CN110006665A - A kind of indoor lane departure warning test method using virtual lane line - Google Patents
A kind of indoor lane departure warning test method using virtual lane line Download PDFInfo
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- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
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Abstract
The invention proposes a kind of indoor lane departure warning test methods using virtual lane line, include the following steps: S1, construct virtual lane line acquisition unit, power supply side connection control host power supply end and scene display module power end, scene display module forms ground display unit and metope display unit, it controls host rack job control end and connects rack signal end, measuring wheel speed device and steering angle collector is arranged in rack, measuring wheel speed device is for acquiring intelligent automobile tire rotational speed, and steering angle collector is for acquiring intelligent automobile tire steering angle；S2 synchronizes the wheel speed data and angle data of virtual lane line data and intelligent automobile that the optical capturing equipment of intelligent automobile is collected；S3 controls the wheel speed data and angle data of intelligent automobile, carries out lane line acquisition operation by virtual lane line acquisition unit, then carries out alarm operation in case of lane line deviation.
Description
Technical field
The present invention relates to field of image recognition more particularly to a kind of indoor lane departure warning surveys using virtual lane line
Method for testing.
Background technique
In intelligent automobile detection field, the method for testing deviation at present for intelligent automobile is that real vehicle is surveyed on the spot
Examination or pure virtual simulation test.Real vehicle field test is limited to place size and weather reason, is many times unsatisfactory for field
Ground test condition, pure Virtual Simulation can't complete simulating vehicle situations itself；The prior art can't use true intelligence
Energy automobile combines virtual lane image mode to carry out deviation test, this just needs those skilled in the art and solves corresponding skill
Art problem.
Summary of the invention
The present invention is directed at least solve the technical problems existing in the prior art, especially innovatively propose a kind of using empty
The indoor lane departure warning test method of quasi- lane line.
In order to realize above-mentioned purpose of the invention, the present invention provides a kind of indoor deviations using virtual lane line
Early warning test method, includes the following steps:
S1 constructs virtual lane line acquisition unit, power supply side connection control host power supply end and scene display module
Power end, controls the equipment control software signal output end connection scene display module signal input part of host, and scene shows mould
Block forms ground display unit and metope display unit, and control host rack job control end connects rack signal end, and rack is set
Measuring wheel speed device and steering angle collector are set, measuring wheel speed device is for acquiring intelligent automobile tire rotational speed, steering angle acquisition
Device is for acquiring intelligent automobile tire steering angle；
S2, the wheel speed data of virtual lane line data and intelligent automobile that the optical capturing equipment of intelligent automobile is collected and
Angle data synchronizes；
S3 controls the wheel speed data and angle data of intelligent automobile, carries out lane line by virtual lane line acquisition unit
Acquisition operation then carries out alarm operation in case of lane line deviation.
Preferably, the S1 includes the following steps:
S1-1 installs intelligent automobile in testboard bay, and intelligent automobile tire is placed on the test wheel hub of rack, in platform
The test wheel hub installation tire rotational speed sensor and tire deflection angular transducer of frame；
S1-2 installs optical collector in intelligent automobile chassis front end, middle-end and rear end, in optical collector Image Acquisition
Ground display unit is arranged in region, which is liquid crystal display, or in optical collector image acquisition region
Ground display unit and metope display unit are set, lane line is generated by the liquid crystal display of ground display unit, it is aobvious in metope
Show that unit generates 3D rendering, which is imaged as ground rubble or wall barrier；
S1-3, when optical collector carries out in image acquisition process, according to the virtual lane line face of liquid crystal display imaging
Color or actual situation state carry out Image Acquisition typing, form virtual lane line database.
Preferably, the S2 includes the following steps:
S2-1 carries out the intelligent automobile functional test stage, adjusts intelligent automobile tire rotational speed, obtains in optical capturing equipment
The virtual lane line data of ground display unit are taken, the virtual lane line data are synchronous with tire rotational speed progress data, will be virtual
The pseudo-velocity that lane line is shown is consistent with tire rotational speed；
S2-2, by controlling host for the virtual lane line deviation angle of ground display unit and intelligent automobile tire deflection
Angle synchronizes, and when the tire steering angle sensor of rack acquires intelligent automobile deviation angle, obtains the sensor and obtains
Take corresponding intelligent automobile deviation angle data and actual steering angle whether consistent, synchronism detection finishes if consistent,
The step of virtual lane line deviation angle is synchronized with intelligent automobile tire deflection angle is continued to execute if inconsistent, directly
Until adjusting unanimously；
S2-3 generates 3D rendering by metope display unit, and intelligent automobile optical collector obtains the 3D rendering data, by
Intelligent automobile optical collector judges whether 3D rendering is barrier, if optical collector collects barrier and 3D rendering
Also barrier is really generated, then data verification success, if optical collector collects barrier but 3D rendering is not given birth to really
At barrier, then data verification failure, if optical collector does not collect barrier but 3D rendering really generates obstacle
Object, then data verification failure.
Preferably, the S3 includes the following steps:
S3-1 carries out virtual lane line deviation warning test, and intelligent automobile starting, measuring wheel speed device and corner collector are adopted
Collection test vehicle operation wheel speed and steering angle, and it is transferred to control host
S3-2 controls host analysis wheel speed and steering angle, obtains what virtual lane line should adjust by analytical calculation
Angle deviates speed；
S3-3, control host adjust virtual lane line according to above-mentioned angle and show picture, the virtual lane of ground display unit
Line triggers driveway deviation alarming system, and optical collector gets deviation angle and deviates image, is transferred to control host, controls
Host carries out alarm operation；
S3-4, apart from lane line when control host record test vehicle deviates speed, travel speed, time of fire alarming, alarm
Range data, and data are saved, for as the reference data for executing new early warning test.
Preferably, the S3-2 offset deterministic process includes:
Determine whether the intelligent vehicle is deviateing from the runway；Determine intelligent vehicle whether from virtual vehicle
Diatom deviates；If it is determined that the intelligent vehicle just deviates from virtual lane line, then alarm signal is generated, wherein determining the void
Whether quasi- lane line, which has been detected, is blocked or close to state；It alarms if being blocked, if be shown as close to state
It does not alarm then；
If it is determined that the virtual lane line, which has been detected, is narrower than the lane width, and use the left-lane line
And the end point that mutually intersects of the right-lane line determines the pitch angle between virtual road surface and optical collector, is bowed using described
The elevation angle calculate spacing distance, and by the virtual lane width be set as by by the spacing distance multiplied by with the lane
The corresponding intersection value of width determines whether to alarm.
Preferably, further includes:
S-A, intelligent automobile tire rotational speed reduce, if the virtual lane line of optical collector acquisition is white dashed line, and
And the virtual lane line of white dashed line is gradually approached, alarm operation is not triggered, final tire rotational speed is halted state；If optics is adopted
It is yellow shielding wire that storage, which acquires virtual lane line, and no matter whether final tire rotational speed is halted state all by triggering alarm behaviour
Make, control host prompt user starts intelligent automobile as early as possible；If it is Lane Narrows line that optical collector, which acquires virtual lane line,
By triggering alarm operation；
S-B, intelligent automobile tire rotational speed increase, if it is white shielding wire, Huang that optical collector, which acquires virtual lane line,
When color shielding wire, double real double amber lines, and white shielding wire, yellow shielding wire, the virtual lane line of double real double amber lines are gradually approached,
Triggering alarm operation, no matter whether final tire rotational speed is acceleration or deceleration regime all by triggering alarm operation.
In conclusion by adopting the above-described technical solution, the beneficial effects of the present invention are:
The present invention uses real vehicle, is tested indoors using virtual lane line, and place size, weather reason limit can be broken through
System, while being using real vehicle, high reliablity.And analytical sampling is carried out to video；Actual place weather is efficiently solved to vehicle
Road deviates the limitation of early warning test, and data acquisition difficulty is more known, and scene is tested needed for can adjusting at any time, and test occupies place
It is small, empirical risk is effectively reduced, improves the testing efficiency to deviation.
Additional aspect and advantage of the invention will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect of the invention and advantage will become from the description of the embodiment in conjunction with the following figures
Obviously and it is readily appreciated that, in which:
Fig. 1 is circuit diagram of the present invention；
Fig. 2 is test scene schematic diagram of the present invention；
Fig. 3 is workflow schematic diagram of the present invention.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and for explaining only the invention, and is not considered as limiting the invention.
As illustrated in fig. 1 and 2, the present invention is by power supply, virtual emulation part, data acquisition hop, test vehicle sections
Composition；Power supply is common 220V AC power source；
Virtual emulation part includes scene display module, display screen, control host, equipment control software, and display module is
With display function ground and metope, main function is that virtual running environment is presented, and control host can be shown in laboratory
Plane is connected, to the display that parameter is arranged, collects storage test data, control virtual environment；
It includes alarm sound optical collector, test vehicle measuring wheel speed device, test vehicle turn that data, which acquire hop,
To angle acquisition device, data line, alarm sound optical collector can collect test vehicle alarm sound or icon
Time of origin, above-mentioned data acquisition device are connected by data cable with above-mentioned control host；
The rack that vehicle sections include test vehicle with deviation system, support test vehicle is tested, on rack
With above-mentioned test vehicle measuring wheel speed device, test vehicle steering angle collector；
The early warning test macro includes: that power supply side connection controls host power supply end and scene display module power end,
The equipment control software signal output end for controlling host connects scene display module signal input part, and scene display module forms ground
Face display unit and metope display unit, the ground display unit are used to show white shielding wire, the Huang in virtual lane line
Color shielding wire, double real double amber lines, dotted line, Dan Shidan void double amber lines, Lane Narrows line, the connection of control host rack job control end
Measuring wheel speed device and steering angle collector is arranged in rack signal end, rack, and measuring wheel speed device is for acquiring intelligent automobile tire
Revolving speed, steering angle collector are used to acquire intelligent automobile tire steering angle,
It is fixed as shown in figure 3, test vehicle is placed on rack, while testing vehicle can normally make tyre revolution on rack
Dynamic, test vehicle can be controlled by testing crew or drive robot, and vehicle parameter length, width and height will be tested in related software
The parameter settings such as wheelbase are good, and are needed to select to be arranged required lane line type, on-test, display module according to test
It shows virtual scene, tests vehicle startup, testing crew adjustment test vehicle hand-wheel angle controls host according to collected
Wheel speed and steering angle adjust lane line, and it is consistent with practical deviation to be allowed to effect, trigger that test vehicle deviation pre-
Alert, alarm sound optical pickup collects alarm condition and is transferred to control host process preservation, due to using virtual lane
Line, vehicle obtain when triggering deviation apart from lane line position automatically；
Preferred alternative hereto of the invention are as follows:
It virtual emulation part of the present invention can also be using 3D shadow casting technique as substitution.In alternative solution, thrown using 3D
Shadow technology realizes the realization of virtual lane line.
Embodiment 1: the embodiment of the present invention is to provide a kind of lane departure warning test method, and the method includes electricity
Source, control host, display screen, equipment control software, alarm sound optical collector, measuring wheel speed device, turns scene display module
To angle acquisition device, rack, test vehicle；The power supply is 220V AC power source, has display function in the laboratory
Ground and metope are connected with control host, to show that virtual lane line, the equipment control software are mounted on control host
On, the display screen is connected with control host, and to show software interface, the alarm sound optical collector is installed on test
In vehicle, to acquire sound and optical signalling when the triggering of deviation system；The measuring wheel speed device and steering angle acquire
Device and rack are integrated, to wheel speed and steering angle of the collecting test vehicle when running on rack, control host according to wheel speed
It is located at laboratory relative to the position of test vehicle and angle, the rack with the adjustable virtual lane line of steering angle data
Ground, support test vehicle；
In the present embodiment, test vehicle fixes good position, measuring wheel speed device and steering angle on rack by rack
Collector is installed on driving wheel and deflecting roller, is connected with control host；Alarm sound optical collector is mounted on test vehicle,
It is connected with control host；This experimental test automobile body dimensional parameters is set on equipment control software, selects this test
Required lane line type,
Further, lane line display mode is to simulate real road scene, and simulated roadway line number is according to from real road
Section acquisition；Testing vehicle can be controlled by tester or drive robot.
On-test, test vehicle lane departure warning are opened, and vehicle brings into operation, and data acquiring and recording, which synchronizes, to be started,
According to operating condition, test running velocity is made to reach test requirements document, steering wheel rotation angle controls host according to collected wheel
Speed and steering angle adjust virtual lane line scene, triggering alarm, and off-test controls test data under host record, completes
Test.
For detecting that one of virtual lane line determines whether the vehicle is deviateing from the runway based on described in.
Determine whether vehicle is deviateing from virtual lane line；If it is determined that the vehicle just deviates from virtual lane line, then report is generated
Alert signal, wherein determining whether the lane line has been detected including being arranged if it is determined that the lane line has been detected
The lane width, and virtual road is determined using the end point that the left divided lane line and the right divided lane line mutually intersect
Pitch angle between face and acquisition camera calculates pixel distance using the pitch angle, and the lane width is arranged
For the value obtained and by the pixel distance multiplied by pixel number corresponding with the lane width.
Embodiment 2: the present embodiment provides another implementation methods of this programme, are with the main distinction of embodiment 1
The implementation of virtual lane line；In the present embodiment, the presentation of virtual lane line is realized using 3D shadow casting technique, the first step will
The roadway scene of Pass Test condition projects to display area, carries out equal proportion and restores to present, second step is according to by being arranged not
Same parameter, loads different addition Items, constructs more complicated test scene, such as brightness, scene visibility, sleet situation
Deng；Particularly, the roadway scene data source in the present embodiment is in the lane line scene of practical road surface acquisition typing.
The present invention implement the step of include:
S1 constructs virtual lane line acquisition unit, power supply side connection control host power supply end and scene display module
Power end, controls the equipment control software signal output end connection scene display module signal input part of host, and scene shows mould
Block forms ground display unit and metope display unit, and control host rack job control end connects rack signal end, and rack is set
Measuring wheel speed device and steering angle collector are set, measuring wheel speed device is for acquiring intelligent automobile tire rotational speed, steering angle acquisition
Device is for acquiring intelligent automobile tire steering angle；
S2, the wheel speed data of virtual lane line data and intelligent automobile that the optical capturing equipment of intelligent automobile is collected and
Angle data synchronizes；
S3 controls the wheel speed data and angle data of intelligent automobile, carries out lane line by virtual lane line acquisition unit
Acquisition operation then carries out alarm operation in case of lane line deviation.
Preferably, the S1 includes:
S1-1 installs intelligent automobile in testboard bay, and intelligent automobile tire is placed on the test wheel hub of rack, in platform
The test wheel hub installation tire rotational speed sensor and tire deflection angular transducer of frame；
S1-2 installs optical collector in intelligent automobile chassis front end, middle-end and rear end, in optical collector Image Acquisition
Ground display unit is arranged in region, which is liquid crystal display, or in optical collector image acquisition region
Ground display unit and metope display unit are set, lane line is generated by the liquid crystal display of ground display unit, it is aobvious in metope
Show that unit generates 3D rendering, which is imaged as ground rubble or wall barrier；
S1-3, when optical collector carries out in image acquisition process, according to the virtual lane line face of liquid crystal display imaging
Color or actual situation state carry out Image Acquisition typing, form virtual lane line database.
Preferably, the S2 includes:
S2-1 carries out the intelligent automobile functional test stage, adjusts intelligent automobile tire rotational speed, obtains in optical capturing equipment
The virtual lane line data of ground display unit are taken, the virtual lane line data are synchronous with tire rotational speed progress data, will be virtual
The pseudo-velocity that lane line is shown is consistent with tire rotational speed；
S2-2, by controlling host for the virtual lane line deviation angle of ground display unit and intelligent automobile tire deflection
Angle synchronizes, and when the tire steering angle sensor of rack acquires intelligent automobile deviation angle, obtains the sensor and obtains
Take corresponding intelligent automobile deviation angle data and actual steering angle whether consistent, synchronism detection finishes if consistent,
The step of virtual lane line deviation angle is synchronized with intelligent automobile tire deflection angle is continued to execute if inconsistent, directly
Until adjusting unanimously；
S2-3 generates 3D rendering by metope display unit, and intelligent automobile optical collector obtains the 3D rendering data, by
Intelligent automobile optical collector judges whether 3D rendering is barrier, if optical collector collects barrier and 3D rendering
Also barrier is really generated, then data verification success, if optical collector collects barrier but 3D rendering is not given birth to really
At barrier, then data verification failure, if optical collector does not collect barrier but 3D rendering really generates obstacle
Object, then data verification failure.
S2-4, by ground display unit and metope display unit coordinated, while generate terrestrial virtual lane line and
Barrier around lane line, virtual lane line are provided at pre-determined intervals section and change lane line displaying content, and successively variation is white
Color shielding wire, yellow shielding wire, double real double amber lines, dotted line, Dan Shidan void double amber lines, Lane Narrows line, it is virtual alternately changing
During lane line, metope display unit successively changes virtual lane line side roadbed stone, wall, gravel；In change procedure
In virtual lane line always show, barrier interruption display.
Preferably, the S3 includes:
S3-1 carries out virtual lane line deviation warning test, and intelligent automobile starting, measuring wheel speed device and corner collector are adopted
Collection test vehicle operation wheel speed and steering angle, and it is transferred to control host；
S3-2 controls host analysis wheel speed and steering angle, obtains what virtual lane line should adjust by analytical calculation
Angle deviates speed；
S3-3, control host adjust virtual lane line according to above-mentioned angle and show picture, the virtual lane of ground display unit
Line triggers driveway deviation alarming system, and optical collector gets deviation angle and deviates image, is transferred to control host, controls
Host carries out alarm operation；
S3-4, apart from lane line when control host record test vehicle deviates speed, travel speed, time of fire alarming, alarm
Range data, and data are saved, for as the reference data for executing new early warning test.
In early warning test process, alarm operation is carried out when following state；
S-A, intelligent automobile tire rotational speed reduce, if the virtual lane line of optical collector acquisition is white dashed line, and
And the virtual lane line of white dashed line is gradually approached, alarm operation is not triggered, final tire rotational speed is halted state；If optics is adopted
It is yellow shielding wire that storage, which acquires virtual lane line, and no matter whether final tire rotational speed is halted state all by triggering alarm behaviour
Make, control host prompt user starts intelligent automobile as early as possible；If it is Lane Narrows line that optical collector, which acquires virtual lane line,
By triggering alarm operation；
S-B, intelligent automobile tire rotational speed increase, if it is white shielding wire, Huang that optical collector, which acquires virtual lane line,
When color shielding wire, double real double amber lines, and white shielding wire, yellow shielding wire, the virtual lane line of double real double amber lines are gradually approached,
Triggering alarm operation, no matter whether final tire rotational speed is acceleration or deceleration regime all by triggering alarm operation.
S-C, intelligent automobile tire rotational speed remain a constant speed traveling, if optical collector acquire virtual lane line be white every
Offline, if being gradually distance from white shielding wire, triggering alarm operation, if intelligent automobile side optical collector do not find it is any
Shielding wire or double solid line, then intelligent automobile optical collector in the other side detects that white shielding wire, yellow shielding wire, double realities are double
When yellow line, then the step of executing S-A to S-B, if any shielding wire is not detected in other side intelligent automobile optical collector,
Triggering alarm operation.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that: not
A variety of change, modification, replacement and modification can be carried out to these embodiments in the case where being detached from the principle of the present invention and objective, this
The range of invention is defined by the claims and their equivalents.
Claims (6)
1. a kind of indoor lane departure warning test method using virtual lane line, which comprises the steps of:
S1 constructs virtual lane line acquisition unit, power supply side connection control host power supply end and scene display module power supply
End controls the equipment control software signal output end connection scene display module signal input part of host, scene display module shape
At ground display unit and metope display unit, controls host rack job control end and connect rack signal end, rack setting wheel
Fast collector and steering angle collector, measuring wheel speed device are used for acquiring intelligent automobile tire rotational speed, steering angle collector
In acquisition intelligent automobile tire steering angle；
S2, the wheel speed data and corner of virtual lane line data and intelligent automobile that the optical capturing equipment of intelligent automobile is collected
Data synchronize；
S3 controls the wheel speed data and angle data of intelligent automobile, carries out lane line acquisition by virtual lane line acquisition unit
Operation then carries out alarm operation in case of lane line deviation.
2. the indoor lane departure warning test method according to claim 1 using virtual lane line, which is characterized in that
The S1 includes the following steps:
S1-1 installs intelligent automobile in testboard bay, and intelligent automobile tire is placed on the test wheel hub of rack, in rack
Test wheel hub installation tire rotational speed sensor and tire deflection angular transducer；
S1-2 installs optical collector in intelligent automobile chassis front end, middle-end and rear end, in optical collector image acquisition region
Ground display unit is set, which is liquid crystal display, or is arranged in optical collector image acquisition region
Ground display unit and metope display unit generate lane line by the liquid crystal display of ground display unit, show in metope single
Member generates 3D rendering, which is imaged as ground rubble or wall barrier；
S1-3, when optical collector carry out image acquisition process in, according to liquid crystal display imaging virtual lane line color or
Person's actual situation state carries out Image Acquisition typing, forms virtual lane line database.
3. the indoor lane departure warning test method according to claim 1 using virtual lane line, which is characterized in that
The S2 includes the following steps:
S2-1 carries out the intelligent automobile functional test stage, adjusts intelligent automobile tire rotational speed, obtains ground in optical capturing equipment
The virtual lane line data of face display unit, the virtual lane line data are synchronous with tire rotational speed progress data, by virtual lane
The pseudo-velocity that line is shown is consistent with tire rotational speed；
S2-2, by controlling host for the virtual lane line deviation angle of ground display unit and intelligent automobile tire deflection angle
It synchronizes, when the tire steering angle sensor of rack acquires intelligent automobile deviation angle, obtains the sensor and obtain phase
Whether the intelligent automobile deviation angle data answered and actual steering angle are consistent, and synchronism detection finishes if consistent, if
It is inconsistent, the step of virtual lane line deviation angle is synchronized with intelligent automobile tire deflection angle is continued to execute, until adjusting
Until section is consistent；
S2-3 generates 3D rendering by metope display unit, and intelligent automobile optical collector obtains the 3D rendering data, by intelligence
Vehicular optical collector judges whether 3D rendering is barrier, if optical collector collects barrier and 3D rendering is also true
Barrier is generated in fact, then data verification success, if optical collector collects barrier but 3D rendering does not generate really
Barrier, then data verification failure, if optical collector does not collect barrier but 3D rendering really generates barrier,
Data verification failure.
4. the indoor lane departure warning test method according to claim 1 using virtual lane line, which is characterized in that
The S3 includes the following steps:
S3-1, carries out virtual lane line deviation warning test, intelligent automobile starting, and measuring wheel speed device and the acquisition of corner collector are surveyed
Test run runs wheel speed and steering angle, and is transferred to control host
S3-2 controls host analysis wheel speed and steering angle, obtains the angle that virtual lane line should adjust by analytical calculation,
Deviate speed；
S3-3, control host adjust virtual lane line according to above-mentioned angle and show picture, the virtual lane line touching of ground display unit
Driveway deviation alarming system is sent out, optical collector gets deviation angle and deviates image, is transferred to control host, controls host
Carry out alarm operation；
S3-4, apart from lane line distance when control host record test vehicle deviates speed, travel speed, time of fire alarming, alarm
Data, and data are saved, for as the reference data for executing new early warning test.
5. the indoor lane departure warning test method according to claim 4 using virtual lane line, which is characterized in that
The S3-2 deviates deterministic process
Determine whether the intelligent vehicle is deviateing from the runway；Determine intelligent vehicle whether from virtual lane line
Deviate；If it is determined that the intelligent vehicle just deviates from virtual lane line, then alarm signal is generated, wherein determining the virtual vehicle
Whether diatom, which has been detected, is blocked or close to state；It alarms if being blocked, if being shown as close to state not
Alarm；
If it is determined that the virtual lane line, which has been detected, is narrower than the lane width, and use the left-lane line and institute
It states the end point that right-lane line mutually intersects and determines pitch angle between virtual road surface and optical collector, use the pitch angle
Counting period distance, and by the virtual lane width be set as by by the spacing distance multiplied by with the lane width
Corresponding intersection value determines whether to alarm.
6. the indoor lane departure warning test method according to claim 4 using virtual lane line, which is characterized in that
Further include:
S-A, intelligent automobile tire rotational speed reduce, if the virtual lane line of optical collector acquisition is white dashed line, and by
The virtual lane line of white dashed line is gradually approached, alarm operation is not triggered, final tire rotational speed is halted state；If optical collector
Acquiring virtual lane line is yellow shielding wire, and no matter whether final tire rotational speed is halted state all by triggering alarm operation, control
Host prompt user processed starts intelligent automobile as early as possible；If it is Lane Narrows line that optical collector, which acquires virtual lane line, will touch
Hair alarm operation；
S-B, intelligent automobile tire rotational speed increase, if optical collector acquire virtual lane line be white shielding wire, yellow every
Offline, when double real double amber lines, and white shielding wire, yellow shielding wire, the virtual lane line of double real double amber lines, triggering are gradually approached
Alarm operation, no matter whether final tire rotational speed is acceleration or deceleration regime all by triggering alarm operation.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111175056A (en) * | 2020-01-17 | 2020-05-19 | 金龙联合汽车工业（苏州）有限公司 | Hardware-in-loop test device of commercial vehicle lane keeping system |
| CN111896024A (en) * | 2020-07-24 | 2020-11-06 | 北京汽车股份有限公司 | Navigation display control method and device and AR-HUD display system |
| CN112254984A (en) * | 2020-10-15 | 2021-01-22 | 山东省科学院自动化研究所 | Lane departure simulation system in limited space and alarm test method |
| CN112763231A (en) * | 2021-01-19 | 2021-05-07 | 北京罗克维尔斯科技有限公司 | Lane keeping auxiliary system function evaluation method and device, terminal and storage medium |
| CN113252365A (en) * | 2021-06-16 | 2021-08-13 | 智己汽车科技有限公司 | Testing device and testing method for lane auxiliary system |
| CN115077515A (en) * | 2022-08-19 | 2022-09-20 | 高德软件有限公司 | Data generation method and device, electronic equipment and computer program product |
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