrated vehicle positioning information and the base station positioning information. The test vehicle is located at a position corresponding to the fixed base station, and the lateral distance between the test vehicle and the straight lane line is determined according to the relative positioning information and the first point positioning information of multiple lane line points; wherein the first point positioning information is the positioning information of the lane line point relative to the fixed base station determined by the marking device according to the base station positioning information.

In this embodiment, based on the vehicle positioning information and base station positioning information after RTK carrier phase difference processing, the relative positioning information of the test vehicle relative to the fixed base station is determined in a two-dimensional plane coordinate system established by vertically mapping the base station GPS antenna of the fixed base station to the point on the ground, and then based on the first point positioning information of the lane line point relative to the fixed base station in the above two-dimensional plane coordinate system, the lateral distance of the test vehicle relative to the straight lane line is calculated.

Through the above method, combined with GPS antenna and RTK differential precise positioning, the positioning accuracy of the test vehicle can reach about 2cm, thereby effectively implementing the performance test of the LCC function.

An embodiment of the present application provides a test system for an LCC function based on a straight road scenario. The system is arranged in a test field. The test field includes a test road. Straight lane lines are arranged in the center of the test road or on both sides of the test road.

The system includes a test device for the LCC function, a marking device and a fixed base station, wherein the test device for the LCC function is arranged on a test vehicle, the test vehicle has the LCC function, and the marking device is used to collect the first point positioning information of multiple lane line points on the straight lane line in the test field.

As shown in Fig. 2, the test device for the LCC function includes: an acquisition module, a vehicle control module 10, a vehicle display module 11, a vehicle power supply 12, and a vehicle controller 13. The acquisition module is used to acquire the first point positioning information of multiple lane line points collected by the marking device, and in the process of the test vehicle driving along the straight lane line, acquire the vehicle positioning information, speed information and the whole vehicle CAN signal related to the LCC function of the test vehicle, and receive the base station positioning information of the fixed base station, wherein the multiple lane line points are set along the straight lane line; the vehicle control module 10 is used to calculate the lateral distance between the test vehicle and the straight lane line according to the first point positioning information of the multiple lane line points, the vehicle positioning information and the base station positioning information, and test the LCC function according to the lateral distance, speed information and the whole vehicle CAN signal.

In one embodiment of the present application, the vehicle control module 10 is specifically used to calculate the lateral collision time of the test vehicle to the straight lane line according to the lateral distance and speed information, and Collision time and vehicle CAN signal, test the LCC function.

In this embodiment, while the test vehicle is traveling along the straight lane line, the speed information of the test vehicle (i.e., the lateral deviation speed) can also be collected, and then combined with the lateral distance between the test vehicle and the straight lane line to obtain the lateral TTC. Finally, based on the lateral TTC and the vehicle CAN signal, the LCC function of the test vehicle is further tested.

In one embodiment of the present application, as shown in FIG. 2 , the acquisition module includes: a first vehicle positioning antenna 14 for acquiring vehicle positioning information and speed information; and a CAN signal acquisition module 15 (also known as a controller area network signal acquisition module) for acquiring the vehicle CAN signal.

In this embodiment, the acquisition module includes a first vehicle positioning antenna 14 and a CAN signal acquisition module 15, wherein the first vehicle positioning antenna 14 can collect vehicle positioning information and speed information of the test vehicle, and the CAN signal acquisition module 15 can collect vehicle CAN signals related to the LCC function, thereby providing accurate test data for the test of the LCC function.

In one embodiment of the present application, the vehicle control module 10 is specifically used to determine the position information of the wheels of the test vehicle based on the vehicle positioning information, the base station positioning information and the installation distance between the wheels of the test vehicle and the first vehicle positioning antenna 14, and to determine the lateral distance of the wheels of the test vehicle relative to the straight lane line based on the first point positioning information of multiple lane line points and the position information of the wheels; wherein the wheels of the test vehicle include left wheels and/or right wheels.

In this embodiment, based on the installation position of the first vehicle positioning antenna on the test vehicle, the installation distance of the left wheel and/or right wheel of the test vehicle relative to the first vehicle positioning antenna is obtained, and the vehicle positioning information after calibration is compensated to the left wheel and/or right wheel of the test vehicle by compensation, and the position information of the left wheel and/or right wheel can be obtained at this time. Then, according to the first point positioning information of multiple lane line points and the position information of the wheels of the test vehicle, the lateral distance of the wheels of the test vehicle relative to the straight lane line is determined.

The accuracy of LCC function testing is improved by precisely calculating the lateral distance between the test vehicle's wheels and the straight lane line.

In one embodiment of the present application, the acquisition module also includes: a vehicle differential positioning module 16, which is used to obtain the first positioning correction information of the test vehicle and use the first positioning correction information to calibrate the vehicle positioning information; the vehicle differential positioning module 16 is also used to receive the first point positioning information of at least one lane line point and receive the base station positioning information from a fixed base station.

In this embodiment, the vehicle positioning information obtained by using the first vehicle positioning antenna will be affected by factors such as the environment and distance during the signal transmission process, resulting in low accuracy. Therefore, the embodiment of the present application is based on the RTK carrier phase differential positioning principle, and uses the first positioning correction information to calibrate the obtained vehicle positioning information. Compared with using only GPS positioning, it can reduce positioning errors and improve the accuracy of positioning the test vehicle.

As shown in FIG2 , the vehicle differential positioning module 16 includes a first real-time dynamic differential module 161 and a first communication antenna 162. The first real-time dynamic differential module 161 obtains the first positioning correction information of the test vehicle and uses the first positioning correction information to perform RTK carrier phase differential processing on the vehicle positioning information. The first communication antenna 162 is used to obtain the first point positioning information sent by the marking device and Receive the base station positioning information sent by the fixed base station. Through the above method, the positioning information of the test vehicle can be accurately collected, so as to effectively test the performance of the LCC function.

In one embodiment of the present application, the vehicle control module 10 is specifically used to obtain the relative positioning information of the test vehicle relative to the fixed base station based on the vehicle positioning information and the base station positioning information after calibration, and determine the lateral distance between the test vehicle and the straight lane line based on the relative positioning information and the first point positioning information of multiple lane line points; wherein the first point positioning information is the positioning information of the lane line point relative to the fixed base station determined by the marking device based on the base station positioning information.

Through the above method, combined with GPS antenna and RTK differential precise positioning, the positioning accuracy of the test vehicle can reach about 2cm. The positioning information of the test vehicle relative to the fixed base station is used to determine the relative distance of the test vehicle relative to the lane line point using fixed differential technology (that is, absolute differential technology). Compared with the mobile differential technology (that is, relative differential technology), it has higher accuracy, thereby effectively realizing the performance test of the LCC function.

As shown in FIG3 , the fixed base station 20 is provided with a base station GPS antenna 21 and a base station differential positioning module 22. The base station GPS antenna 21 is used to obtain the base station positioning information of the fixed base station; the base station differential positioning module 22 communicates with the vehicle differential positioning module 16 of the test vehicle to obtain the second positioning correction information of the fixed base station, calibrate the base station positioning information using the second positioning correction information, and send the calibrated base station positioning information to the vehicle differential positioning module 16.

In this embodiment, the base station GPS antenna 21 will search for stars and locate with the satellites in the sky to obtain the base station positioning information of the fixed base station 20. The base station positioning information will be affected by factors such as the environment and distance during the signal transmission process, resulting in low accuracy, with an accuracy of about 40 cm. Therefore, the embodiment of the present application sets a base station differential positioning module 22, which calibrates the base station positioning information obtained by the base station GPS antenna 21 based on the RTK carrier phase differential positioning principle. Compared with using only GPS positioning, it can reduce positioning errors and improve the accuracy of positioning the fixed base station 20.

In one embodiment of the present application, as shown in FIG3 , the base station differential positioning module 22 includes a second real-time dynamic differential module 221 and a second communication antenna 222; the second real-time dynamic differential module 221 obtains the second positioning correction information of the fixed base station, and uses the second positioning correction information to perform RTK carrier phase differential processing on the base station positioning information, and the second communication antenna 222 is a communication antenna in the 2.4 GHz frequency band, which can communicate position data with the vehicle differential positioning module 16 of the test vehicle and the device differential positioning module 32 of the marking device, so as to ensure that an accurate absolute position can be provided for the entire test. Setting information.

Through the above method, combined with the GPS antenna and RTK differential precise positioning, the positioning accuracy of the fixed base station 20 reaches about 2cm, which will provide an accurate absolute position information for the entire test process, thereby effectively testing the performance of the LCC function.

It should be noted that the embodiment of the present application is applied to the performance test of the LCC function in a fixed test field. The fixed base station is used to ensure that the positioning information of the test vehicle and the lane line points obtained has a small delay and a small deviation. Compared with the test method in the actual driving scenario that does not use a fixed base station but uses GPS positioning, it can improve the accuracy of the test.

As shown in Figure 4, the dotting device includes: a dotting rod, a device positioning module, a spirit level, a device control module 30, a device display module 33, a device power supply 34 and a device controller 35. The device positioning module is set at the first end of the dotting rod, and the second end of the dotting rod is used to align with the lane line point. The spirit level is set on the dotting rod, wherein the device positioning module is used to collect the first point positioning information of the lane line point when the spirit level is in a horizontal state. Through the spirit level on the dotting rod, it is ensured that the top device positioning module and the bottom lane line point are at the same vertical height, thereby improving the accuracy of the device positioning module in collecting the first point positioning information of the lane line point.

It should be noted that the distance between adjacent lane line points is greater than a preset distance threshold to avoid affecting the accuracy of the lane line point positioning by the marking device.

Specifically, the device positioning module includes a device GPS antenna 31 and a device differential positioning module 32. The device GPS antenna 31 obtains the second point positioning information of the lane line point, and the device differential positioning module 32 communicates with the vehicle differential positioning module 16 of the test vehicle to obtain the third positioning correction information of the lane line point, and calibrates the second point positioning information using the third positioning correction information; the device control module 30 is connected to the device differential positioning module 32 to obtain the base station positioning information of the fixed base station, obtain the first point positioning information of the lane line point relative to the fixed base station according to the second point positioning information and the base station positioning information after the calibration, and send the first point positioning information to the vehicle differential positioning module 16 through the device differential positioning module 32.

In this embodiment, the device GPS antenna 31 is used to obtain the second point location information of the lane line point. The second point location information may be affected by factors such as the environment and distance during the signal transmission process, resulting in low accuracy. Therefore, the embodiment of the present application sets a device differential positioning module 32, which performs calibration processing on the second point location information obtained by the device GPS antenna 31 based on the RTK carrier phase differential positioning principle. Compared with using GPS positioning alone, it can reduce positioning errors and improve the accuracy of lane line point positioning.

In one embodiment of the present application, as shown in FIG4 , the device differential positioning module 32 includes a third real-time dynamic differential module 321 and a third communication antenna 322; the third real-time dynamic differential module 321 obtains the third positioning correction information of the lane line point, and uses the third positioning correction information to perform RTK carrier phase differential processing on the second point positioning information. The device control module 30 obtains the processed second point positioning information and the base station positioning information of the fixed base station, and obtains the first point positioning information of the lane line point relative to the fixed base station based on the processed second point positioning information and the base station positioning information. The third communication antenna 322 and the first communication antenna of the vehicle differential positioning module 16 of the test vehicle 162 communicates and sends the first point positioning information to the first communication antenna 162.

Through the above method, combined with GPS antenna and RTK differential precise positioning, the positioning accuracy of the lane line point can reach about 2cm. The positioning information of the lane line point relative to the fixed base station is used to determine the relative distance of the test vehicle relative to the lane line point by fixed differential technology (that is, absolute differential technology). Compared with the mobile differential technology (that is, relative differential technology), it has higher accuracy, thereby effectively realizing the performance test of the LCC function.

In one embodiment of the present application, the acquisition module of the test device for the LCC function also includes: a second vehicle positioning antenna 17 (i.e., a GPS antenna), which is used to obtain the slave vehicle positioning information of the test vehicle; and a vehicle control module 10, which is also used to determine the heading angle of the test vehicle based on the vehicle positioning information and the slave vehicle positioning information.

In this embodiment, the second vehicle positioning antenna 17 is used as a slave antenna to obtain the slave vehicle positioning information, and the first vehicle positioning antenna 14 is used as a master antenna to obtain the vehicle positioning information (that is, the master vehicle positioning information). The master antenna and the slave antenna determine the heading angle of the test vehicle together through the principle of two points determining a straight line, so as to test the performance of the LCC function according to the heading angle.

In addition, it should be noted that the second vehicle positioning antenna 17 can also assist the first vehicle positioning antenna 14 in positioning the test vehicle and determining the driving speed of the test vehicle.

In one embodiment of the present application, the vehicle display module 11 of the test vehicle is connected to the vehicle control module 10, and is used to obtain and display at least one of the following: lateral distance, lateral collision time and test results, so that the tester can observe the changes in data signals during the test.

In one embodiment of the present application, the on-board power supply 12 of the test vehicle is connected to the vehicle control module 10 to supply power to the vehicle control module 10 to ensure normal operation of the system.

In one embodiment of the present application, the vehicle controller 13 of the test vehicle can be set to the same communication mode and communication frequency as the fixed base station to ensure that it can communicate with the fixed base station. In addition, when testing, the mode of the test vehicle is set to the test mode, so that the test vehicle performs the LCC function test in the test mode.

It should be noted that the first point positioning information of the lane line point can be received in a non-test mode of the test vehicle, that is, before the test vehicle is switched to a test mode.

In one embodiment of the present application, the device display module 33 of the dotting device is connected to the device control module 30 and is used to obtain and display the first point positioning information, so as to facilitate the tester to observe the change of the data signal during the test.

In one embodiment of the present application, the device power supply 34 of the dotting device is connected to the device control module 30 and is used to supply power to the device control module 30 to ensure normal operation of the system.

In one embodiment of the present application, the device controller 35 of the marking device can set the same communication mode and communication frequency as the fixed base station to ensure that it can communicate with the fixed base station. In addition, when marking, the mode of the marking device is set to the marking mode, so that the marking device can locate the lane line points in the marking mode.

In one embodiment of the present application, a method for testing the LCC function based on a straight road scenario includes:

(1) Complete the construction of the fixed base station at the test site, set the communication mode and frequency under the fixed base station mode, and ensure that an accurate relative coordinate system origin can be provided for the entire test.

(2) Set the straight line dotting mode of the dotting device, and dotting is performed by using the GPS antenna and the horizontal rod (i.e., the dotting rod) in combination. In the entire test field, select the straight lane to be tested, as shown in FIG5 , and perform straight line dotting along the inner side of the straight lane line of the straight lane through the horizontal rod 51 and the GPS antenna 52, and dot a point every 150 meters or so, and do 8 points in succession.

(3) After the point marking is completed, save the point location information.

(4) Set the test vehicle to test mode.

(5) Based on the RTK differential communication between the fixed base station and the test vehicle, the position of the test vehicle in the two-dimensional plane coordinate system is determined, and the lateral distance from the inner side of the straight lane line to the outer side of the left and right front wheels of the test vehicle, the lateral deviation speed, the lateral TTC and other key lateral information are calculated.

(6) Activate the LCC system of the test vehicle and drive along the straight lane just marked. Observe and record the lateral information of the distance between the outer sides of the left and right wheels of the test vehicle and the straight lane line in real time.

(7) Based on the deviation information of the test vehicle from the straight lane line when the LCC function is activated, the performance of the LCC function in the straight road scenario is analyzed.

For example, the straight lane is 3.6 meters wide, the test vehicle is 1.8 meters wide, and the straight lane line is the left lane line of the straight lane. When the left wheel of the test vehicle is 0.9±0.2 meters away from the left lane line and the right wheel is 0.9±0.2 meters away from the right lane line, the test vehicle is considered to be driving in the center of the lane. In actual tests, when the lateral distance between the left wheel of the test vehicle and the left lane line is detected to be 0.5 meters, it indicates that the test vehicle is driving to the left (not centered).

Of course, the straight lane line can also be the right lane line of the straight lane, and whether the test vehicle is driving in the center is determined by detecting the lateral distance between the right wheel of the test vehicle and the right lane line. The straight lane line can also be the left lane line and the right lane line of the straight lane, and whether the test vehicle is driving in the center is determined by detecting the lateral distance between the left wheel of the test vehicle and the left lane line and the lateral distance between the right wheel of the test vehicle and the right lane line.

The embodiment of the present application provides a testing method for the LCC function based on a straight road scenario. By combining the high-precision GPS positioning function and the RTK differential technology, the specific functional performance of the LCC function in the straight road scenario can be accurately tested, which helps to improve and enhance the performance of the LCC function in the straight road scenario, and helps research and development to more accurately combine human driving habits for functional improvement, thereby continuously polishing product quality and improving customer satisfaction.

In one embodiment of the present application, a method for testing an LCC function based on a curve scenario includes:

(2) Set the curve survey mode of the positioning device to conduct curve lane line survey. In the entire test field, select the curve lane line to be tested, as shown in Figure 6, and use the positioning device to survey the curve lane line along the inner side of the curve lane line. The survey is performed from beginning to end along the curve lane line. After the completion, the lane line information is saved. At this time, a virtual curve lane line information will be simulated. At this time, the virtual lane line information and the actual lane line information are completely overlapped.

(3) Import the surveyed curve lane line information into the test vehicle.

(4) Set the test vehicle to test mode.

(5) Based on the RTK differential communication between the positioning base station and the test vehicle, the position of the test vehicle in the two-dimensional plane coordinate system is determined, and key lateral information such as the lateral distance from the inner side of the curve lane line to the outer side of the left and right front wheels of the test vehicle, the lateral deviation speed, and the lateral TTC are calculated.

(6) Activate the LCC system of the test vehicle, drive along the surveyed curve lane line, and observe and record in real time the lateral information of the distance between the outer sides of the left and right front wheels of the test vehicle and the curve lane line.

(7) Analyze the lateral deviation information of the left and right front wheels from the curve lane line when the test vehicle is driving after the LCC function is activated, and obtain the performance of the LCC function in the curve scenario.

The embodiment of the present application also provides an electronic device, as shown in FIG7 , the electronic device 70 includes a processor 71, the processor 71 is coupled to a memory 72, and the memory 72 stores a program or instruction that can be run on the processor 71, and when the program or instruction is executed by the processor 71, each step of the above-mentioned test method embodiment for the lane centering keeping function based on the straight road scenario is implemented, and the same technical effect can be achieved, so it will not be repeated here to avoid repetition. Among them, the memory is optional.

It should be noted that the electronic device 70 in the embodiment of the present application can be a terminal or other devices except the terminal. Exemplarily, the electronic device can be a mobile phone, a tablet computer, a laptop computer, a PDA, a vehicle-mounted electronic device, a mobile Internet device (Mobile Internet Device, MID), a robot, an ultra-mobile personal computer (Ultra-Mobile Personal Computer, UMPC), a netbook or a personal digital assistant (Personal Digital Assistant, PDA), etc. It can also be a server, a network attached storage (Network Attached Storage, NAS), a personal computer (Personal Computer, PC), etc., and the embodiment of the present application does not make specific limitations.

The electronic device 70 in the embodiment of the present application may be a device having an operating system. The operating system may be an Android operating system, an iOS operating system, or other possible operating systems, which are not specifically limited in the embodiment of the present application.

The memory 72 can be used to store software programs and various data. The memory 72 may mainly include a first storage area for storing programs or instructions and a second storage area for storing data, wherein the first storage area may store an operating system, an application program or instructions required for at least one function (such as a sound playback function, an image playback function, etc.), etc. In addition, the memory 72 may include a volatile memory or a non-volatile memory, or the memory 72 may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), a static random access memory (SRAM), a dynamic random access memory (DRAM), a synchronous dynamic random access memory (SDRAM), a double data rate synchronous dynamic random access memory (DDRSDRAM), an enhanced synchronous dynamic random access memory (ESDRAM), a synchronous link dynamic random access memory (SLDRAM) and a direct memory bus random access memory (DRRAM). The memory 72 in the embodiment of the present application includes but is not limited to these and any other suitable types of memory.

The processor 71 may include one or more processing units; optionally, the processor 71 integrates an application processor and a modem processor, wherein the application processor mainly processes operations related to the operating system, user interface, and application programs, and the modem processor mainly processes wireless communication signals, such as a baseband processor. It is understandable that the modem processor may not be integrated into the processor 71.

An embodiment of the present application also provides a computer-readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, each process of the above-mentioned test method embodiment for the lane centering keeping function based on the straight road scenario is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

An embodiment of the present application also provides a chip, which includes a processor and a communication interface, the communication interface and the processor are coupled, and the processor is used to run programs or instructions to implement the various processes of the above-mentioned test method embodiment for the lane centering keeping function based on the straight road scenario, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

It should be understood that the chip mentioned in the embodiments of the present application can also be called a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

An embodiment of the present application also provides a computer program product, which is stored in a storage medium. The program product is executed by at least one processor to implement the various processes of the above-mentioned embodiment of the test method for the lane centering keeping function based on the straight road scenario, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

An embodiment of the present application also provides a vehicle, which includes a processor, which is coupled to a memory, and the memory stores programs or instructions that can be run on the processor. When the programs or instructions are executed by the processor, the various processes of the embodiment of the test method for the lane centering keeping function based on the straight road scenario as described above are implemented, and the same technical effect can be achieved. To avoid repetition, they will not be repeated here.

It should be noted that, in this article, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises one..." does not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be noted that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

Claims

A method for testing a lane centering function based on a straight road scenario, comprising:

Acquire first point location information of a plurality of lane line points collected by a marking device, wherein the plurality of lane line points are arranged along a straight lane line;

When the test vehicle is driving along the straight lane, the vehicle positioning information, speed information and vehicle controller local area network signal related to the lane centering function of the test vehicle are collected, and the base station positioning information of the fixed base station is received;

Calculating the lateral distance between the test vehicle and the straight lane line according to the first point positioning information of the plurality of lane line points, the vehicle positioning information and the base station positioning information;

The lane centering keeping function is tested based on the lateral distance, the speed information and the vehicle controller local area network signal.
The method according to claim 1, characterized in that the dotting equipment is provided with an equipment positioning module and a level;

The first point positioning information of the lane line point is obtained by the equipment positioning module when the level meter is in a horizontal state.
The method according to claim 1, characterized in that the testing of the lane centering function according to the lateral distance, the speed information and the vehicle controller local area network signal comprises:

Calculating a lateral collision time of the test vehicle with the straight lane line according to the lateral distance and the speed information;

The lane centering keeping function is tested according to the lateral collision time and the vehicle controller area network signal.
The method according to any one of claims 1 to 3, characterized in that the step of calculating the lateral distance between the test vehicle and the straight lane line according to the first point positioning information of the plurality of lane line points, the vehicle positioning information and the base station positioning information comprises:

Determine the position information of the wheel of the test vehicle according to the vehicle positioning information, the base station positioning information, and the installation distance between the wheel of the test vehicle and the first vehicle positioning antenna of the test vehicle;

Determine the lateral distance of the wheel of the test vehicle relative to the straight lane line according to the first point positioning information of the plurality of lane line points and the position information of the wheel of the test vehicle;

Wherein, the first vehicle positioning antenna is used to collect the vehicle positioning information, and the wheels of the test vehicle include left wheels and/or right wheels.
A test device for a lane centering keeping function based on a straight road scenario, characterized by comprising an acquisition module and a vehicle control module arranged on a test vehicle;

The acquisition module is used to acquire the first of the multiple lane line points collected by the marking device. a point positioning information, and in the process of the test vehicle driving along the straight lane line, obtaining the vehicle positioning information, speed information and the vehicle controller local area network signal related to the lane centering function of the test vehicle, and receiving the base station positioning information of the fixed base station, wherein a plurality of the lane line points are arranged along the straight lane line;

The vehicle control module is used to calculate the lateral distance between the test vehicle and the straight lane line based on the first point positioning information of the multiple lane line points, the vehicle positioning information and the base station positioning information, and to test the lane centering keeping function based on the lateral distance, the speed information and the vehicle controller local area network signal.
The device according to claim 5, characterized in that the dotting device is provided with a device positioning module and a level;

The first point positioning information of the lane line point is obtained by the equipment positioning module when the level meter is in a horizontal state.
The device according to claim 5, characterized in that

The vehicle control module is specifically used to calculate the lateral collision time of the test vehicle with the straight lane line according to the lateral distance and the speed information, and to test the lane centering function according to the lateral collision time and the vehicle controller local area network signal.
The device according to any one of claims 5 to 7, characterized in that the acquisition module comprises:

A first vehicle positioning antenna, used to obtain the vehicle positioning information and the speed information;

The controller area network signal acquisition module is used to obtain the vehicle controller area network signal.
The device according to claim 8, characterized in that

The vehicle control module is specifically used to determine the position information of the wheels of the test vehicle according to the vehicle positioning information, the base station positioning information, and the installation distance between the wheels of the test vehicle and the first vehicle positioning antenna, and to determine the lateral distance of the wheels of the test vehicle relative to the straight lane line according to the first point positioning information of the plurality of lane line points and the position information of the wheels;

Wherein, the wheels of the test vehicle include left wheels and/or right wheels.
A test system for a lane centering keeping function based on a straight road scenario, characterized in that it comprises: a test device for a lane centering keeping function based on a straight road scenario, a marking device, and a fixed base station according to any one of claims 5 to 9;

The marking device is used to collect first point positioning information of multiple lane line points on the straight lane line in the test field.
The system according to claim 10 is characterized in that the dotting device comprises a dotting rod, a device positioning module and a level meter, the device positioning module is arranged at the first end of the dotting rod, the second end of the dotting rod is used to align the lane line point, and the level meter is arranged on the dotting rod;

Wherein, the device positioning module is used to take Collect the first point positioning information of the lane line point.
An electronic device, characterized in that it includes a processor, the processor is coupled to a memory, the memory stores a program or instruction running on the processor, and when the program or instruction is executed by the processor, the steps of the test method for a lane centering keeping function based on a straight road scenario as described in any one of claims 1 to 4 are implemented.
A computer-readable storage medium having a program or instruction stored thereon, characterized in that when the program or instruction is executed by a processor, the steps of the method for testing a lane centering keeping function based on a straight road scenario as described in any one of claims 1 to 4 are implemented.