CN109118760A - Automatic driving vehicle traffic sign vision-based detection and response integrated test system and method - Google Patents
Automatic driving vehicle traffic sign vision-based detection and response integrated test system and method Download PDFInfo
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- CN109118760A CN109118760A CN201810935190.4A CN201810935190A CN109118760A CN 109118760 A CN109118760 A CN 109118760A CN 201810935190 A CN201810935190 A CN 201810935190A CN 109118760 A CN109118760 A CN 109118760A
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- Prior art keywords
- traffic sign
- unmanned vehicle
- detection
- vehicle
- response
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Classifications
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0116—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from roadside infrastructure, e.g. beacons
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096833—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Mathematical Physics (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a kind of automatic driving vehicle traffic sign vision-based detection and response integrated test systems and method, record unmanned vehicle traveling historical record to be tested, carry out the identification of kinematic parameter；Unmanned vehicle is recorded to the testing result of traffic sign, records position and traffic sign distance after detection；Acquire unmanned vehicle current running state；According to unmanned vehicle is determined to position, traffic sign distance and the current running state after road traffic sign detection the response time；Unmanned vehicle is compared to the Detection accuracy of traffic sign and calculates response time and response given threshold, the relationship of calculating reacting time and setting security reaction time determines whether road traffic sign detection passes through.The present invention effectively determines response time for indicating corresponding traffic sign the Detection accuracy and unmanned vehicle of traffic sign of unmanned vehicle, can road traffic sign detection to unmanned vehicle and responding ability tested and evaluated comprehensively.
Description
Technical field
The present invention relates to a kind of automatic driving vehicle traffic sign vision-based detection and response integrated test systems and method.
Background technique
Automatic driving vehicle needs to detect automatically by vision system each on travel during advancing on road
Kind traffic sign treats traveling scene and automatically determines Driving Decision-making by combining road information and displacement information.Existing
In technology, when testing the road traffic sign detection function of automatic driving vehicle, the standard of road traffic sign detection is usually only focused on
True property does not consider the test for being directed to the traffic sign indication information response time.
Summary of the invention
The present invention to solve the above-mentioned problems, proposes a kind of automatic driving vehicle traffic sign vision-based detection and response is comprehensive
The correlation between unmanned vehicle and test macro can be greatly reduced, be transported by unmanned vehicle by closing test macro and method, the present invention
Dynamic parameter identification and road traffic sign detection result feedback, can effectively determine unmanned vehicle to the Detection accuracy of traffic sign and
The response time that unmanned vehicle indicates corresponding traffic sign, can road traffic sign detection to unmanned vehicle and responding ability carry out it is complete
Face test and evaluation.
To achieve the goals above, the present invention adopts the following technical scheme:
A kind of automatic driving vehicle traffic sign vision-based detection and response integrated test facility, comprising the following steps:
Unmanned vehicle traveling historical record to be tested is recorded, the identification of kinematic parameter is carried out；
Unmanned vehicle is recorded to the testing result of traffic sign, records position and traffic sign distance after detection；
Acquire unmanned vehicle current running state；
When determining response to position, traffic sign distance and the current running state after road traffic sign detection according to unmanned vehicle
Between；
Unmanned vehicle is compared to the Detection accuracy of traffic sign and calculates response time and response given threshold, calculates reaction
The relationship of time and setting security reaction time, determine whether road traffic sign detection passes through.
Further, acquisition pilotless automobile multiple groups under different test road conditions, temperature, humidity advance, turn to, slow down
The identification of kinematic parameter is carried out to automatic driving vehicle according to historical data with the history data of acceleration, test result is used
The response time that unmanned vehicle indicates traffic sign is calculated in test phase.
Further, unmanned vehicle is during traveling, by vision-based detection traffic sign, and will test result and carries out instead
Feedback detects unmanned vehicle present speed, road lateral position and headstock towards parameter.
Further, according to road type, path temperature, road moisture, unmanned vehicle kinematic parameter and traffic sign type,
Calculate the response time that unmanned vehicle indicates traffic sign, Detection accuracy and calculating by comparing unmanned vehicle to traffic sign
Response time and response given threshold, determination test whether to pass through.
A kind of automatic driving vehicle traffic sign vision-based detection and response integrated test system, comprising:
Vehicle-mounted detection data collector unit is configured as acquisition pilotless automobile in different test road conditions, temperature, humidity
Lower multiple groups advance, turn to, slowing down and accelerating history data, while detecting traffic sign；
Logic unit is configured as issuing detection instruction to vehicle-mounted detection data collector unit and road detection unit；
Traffic information collector unit is configured as detection unmanned vehicle present speed, road lateral position and headstock towards ginseng
Number；
Data record unit is configured as recording all kinds of detection datas；
Computing unit is configured as according to road type, path temperature, road moisture, unmanned vehicle kinematic parameter, traffic mark
Will type calculates the response time that unmanned vehicle indicates traffic sign；
Test cell is configured as comparing unmanned vehicle to the Detection accuracy of traffic sign and calculates response time and response
Given threshold, determination test whether to pass through, and obtain test result.
Further, the vehicle-mounted detection data collector unit collects the fortune of unmanned vehicle unmanned vehicle under the conditions of different scenes
Row data.
Further, the computing unit is according to unmanned vehicle kinematic parameter identification result, current unmanned vehicle operating parameter, road
Road temperature, humidity and traffic sign calculate unmanned vehicle to the response time expense of traffic sign.
By taking speed(-)limit sign as an example, which mainly calculates unmanned vehicle from detecting speed limit of the speed(-)limit sign to reduction of speed
Value or time below.
Compared with prior art, the invention has the benefit that
It is in contrast to the prior art, the present invention provides a kind of automatic driving vehicle traffic sign vision-based detection and response
Test macro and method, which can greatly reduce the correlation between unmanned vehicle and test macro, by nobody
The identification of vehicle kinematic parameter and road traffic sign detection result feedback, can effectively determine unmanned vehicle to the Detection accuracy of traffic sign
And the response time that unmanned vehicle indicates corresponding traffic sign, can road traffic sign detection to unmanned vehicle and responding ability into
Row test and evaluation comprehensively.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide further understanding of the present application, and the application's shows
Meaning property embodiment and its explanation are not constituted an undue limitation on the present application for explaining the application.
Fig. 1 is test macro schematic diagram of the invention；
Fig. 2 is test method flow chart of the invention.
Specific embodiment:
The invention will be further described with embodiment with reference to the accompanying drawing.
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the application.Unless another
It indicates, all technical and scientific terms used herein has usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
In the present invention, term for example "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", " side ",
The orientation or positional relationship of the instructions such as "bottom" is to be based on the orientation or positional relationship shown in the drawings, only to facilitate describing this hair
Bright each component or component structure relationship and the relative of determination, not refer in particular to either component or element in the present invention, cannot understand
For limitation of the present invention.
In the present invention, term such as " affixed ", " connected ", " connection " be shall be understood in a broad sense, and indicate may be a fixed connection,
It is also possible to be integrally connected or is detachably connected；It can be directly connected, it can also be indirectly connected through an intermediary.For
The related scientific research of this field or technical staff can determine the concrete meaning of above-mentioned term in the present invention as the case may be,
It is not considered as limiting the invention.
As shown in Figure 1, a kind of automatic driving vehicle traffic sign vision-based detection and response test system and method, are surveyed comprehensively
Automatic driving vehicle is tried to road traffic sign detection and corresponding response time.The test macro and method include:
Test macro is by unmanned vehicle history data collector unit, unmanned vehicle kinematic parameter identification unit, test site
And test traffic sign, road measuring unit, vehicle-mounted detection data collector unit, traffic information collector unit, data record
Unit, computing unit, test cell are constituted.Unmanned vehicle history data collector unit is for collecting unmanned vehicle in different scenes
Under the conditions of unmanned vehicle operation data.Unmanned vehicle kinematic parameter identification unit is for the identification to the unmanned vehicle kinematic parameter.
Road measuring unit is for detecting unmanned vehicle present speed, road lateral position, headstock direction.The vehicle-mounted detection data of unmanned vehicle is received
Collection unit is for collecting unmanned vehicle vision system to the testing result of current road signs.Computing unit is moved according to unmanned vehicle joins
Number identification result, current unmanned vehicle operating parameter, path temperature, humidity, traffic sign calculate unmanned vehicle to the sound of traffic sign
Answer time overhead.Test cell is then according to unmanned vehicle to the testing result of traffic sign, response time being calculated and corresponding
Given threshold, determination test whether to pass through.
Test method is two pacing method for testing, preparation stage and test phase before respectively testing.
Test before prepare: before test, acquire pilotless automobile under different test road conditions, temperature, humidity multiple groups traveling,
The history datas such as steering, deceleration, acceleration.Later, unmanned vehicle kinematic parameter identification unit drives nobody according to historical data
The identification that vehicle carries out kinematic parameter is sailed, when test result calculates the response that unmanned vehicle indicates traffic sign for test phase
Between.
Test phase, unmanned vehicle is during traveling, by vision-based detection traffic sign, and will test result by vehicle-mounted
Detection data collector unit feeds back to data record unit.After data record unit receives detection information, logic unit sends inspection
Survey is indicated to road detection unit.Road detection unit detects unmanned vehicle present speed, road lateral position, headstock direction ginseng
Number, and will test data feedback to data record unit.Computing unit according to road type, path temperature, road moisture, nobody
Vehicle kinematic parameter, traffic sign type calculate the response time that unmanned vehicle indicates traffic sign.Test cell is by comparing nothing
People's vehicle tests whether to pass through to the Detection accuracy of traffic sign and calculating response time and response given threshold, determination.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Above-mentioned, although the foregoing specific embodiments of the present invention is described with reference to the accompanying drawings, not protects model to the present invention
The limitation enclosed, those skilled in the art should understand that, based on the technical solutions of the present invention, those skilled in the art are not
Need to make the creative labor the various modifications or changes that can be made still within protection scope of the present invention.
Claims (7)
1. a kind of automatic driving vehicle traffic sign vision-based detection and response integrated test facility, it is characterized in that: including following step
It is rapid:
Unmanned vehicle traveling historical record to be tested is recorded, the identification of kinematic parameter is carried out；
Unmanned vehicle is recorded to the testing result of traffic sign, records position and traffic sign distance after detection；
Acquire unmanned vehicle current running state；
According to unmanned vehicle is determined to position, traffic sign distance and the current running state after road traffic sign detection the response time；
Unmanned vehicle is compared to the Detection accuracy of traffic sign and calculates response time and response given threshold, calculating reacting time
With the relationship of setting security reaction time, determine whether road traffic sign detection passes through.
2. a kind of automatic driving vehicle traffic sign vision-based detection as described in claim 1 and response integrated test facility,
Be characterized in: advance, turn to, slowing down under different test road conditions, temperature, humidity and what is accelerated goes through by multiple groups for acquisition pilotless automobile
History operation data carries out the identification of kinematic parameter to automatic driving vehicle according to historical data, and test result is used for test phase
Calculate the response time that unmanned vehicle indicates traffic sign.
3. a kind of automatic driving vehicle traffic sign vision-based detection as described in claim 1 and response integrated test facility,
Be characterized in: unmanned vehicle is during traveling, by vision-based detection traffic sign, and will test result and is fed back, detects nobody
Vehicle present speed, road lateral position and headstock are towards parameter.
4. a kind of automatic driving vehicle traffic sign vision-based detection as described in claim 1 and response integrated test facility,
It is characterized in: according to road type, path temperature, road moisture, unmanned vehicle kinematic parameter and traffic sign type, calculates unmanned vehicle
To traffic sign instruction response time, by comparing unmanned vehicle to the Detection accuracy of traffic sign and calculate the response time and
Given threshold is responded, determination tests whether to pass through.
5. a kind of automatic driving vehicle traffic sign vision-based detection and response integrated test system, it is characterized in that: including:
It is more under different test road conditions, temperature, humidity to be configured as acquisition pilotless automobile for vehicle-mounted detection data collector unit
Group advances, turns to, slowing down and accelerating history data, while detecting traffic sign；
Logic unit is configured as issuing detection instruction to vehicle-mounted detection data collector unit and road detection unit；
Traffic information collector unit is configured as detection unmanned vehicle present speed, road lateral position and headstock towards parameter；
Data record unit is configured as recording all kinds of detection datas；
Computing unit is configured as according to road type, path temperature, road moisture, unmanned vehicle kinematic parameter, traffic sign class
Type calculates the response time that unmanned vehicle indicates traffic sign；
Test cell is configured as comparing unmanned vehicle to the Detection accuracy of traffic sign and calculates response time and response setting
Threshold value, determination test whether to pass through, and obtain test result.
6. a kind of automatic driving vehicle traffic sign vision-based detection as claimed in claim 5 and response integrated test system,
Be characterized in: the vehicle-mounted detection data collector unit collects the operation data of unmanned vehicle unmanned vehicle under the conditions of different scenes.
7. a kind of automatic driving vehicle traffic sign vision-based detection as claimed in claim 5 and response integrated test system,
Be characterized in: the computing unit is according to unmanned vehicle kinematic parameter identification result, current unmanned vehicle operating parameter, path temperature, wet
Degree and traffic sign calculate unmanned vehicle to the response time of traffic sign.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810935190.4A CN109118760B (en) | 2018-08-16 | 2018-08-16 | Comprehensive test system and method for unmanned vehicle traffic sign visual detection and response |
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| CN201810935190.4A CN109118760B (en) | 2018-08-16 | 2018-08-16 | Comprehensive test system and method for unmanned vehicle traffic sign visual detection and response |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115097827A (en) * | 2022-06-21 | 2022-09-23 | 智能网联汽车(山东)协同创新研究院有限公司 | Road learning method for unmanned automobile |
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