CN111562117A - Testing device and method for automatic parking system and storage medium - Google Patents
Testing device and method for automatic parking system and storage medium Download PDFInfo
- Publication number
- CN111562117A CN111562117A CN202010496645.4A CN202010496645A CN111562117A CN 111562117 A CN111562117 A CN 111562117A CN 202010496645 A CN202010496645 A CN 202010496645A CN 111562117 A CN111562117 A CN 111562117A
- Authority
- CN
- China
- Prior art keywords
- ultrasonic transducer
- parking
- ultrasonic
- distance
- simulation platform
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/52004—Means for monitoring or calibrating
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2015/932—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Acoustics & Sound (AREA)
- Traffic Control Systems (AREA)
Abstract
The embodiment of the invention discloses a testing device and method of an automatic parking system and a storage medium. The testing device comprises an upper computer, a simulation platform, an ultrasonic sensor and an ultrasonic transducer; the ultrasonic sensor and the simulation platform are connected with a parking system to be tested, the simulation platform is connected with an upper computer, and the ultrasonic transducer is connected with the simulation platform; generating a test instruction through an upper computer and sending the test instruction to a simulation platform, constructing a simulation vehicle and a simulation scene according to the test instruction by the simulation platform, determining the distance between the simulation vehicle and an obstacle and feeding back to an ultrasonic transducer, and enabling the ultrasonic transducer to generate a reflected wave according to the distance and send the reflected wave to an ultrasonic sensor; determining the actual distance between the simulated vehicle and the obstacle through a parking system to be tested, and controlling the simulated vehicle to park in a simulated scene according to the actual distance; and evaluating the parking system to be tested through the upper computer. According to the scheme, the automatic test of the parking system is realized, the labor is saved, and the test efficiency is improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of testing, in particular to a testing device, a testing method and a storage medium of an automatic parking system.
Background
With the development of automatic driving technology, automatic parking systems are being more and more emphasized by vehicle developers. The automatic parking system can control the vehicle to park automatically without manual control, and particularly for drivers with immature driving technologies, the automatic parking system can park automatically, so that the parking difficulty can be reduced, and the occurrence of parking accidents is avoided.
In order to ensure the performance of the automatic parking system, the automatic parking system needs to be tested before the automatic parking system is put into use. At present, the universal mode is a real vehicle field test, which has long time consumption, high cost and single test working condition.
Disclosure of Invention
The embodiment of the invention provides a testing device, a testing method and a storage medium of an automatic parking system, and aims to improve the testing efficiency of the automatic parking system.
In a first aspect, an embodiment of the invention provides a testing device for an automatic parking system, which comprises an upper computer, a simulation platform, an ultrasonic sensor and an ultrasonic transducer, wherein the upper computer is connected with the simulation platform;
the ultrasonic sensor and the simulation platform are connected with a parking system to be tested, the simulation platform is connected with the upper computer, and the ultrasonic transducer is connected with the simulation platform;
the upper computer is used for generating a test instruction according to the test request and sending the test instruction to the simulation platform;
the simulation platform is used for constructing a simulation vehicle and a simulation scene according to the test instruction; determining the distance between the simulated vehicle and an obstacle, and feeding back the distance to the ultrasonic transducer so that the ultrasonic transducer generates a reflected wave according to the distance and sends the reflected wave to the ultrasonic transducer;
the parking system to be tested is used for determining the actual distance between the simulated vehicle and the obstacle according to the time of transmitting ultrasonic waves and receiving reflected waves by the ultrasonic sensor and controlling the simulated vehicle to park in the simulated scene according to the actual distance;
and the upper computer is also used for evaluating the parking system to be tested according to the parking result of the simulated vehicle.
In a second aspect, an embodiment of the present invention further provides a method for testing an automatic parking system, including:
the upper computer generates a test instruction according to the test request and sends the test instruction to the simulation platform;
the simulation platform builds a simulation vehicle and a simulation scene according to the test instruction; determining the distance between the simulated vehicle and the obstacle, and feeding back to the ultrasonic transducer so that the ultrasonic transducer generates a reflected wave according to the distance and sends the reflected wave to the ultrasonic transducer;
the parking system to be tested determines the actual distance between the simulated vehicle and the obstacle according to the time of transmitting ultrasonic waves and receiving reflected waves by the ultrasonic sensor, and controls the simulated vehicle to park in the simulated scene according to the actual distance;
and the upper computer evaluates the parking system to be tested according to the parking result of the simulated vehicle.
In a third aspect, embodiments of the present invention further provide a storage medium, on which a computer program is stored, which, when executed by a corresponding apparatus, implements the method for testing the automatic parking system according to the second aspect.
The embodiment of the invention provides a testing device, a testing method and a storage medium of an automatic parking system, wherein a testing instruction is generated by an upper computer and is sent to a simulation platform, the simulation platform constructs a simulated vehicle and a simulated scene according to the testing instruction, the distance between the simulated vehicle and an obstacle is determined and is fed back to an ultrasonic transducer, and the ultrasonic transducer generates a reflected wave according to the distance and sends the reflected wave to the ultrasonic transducer; determining the actual distance between a simulated vehicle and an obstacle through a parking system to be tested, and controlling the simulated vehicle to park in the simulated scene according to the actual distance; and evaluating the parking system to be tested through an upper computer. According to the scheme, the automatic test of the parking system is realized, the labor is saved, and the test efficiency is improved.
Drawings
Fig. 1 is an interaction schematic diagram of a testing apparatus of an automatic parking system and a parking system to be tested according to an embodiment of the present invention;
fig. 2 is an interaction diagram of a testing apparatus of another automatic parking system and a parking system to be tested according to an embodiment of the present invention;
fig. 3 is a structural diagram of a signal processing circuit according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a straight-road parallel parking condition according to a first embodiment of the present invention;
FIG. 5 is a schematic view of a curve parallel parking condition according to a first embodiment of the present invention;
FIG. 6 is a schematic diagram illustrating a vertical parking condition according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a parallel exit condition according to an embodiment of the present invention;
fig. 8 is a flowchart of a testing method for an automatic parking system according to a second embodiment of the present invention;
fig. 9 is a schematic diagram illustrating a signal processing procedure of a signal processor according to a second embodiment of the present invention;
fig. 10 is a schematic diagram of a detection area of an ultrasonic sensor according to a second embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures. In addition, the embodiments and features of the embodiments in the present invention may be combined with each other without conflict.
Example one
Fig. 1 is an interaction schematic diagram of a testing device of an automatic parking system and a parking system to be tested according to an embodiment of the present invention, where the embodiment is applicable to testing a parking effect of the automatic parking system, and referring to fig. 1, the testing device 1 includes an upper computer 11, a simulation platform 12, an ultrasonic sensor 13, and an ultrasonic transducer 14;
the ultrasonic sensor 13 and the simulation platform 12 are connected with the parking system 2 to be tested, the simulation platform 12 is connected with the upper computer 11, and the ultrasonic transducer 14 is connected with the simulation platform 12;
the upper computer 11 is used for generating a test instruction according to the test request and sending the test instruction to the simulation platform 12;
the simulation platform 12 is used for constructing a simulation vehicle and a simulation scene according to the test instruction; determining the distance between the simulated vehicle and the obstacle, and feeding back to the ultrasonic transducer 14, so that the ultrasonic transducer 14 generates a reflected wave according to the distance and sends the reflected wave to the ultrasonic sensor 13;
the parking system 2 to be tested is used for determining the actual distance between the simulated vehicle and the obstacle according to the time of transmitting the ultrasonic waves and receiving the reflected waves by the ultrasonic sensor 13 and controlling the simulated vehicle to park in the simulated scene according to the actual distance;
and the upper computer 11 is also used for evaluating the parking system 2 to be tested according to the parking result of the simulated vehicle.
Specifically, the ultrasonic sensor 13 and the parking system 2 to be tested, the simulation platform 12 and the upper computer 11, and the ultrasonic transducer 14 and the simulation platform 12 may be connected by a bus or in other manners, in this embodiment, for example, the connection is made by a bus, in one case, the ultrasonic sensor 13 and the parking system 2 to be tested are in communication connection by an LIN bus, the simulation platform 12 and the parking system 2 to be tested, and the simulation platform 12 and the upper computer 11 are in communication connection by a CAN bus, and the ultrasonic transducer 14 and the simulation platform 12 are in communication connection by a PXI bus.
The upper computer 11 may be an intelligent device, such as a computer, which directly issues the control command. The upper computer 11 in this embodiment is configured to obtain a test request, generate a test instruction according to the test request, send the test instruction to the simulation platform 12, and evaluate the parking system 2 according to the parking result of the parking system 2 to be tested. The test request may include, but is not limited to, test parameters, test conditions, and the like, the test parameters may include a vehicle speed, a parking direction selection, a parking road width, a curvature, a distance between a parking side and an outer edge of the vehicle, a parking space distance, an obstacle injection time and position, whether a roadbed exists on the parking side, and the like, and the test conditions may include, but is not limited to, a straight-road parallel parking condition, a curve parallel parking condition, a vertical parking condition, a parallel exit condition, and the like. The test parameters and the test conditions can be selected from a parameter list and a condition list pre-stored in the upper computer 11, and can also be set by self. The test instructions may be instructions for constructing a simulated vehicle and a simulation scenario generated based on the test parameters and the test conditions. Considering that the real vehicle test has certain risk, low efficiency and single working condition, the embodiment completes the test by means of the virtual simulation test environment.
The simulation platform 12 builds a simulation vehicle and a simulation scene according to the test instruction sent by the upper computer 11, so that the simulation vehicle completes parking under the control of the parking system 2 to be tested. Specifically, the simulation platform 12 stores an electric power steering control system, an engine control system, a transmission control system, an electronic stability control system, a steering system model, an engine model, a transmission model, a driver model, a vehicle dynamics model, a simulation scene model, and an operation key model in advance, and the operation cycle is 1ms as an example. The electric power steering control system and the steering system model form a virtual steering system assembly; the engine control system and the engine model form a virtual engine assembly; the gearbox control system and the gearbox model form a virtual gearbox assembly; the electronic stability control system and the vehicle dynamic model form a virtual chassis assembly, and a virtual simulation vehicle can be constructed through the virtual steering system assembly, the engine assembly, the gearbox assembly and the chassis assembly. The simulation scene model is used for constructing environmental information around the simulation vehicle and simulating the running environment of the simulation vehicle. The driver model is used for realizing the initialization operation, the automatic parking key operation, the gear switching operation of the gearbox and the like of the parking system to be tested. The operation key model is in communication connection with the parking system 2 to be tested, and key operation information of the driver model is transmitted to the parking system 2 to be tested, so that the parking system to be tested controls the simulated vehicle to park according to the key operation information.
The ultrasonic sensor 13 is a physical device for emitting ultrasonic waves outwards, so that the parking system 2 to be tested determines the distance between the simulated vehicle and the obstacle according to the emitting time of the ultrasonic waves and the receiving time of the reflected waves, and interacts with feedback signals of the electric power steering control system, the engine control system, the gearbox control system and the electronic stability control system based on the distance to realize the control of the simulated vehicle. Since the parking system 2 to be tested interacts with the simulation vehicle constructed in the simulation platform 12, when the ultrasonic sensor 13 transmits the ultrasonic wave, the ultrasonic wave cannot receive the reflected wave which is truly fed back after encountering an obstacle, and therefore, the ultrasonic transducer 14 is adopted to simulate the reflected wave in the embodiment.
Specifically, when receiving the ultrasonic wave emitted by the ultrasonic sensor 13, the ultrasonic transducer 14 feeds the ultrasonic wave back to the simulation platform 12, so as to instruct the simulation platform 12 to feed back the distance between the simulated vehicle and the obstacle to the ultrasonic transducer 14. The ultrasonic transducer 14 determines the time when the ultrasonic wave meets an obstacle and returns to the port of the ultrasonic sensor 13 in the simulation scene according to the distance, feeds back a signal to the ultrasonic sensor 13 as a reflected wave when the time arrives, and records the time when the ultrasonic sensor 13 receives the signal as the receiving time of the reflected wave. The parking system 2 to be tested can determine the actual distance between the simulated vehicle and the obstacle according to the time difference between the transmitting time of the ultrasonic wave and the time difference between the receiving time of the reflected wave, and provides a basis for controlling the simulated vehicle.
The number of the ultrasonic sensors 13 and the number of the ultrasonic transducers 14 are the same, the specific number of the ultrasonic sensors 13 and the specific number of the ultrasonic transducers 14 are not limited in this embodiment, in one case, the number of the ultrasonic sensors 13 and the number of the ultrasonic transducers 14 are 12, taking the ultrasonic sensors 13 as an example, the ultrasonic sensors 13 may be disposed in front, at sides, and at the back of the vehicle, the number of the ultrasonic sensors 13 in different directions may also be set by themselves, for example, the front and the back are both 4, and the left and the right are respectively 2.
It should be noted that, in the present embodiment, both the simulation platform 12 and the parking system under test 2 can determine the distance between the simulated vehicle and the obstacle, but the determination manners of the two are slightly different. The simulation platform 12 determines the distance between the simulated vehicle and the obstacle based on the coordinates of the simulated vehicle and the obstacle, the parking system 2 to be tested determines the distance between the simulated vehicle and the obstacle based on the time difference between the transmitting time of the ultrasonic wave and the receiving time of the reflected wave, the former can be regarded as the theoretical distance between the two, the latter can be regarded as the actual distance between the two, and the parking system 2 to be tested controls the simulated vehicle based on the actual distance between the simulated vehicle and the obstacle, so that the accuracy of the test result is improved.
During testing, the upper computer 11 obtains a parking result of the simulated vehicle, such as the distance between the simulated vehicle and a parking space, the distance between the simulated vehicle and an obstacle, and the like through interaction with the simulation platform 12, compares the parking result with a standard parking result of the simulated vehicle in the simulation scene, determines a parking effect, and further determines whether the parking system to be tested is qualified. According to the embodiment, the simulation vehicle and the simulation scene are constructed, the parking system to be tested is tested in the virtual simulation environment, a large amount of manpower and material resources are saved, and the testing efficiency is improved.
The embodiment of the invention provides a testing device of an automatic parking system, which generates a testing instruction through an upper computer and sends the testing instruction to a simulation platform, the simulation platform constructs a simulated vehicle and a simulated scene according to the testing instruction, determines the distance between the simulated vehicle and an obstacle and feeds the distance back to an ultrasonic transducer, and the ultrasonic transducer generates a reflected wave according to the distance and sends the reflected wave to the ultrasonic transducer; determining the actual distance between a simulated vehicle and an obstacle through a parking system to be tested, and controlling the simulated vehicle to park in the simulated scene according to the actual distance; and evaluating the parking system to be tested through an upper computer. The test device realizes the automatic test of the parking system, saves the labor and improves the test efficiency.
Fig. 2 is an interaction diagram of a testing apparatus of another automatic parking system and a parking system to be tested according to an embodiment of the present invention, where fig. 2 takes 12 ultrasonic sensors 13 and 12 ultrasonic transducers 14 as an example, and each ultrasonic sensor 13 is connected to one ultrasonic transducer 14. On the basis of the above embodiment, referring to fig. 2, the test apparatus 1 further includes a signal processor 15;
the signal processor 15 is respectively connected with the simulation platform 12 and the ultrasonic transducer 14;
and the signal processor 15 is used for processing the feedback signal of the ultrasonic transducer 14, sending the processed feedback signal to the simulation platform 12, determining the time when the ultrasonic wave emitted by the ultrasonic sensor 13 meets the obstacle and is reflected to the port of the ultrasonic sensor 13 according to the distance between the simulated vehicle and the obstacle sent by the simulation platform 12, and sending a pulse width signal to the ultrasonic transducer 14 when the time is up so that the ultrasonic transducer 14 generates a reflected wave based on the pulse width signal.
The feedback signal of the ultrasonic transducer 14 is a voltage signal corresponding to the ultrasonic wave, and the ultrasonic transducer 14 receives the ultrasonic wave emitted by the ultrasonic sensor 13 and converts the ultrasonic wave into the voltage signal. The voltage signal is weak and carries noise, which easily affects the generation and transmission of the reflected wave, and further affects the accuracy of the test result. Therefore, in this embodiment, a signal processor 15 is added between the ultrasonic transducer 14 and the simulation platform 12, the ultrasonic transducer 14 converts the received ultrasonic waves into voltage signals and sends the voltage signals to the signal processor 15, and the voltage signals are amplified, filtered and the like by the signal processor 15 and then sent to the simulation platform 12. When receiving the distance between the simulated vehicle and the obstacle fed back by the simulation platform 12, the signal processor 15 determines the propagation position of the ultrasonic wave, determines the time when the reflected wave reaches the port of the ultrasonic sensor 13 based on the propagation position, and sends a pulse width signal to the ultrasonic transducer 14 when the time is reached, so that the ultrasonic transducer 14 generates the reflected wave based on the pulse width signal and feeds back the reflected wave to the ultrasonic sensor 13.
On the basis of the above embodiment, referring to fig. 2, the signal processor 15 includes a signal processing circuit 151 and a programmable board card 152;
the signal processing circuit 151 is respectively connected with the ultrasonic transducer 14 and the programmable board card 152, and the programmable board card 152 is connected with the simulation platform 12;
the signal processing circuit is used for processing the feedback signal of the ultrasonic transducer 14 and sending the feedback signal to the simulation platform 12 through the programmable board card 152;
the programmable board 152 is used for acquiring the distance between the simulated vehicle and the obstacle sent by the simulation platform 12; and determining the port time of the ultrasonic wave emitted by the ultrasonic sensor 13 when encountering an obstacle and reflecting to the ultrasonic sensor 13 according to the distance, and sending a pulse width signal to the ultrasonic transducer 14 when the time arrives.
The signal processing circuits 151 correspond to the ultrasonic transducers 14 one to one, that is, the number of the signal processing circuits 151 is the same as the number of the ultrasonic transducers 14. Fig. 2 illustrates 12 signal processing circuits 151, and the 12 signal processing circuits 151 are connected to the same programmable board card 152. In one case, as shown in fig. 3, taking a signal processing circuit 151 as an example, the signal processing circuit 151 may include a power amplification module 1511, a pre-amplification module 1512, a band-pass filtering module 1513, a secondary amplification module 1514, and a threshold detection module 1515, and the weak voltage signal is processed by the pre-amplification module 1512, the band-pass filtering module 1513, the secondary amplification module 1514, and the threshold detection module 1515, then transmitted to the programmable board 152, and forwarded by the programmable board 152 to the emulation platform 12.
The programmable board 152 may be a board composed of a programmable logic Array, and is a core of the signal processor 15, in one case, the programmable board 152 may be an FPGA (Field programmable gate Array) board, and the operation cycle is 1us as an example. The power amplification module 1511 is configured to amplify the pulse width signal generated by the programmable board 152 and transmit the amplified pulse width signal to the ultrasonic transducer 14, so that the ultrasonic transducer 14 converts the amplified pulse width signal into a reflected wave and transmits the reflected wave to the ultrasonic sensor 13, thereby implementing simulation of an actual reflected wave.
On the basis of the embodiment, the simulation scene comprises a straight-road parallel parking working condition, a curve parallel parking working condition, a vertical parking working condition and a parallel exiting working condition.
Referring to fig. 4 to 7, four working conditions, namely a straight-road parallel parking working condition, a curve parallel parking working condition, a vertical parking working condition and a parallel exit working condition, are exemplarily shown, and the defect of single working condition in the conventional test is overcome. Wherein the vehicles 1-5 are obstacles, L1Is the road width, L2Distance of parking side from outer edge of vehicle, L3The distance between adjacent parking spaces is R, and the curvature of the curve is R.
On the basis of the embodiment, the upper computer 11 is specifically used for determining a standard parking result according to the test parameters; when the deviation between the parking result of the simulated vehicle and the standard parking result is smaller than a set threshold value, determining that the parking system 2 to be tested is qualified; otherwise, the product is not qualified.
The different test working conditions correspond to different standard parking results, and the standard parking results are that the distances between the vehicle and the parking space and between the vehicle and the obstacles accord with standard parking specifications after the vehicle is parked. The actual parking result of the simulated vehicle is compared with the standard parking result, when the difference value between the actual parking result and the standard parking result is smaller than the set threshold value, the parking is considered to be qualified, namely the parking system to be tested is qualified, otherwise, the parking system to be tested is not qualified. In order to improve the reliability of the test result, the parking system 2 to be tested may be subjected to a traversal test, that is, the parking results of the parking system 2 to be tested under various known working conditions are tested. Further, to avoid the existence of accidental errors, the test may be repeated for the same operating condition. Optionally, a test report can be generated based on the test result, so that the user can conveniently check and use the test report at a later stage.
Example two
Fig. 8 is a flowchart of a testing method for an automatic parking system according to a second embodiment of the present invention, where the testing method can be applied to the testing apparatus for an automatic parking system according to the second embodiment to test whether the automatic parking system is qualified. Referring to fig. 8, the method includes the steps of:
and S210, generating a test instruction by the upper computer according to the test request and sending the test instruction to the simulation platform.
S220, the simulation platform constructs a simulation vehicle and a simulation scene according to the test instruction; and determining the distance between the simulated vehicle and the obstacle, and feeding back to the ultrasonic transducer so that the ultrasonic transducer generates a reflected wave according to the distance and sends the reflected wave to the ultrasonic transducer.
And S230, determining the actual distance between the simulated vehicle and the obstacle by the parking system to be tested according to the time of transmitting the ultrasonic waves and receiving the reflected waves by the ultrasonic wave sensor, and controlling the simulated vehicle to park in the simulated scene according to the actual distance.
And S240, evaluating the parking system to be tested by the upper computer according to the parking result of the simulated vehicle.
The second embodiment of the invention provides a test method of an automatic parking system, which comprises the steps of generating a test instruction through an upper computer and sending the test instruction to a simulation platform, constructing a simulated vehicle and a simulated scene by the simulation platform according to the test instruction, determining the distance between the simulated vehicle and an obstacle and feeding back the distance to an ultrasonic transducer, and enabling the ultrasonic transducer to generate a reflected wave according to the distance and send the reflected wave to the ultrasonic transducer; determining the actual distance between a simulated vehicle and an obstacle through a parking system to be tested, and controlling the simulated vehicle to park in the simulated scene according to the actual distance; and evaluating the parking system to be tested through an upper computer. The method realizes the automatic test of the parking system, saves the labor and improves the test efficiency.
On the basis of the above embodiment, the ultrasonic transducer generates a reflected wave according to the distance and transmits the reflected wave to the ultrasonic sensor, and includes:
the ultrasonic transducer sends a feedback signal to the simulation platform through a signal processor so that the simulation platform sends the distance between the simulated vehicle and the obstacle to the signal processor;
the ultrasonic transducer receives a pulse width signal sent by the signal processor when the ultrasonic wave transmitted by the ultrasonic sensor meets the obstacle and is reflected to the port of the ultrasonic sensor, wherein the pulse width signal is determined by the distance processor;
and the ultrasonic transducer generates a reflected wave according to the pulse width signal and sends the reflected wave to the ultrasonic sensor.
On the basis of the embodiment, the simulation scene comprises a straight-road parallel parking working condition, a curve parallel parking working condition, a vertical parking working condition and a parallel exiting working condition.
On the basis of the above embodiment, the upper computer further evaluates the parking system to be tested according to the parking result of the simulated vehicle, including:
the upper computer determines a standard parking result according to the test parameters;
when the deviation between the parking result of the simulated vehicle and the standard parking result is smaller than a set threshold value, the upper computer determines that the parking system to be tested is qualified; otherwise, the product is not qualified.
The following describes the signal processing process of the signal processor with reference to fig. 9-10, where fig. 9 is a schematic diagram of the signal processing process of the signal processor according to the second embodiment of the present invention, and fig. 10 is a schematic diagram of the detection area of the ultrasonic sensor according to the second embodiment of the present invention. The solid-line boxes in fig. 10 represent the ultrasonic sensors, the installation positions of the ultrasonic sensors are shown in fig. 10, fig. 10 takes 12 ultrasonic sensors as an example, the detection regions corresponding to the ultrasonic sensors at different positions are different, for example, the detectable region of the ultrasonic sensor in the vehicle-side direction is a cone, the detectable region of the ultrasonic sensor in the vehicle front-rear direction is a fan, and the dotted line is a detection blind region of the ultrasonic sensor. The present embodiment calculates only the distance between the simulated vehicle and the obstacle within the detectable region when calculating the distance between the simulated vehicle and the obstacle.
Step 1: after receiving the feedback signal sent by the ultrasonic transducer, the signal processor triggers the interruption of receiving;
step 2: triggering a counter;
and step 3: updating the propagation position of the ultrasonic wave, namely the current position of the ultrasonic wave plus the propagation speed of the ultrasonic wave in the air multiplied by the operation period of the signal processor, wherein the operation period of the signal processor can be regarded as the operation period of the programmable board card;
and 4, step 4: according to the schematic diagram of the detection area of the ultrasonic sensor shown in fig. 10, it is determined whether the propagation position of the ultrasonic wave is located in the blind area. If the blind area is located, jumping to the step 5; otherwise, jumping to step 6;
and 5: and judging whether the blind area is provided with the barrier or not. If the obstacle exists in the blind area, jumping to the step 9; otherwise, jumping to the step 3;
step 6: according to the schematic diagram of the detection region of the ultrasonic sensor shown in fig. 10, it is determined whether or not the propagation position of the ultrasonic wave is located at the edge of the detectable region of the ultrasonic sensor. If the detected region is located at the edge of the detectable region, jumping to step 9; otherwise, jumping to step 7;
and 7: and judging whether an obstacle exists in the detectable area of the ultrasonic sensor. If the obstacle exists, jumping to the step 8; otherwise, updating the propagation position of the mechanical wave sent by the ultrasonic sensor, and skipping to the step 6;
and 8: triggering a timer by using the count value of the counter, and sending a pulse width signal to the ultrasonic transducer after the timer runs;
and step 9: and (6) ending.
The test method of the automatic parking system provided in this embodiment and the test device of the automatic parking system provided in the above embodiments belong to the same inventive concept, and specific details may refer to the above embodiments, which are not described herein again.
EXAMPLE III
Embodiments of the present invention also provide a storage medium having a computer program stored thereon, where the computer program is executed by a corresponding apparatus to implement the method for testing the automatic parking system according to the above-mentioned embodiments of the present invention.
Of course, the storage medium containing the computer-executable instructions provided by the embodiment of the present invention is not limited to the operations in the test method of the automatic parking system described above, and may also perform related operations in the test method of the automatic parking system provided by the embodiment of the present invention, and has corresponding functions and advantages.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, and the computer software product may be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions to enable a computer device (which may be a robot, a personal computer, a server, or a network device) to execute the method for testing an automatic parking system according to the foregoing embodiments of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A testing device of an automatic parking system is characterized by comprising an upper computer, a simulation platform, an ultrasonic sensor and an ultrasonic transducer;
the ultrasonic sensor and the simulation platform are connected with a parking system to be tested, the simulation platform is connected with the upper computer, and the ultrasonic transducer is connected with the simulation platform;
the upper computer is used for generating a test instruction according to the test request and sending the test instruction to the simulation platform;
the simulation platform is used for constructing a simulation vehicle and a simulation scene according to the test instruction; determining the distance between the simulated vehicle and an obstacle, and feeding back the distance to the ultrasonic transducer so that the ultrasonic transducer generates a reflected wave according to the distance and sends the reflected wave to the ultrasonic transducer;
the parking system to be tested is used for determining the actual distance between the simulated vehicle and the obstacle according to the time of transmitting ultrasonic waves and receiving reflected waves by the ultrasonic sensor and controlling the simulated vehicle to park in the simulated scene according to the actual distance;
and the upper computer is also used for evaluating the parking system to be tested according to the parking result of the simulated vehicle.
2. The test device of claim 1, further comprising a signal processor;
the signal processor is respectively connected with the simulation platform and the ultrasonic transducer;
the signal processor is used for processing the feedback signal of the ultrasonic transducer, sending the processed feedback signal to the simulation platform, determining the time when the ultrasonic wave emitted by the ultrasonic transducer meets the obstacle and is reflected to the port of the ultrasonic transducer according to the distance between the simulation vehicle and the obstacle sent by the simulation platform, and sending a pulse width signal to the ultrasonic transducer when the time is reached so that the ultrasonic transducer generates a reflected wave based on the pulse width signal.
3. The test device of claim 2, wherein the signal processor comprises a signal processing circuit and a programmable board card;
the signal processing circuit is respectively connected with the ultrasonic transducer and the programmable board card, and the programmable board card is connected with the simulation platform;
the signal processing circuit is used for processing a feedback signal of the ultrasonic transducer and sending the feedback signal to the simulation platform through the programmable board card;
the programmable board card is used for acquiring the distance between the simulated vehicle and the obstacle sent by the simulation platform; and determining the port time of the ultrasonic wave emitted by the ultrasonic sensor when encountering the obstacle and reflecting to the ultrasonic sensor according to the distance, and sending a pulse width signal to the ultrasonic transducer when the time is up.
4. The test device of any one of claims 1-3, wherein the simulation scenario includes a straight-road parallel parking condition, a curved-road parallel parking condition, a vertical parking condition, and a parallel exit condition.
5. The test device according to any one of claims 1 to 3, wherein the upper computer is specifically configured to determine a standard parking result according to the test parameters; when the deviation between the parking result of the simulated vehicle and the standard parking result is smaller than a set threshold value, determining that the parking system to be tested is qualified; otherwise, the product is not qualified.
6. A method for testing an automatic parking system, comprising:
the upper computer generates a test instruction according to the test request and sends the test instruction to the simulation platform;
the simulation platform builds a simulation vehicle and a simulation scene according to the test instruction; determining the distance between the simulated vehicle and the obstacle, and feeding back to the ultrasonic transducer so that the ultrasonic transducer generates a reflected wave according to the distance and sends the reflected wave to the ultrasonic transducer;
the parking system to be tested determines the actual distance between the simulated vehicle and the obstacle according to the time of transmitting ultrasonic waves and receiving reflected waves by the ultrasonic sensor, and controls the simulated vehicle to park in the simulated scene according to the actual distance;
and the upper computer evaluates the parking system to be tested according to the parking result of the simulated vehicle.
7. The method according to claim 6, wherein the ultrasonic transducer generates a reflected wave according to the distance and sends the reflected wave to the ultrasonic sensor, and comprises:
the ultrasonic transducer sends a feedback signal to the simulation platform through a signal processor so that the simulation platform sends the distance between the simulated vehicle and the obstacle to the signal processor;
the ultrasonic transducer receives a pulse width signal sent by the signal processor when the ultrasonic wave transmitted by the ultrasonic sensor meets the obstacle and is reflected to the port of the ultrasonic sensor, wherein the pulse width signal is determined by the distance processor;
and the ultrasonic transducer generates a reflected wave according to the pulse width signal and sends the reflected wave to the ultrasonic sensor.
8. The test method according to claim 6 or 7, wherein the simulation scenario comprises a straight-road parallel parking condition, a curve parallel parking condition, a vertical parking condition, and a parallel exit condition.
9. The test method according to claim 6 or 7, wherein the upper computer further evaluates the parking system to be tested according to the parking result of the simulated vehicle, and comprises the following steps:
the upper computer determines a standard parking result according to the test parameters;
when the deviation between the parking result of the simulated vehicle and the standard parking result is smaller than a set threshold value, the upper computer determines that the parking system to be tested is qualified; otherwise, the product is not qualified.
10. A storage medium on which a computer program is stored, characterized in that the program implements a method of testing an automatic parking system according to any one of claims 6 to 9 when executed by a corresponding apparatus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010496645.4A CN111562117B (en) | 2020-06-03 | 2020-06-03 | Testing device and method for automatic parking system and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010496645.4A CN111562117B (en) | 2020-06-03 | 2020-06-03 | Testing device and method for automatic parking system and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111562117A true CN111562117A (en) | 2020-08-21 |
| CN111562117B CN111562117B (en) | 2022-09-09 |
Family
ID=72070073
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010496645.4A Active CN111562117B (en) | 2020-06-03 | 2020-06-03 | Testing device and method for automatic parking system and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111562117B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112289023A (en) * | 2020-10-09 | 2021-01-29 | 腾讯科技（深圳）有限公司 | Parking simulation test method and device for automatic driving and related equipment |
| CN112504694A (en) * | 2020-12-03 | 2021-03-16 | 安徽江淮汽车集团股份有限公司 | Parking test system and method |
| CN112596502A (en) * | 2020-12-18 | 2021-04-02 | 芜湖雄狮汽车科技有限公司 | Hardware-in-loop test system and method for automatic parking system |
| CN113252366A (en) * | 2021-06-23 | 2021-08-13 | 奇瑞新能源汽车股份有限公司 | Automatic parking evaluation method and device for vehicle, vehicle and storage medium |
| CN113758728A (en) * | 2021-11-01 | 2021-12-07 | 智己汽车科技有限公司 | Vehicle parking obstacle avoidance testing method and device |
| CN114779665A (en) * | 2022-06-14 | 2022-07-22 | 小米汽车科技有限公司 | Automatic parking simulation test method and device and readable storage medium |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102436747A (en) * | 2011-09-23 | 2012-05-02 | 西安交通大学 | Real-time tracking detection method for vehicles with peccant road occupation on highway |
| CN104176051A (en) * | 2014-07-31 | 2014-12-03 | 奇瑞汽车股份有限公司 | Testing device and method for automatic parking system |
| CN207611143U (en) * | 2017-12-14 | 2018-07-13 | 湖南工学院 | A kind of ultrasonic range finder based on DSP |
| CN108613816A (en) * | 2018-04-13 | 2018-10-02 | 江苏大学 | Automatic parking based on ultrasonic radar seeks library test data acquisition device and method |
| CN109632332A (en) * | 2018-12-12 | 2019-04-16 | 清华大学苏州汽车研究院（吴江） | A kind of automatic parking emulation test system and test method |
| CN110377006A (en) * | 2019-07-17 | 2019-10-25 | 中国第一汽车股份有限公司 | One kind is parked test macro and method |
-
2020
- 2020-06-03 CN CN202010496645.4A patent/CN111562117B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102436747A (en) * | 2011-09-23 | 2012-05-02 | 西安交通大学 | Real-time tracking detection method for vehicles with peccant road occupation on highway |
| CN104176051A (en) * | 2014-07-31 | 2014-12-03 | 奇瑞汽车股份有限公司 | Testing device and method for automatic parking system |
| CN207611143U (en) * | 2017-12-14 | 2018-07-13 | 湖南工学院 | A kind of ultrasonic range finder based on DSP |
| CN108613816A (en) * | 2018-04-13 | 2018-10-02 | 江苏大学 | Automatic parking based on ultrasonic radar seeks library test data acquisition device and method |
| CN109632332A (en) * | 2018-12-12 | 2019-04-16 | 清华大学苏州汽车研究院（吴江） | A kind of automatic parking emulation test system and test method |
| CN110377006A (en) * | 2019-07-17 | 2019-10-25 | 中国第一汽车股份有限公司 | One kind is parked test macro and method |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112289023A (en) * | 2020-10-09 | 2021-01-29 | 腾讯科技（深圳）有限公司 | Parking simulation test method and device for automatic driving and related equipment |
| CN112289023B (en) * | 2020-10-09 | 2024-03-26 | 腾讯科技（深圳）有限公司 | Parking simulation test method and device for automatic driving and related equipment |
| CN112504694A (en) * | 2020-12-03 | 2021-03-16 | 安徽江淮汽车集团股份有限公司 | Parking test system and method |
| CN112596502A (en) * | 2020-12-18 | 2021-04-02 | 芜湖雄狮汽车科技有限公司 | Hardware-in-loop test system and method for automatic parking system |
| CN113252366A (en) * | 2021-06-23 | 2021-08-13 | 奇瑞新能源汽车股份有限公司 | Automatic parking evaluation method and device for vehicle, vehicle and storage medium |
| CN113758728A (en) * | 2021-11-01 | 2021-12-07 | 智己汽车科技有限公司 | Vehicle parking obstacle avoidance testing method and device |
| CN114779665A (en) * | 2022-06-14 | 2022-07-22 | 小米汽车科技有限公司 | Automatic parking simulation test method and device and readable storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111562117B (en) | 2022-09-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111562117B (en) | Testing device and method for automatic parking system and storage medium | |
| US11238674B2 (en) | Simulation of different traffic situations for a test vehicle | |
| US10281566B2 (en) | Ultrasonic sensor device for a motor vehicle, motor vehicle and corresponding method | |
| CN109318933B (en) | Train screening method, device and system and vehicle-mounted equipment | |
| CN108068800B (en) | Automatic parking control system, probe module, vehicle and automatic parking control method | |
| GB2562894A (en) | Diagnosis of an acoustic vehicle alerting system (AVAS) based on existing sensors | |
| CN113515105A (en) | Platform, method and storage medium for vehicle expected function safety simulation test | |
| US20220365210A1 (en) | Autonomous vehicle that comprises ultrasonic sensors | |
| JP5987781B2 (en) | Immunity test support method | |
| US20200264302A1 (en) | Transmission/reception control device | |
| CN113703004A (en) | System and method for detecting running reliability of vehicle-mounted radar and computer equipment | |
| CN117310670B (en) | Measuring method and device based on ultrasonic radar, vehicle-mounted terminal and storage medium | |
| CN112014846B (en) | Ultrasonic radar blind area detection method, equipment, storage medium and device | |
| KR20220097646A (en) | Method and apparatus for detecting edge case in self-driving | |
| CN114047517A (en) | Obstacle detection method, storage medium, and electronic device | |
| CN111220990A (en) | Obstacle detection method, parameter configuration method and equipment of ultrasonic sensor | |
| CN106553647B (en) | Auxiliary driving system and method for flat car | |
| CN111220989A (en) | Obstacle detection method and apparatus | |
| CN108226877A (en) | Optimize the method, apparatus and storage medium of radar for backing car interference wrong report | |
| KR102687179B1 (en) | Determining method and appratus for obstacles around the parking path and surrounding using ultrasonic waves | |
| CN219085294U (en) | Car networking and driving auxiliary fusion test bench | |
| CN116257446A (en) | White box test method, device and equipment of automatic driving system and storage medium | |
| CN215769473U (en) | Millimeter wave radar in-loop test system for double-vehicle driving | |
| CN114889631A (en) | Vehicle side anti-collision method, vehicle control unit, medium and electronic equipment | |
| CN110967689B (en) | Method and device for determining height of target object and vehicle-mounted radar equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |