CN111964922A - Intelligent driving vehicle test system - Google Patents
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Abstract
The application relates to an intelligent driving vehicle test system, including: the device comprises a data acquisition module, a test module, a monitoring module and a power module, wherein the power module is respectively connected with the data acquisition module and the test module, and the monitoring module is wirelessly connected with the data acquisition module. The data acquisition module is used for acquiring test data and sending the test data to the test module in real time; the test data comprises vehicle data and fusion data of all the vehicle data; the test module is used for receiving the test data and detecting the vehicle perception performance, the fusion performance and the vehicle function based on the test data; the monitoring module is used for remotely monitoring the current state and the acquisition task of the data acquisition module; and the power supply module is used for supplying power to the data acquisition module and the test module. The vehicle performance analysis system can acquire the test data of the vehicle in real time to analyze the vehicle performance, and realizes the uniform online management of the data acquisition module.
Description
Technical Field
The application relates to the technical field of automatic driving control, in particular to an intelligent driving vehicle testing system.
Background
An autonomous vehicle, which may also be referred to as a wheeled robot, senses road conditions, automatically plans a driving route and controls the vehicle to reach a predetermined target, mainly by means of a vehicle-mounted sensing system. The automatic driving vehicle is a comprehensive system integrating functions of environment perception, planning decision, multi-level auxiliary driving and the like, intensively applies the technologies of computer, modern sensing, information fusion, communication, artificial intelligence, automatic control and the like, and is a typical high and new technology complex.
In the research and development process of the automatic driving control system, a large number of real vehicle tests are needed, and if the real vehicle tests are needed in each iterative development, the research and development cost and the safety risk are greatly increased. Data acquisition systems or devices currently being developed for use in automated driving control systems are directed to acquiring vehicle test result data for analysis. Generally, each test data acquisition module such as a speed sensor and an image sensor in the data acquisition system is integrated in a vehicle for independent acquisition, storage and uploading, and unified online management is lacked. And the sensing and the vehicle function of the vehicle are detected in real time based on the test platform with incomplete test data, so that the number of times of real vehicle test repetition is large, and the test period is prolonged.
Disclosure of Invention
The embodiment of the application provides an intelligent driving vehicle test system, which at least solves the problem that unified online management and test are lacked in the related technology.
The embodiment of the application provides an intelligent driving vehicle test system, includes: the device comprises a data acquisition module, a test module, a monitoring module and a power module, wherein the power module is respectively connected with the data acquisition module and the test module, and the monitoring module is wirelessly connected with the data acquisition module;
the data acquisition module is used for acquiring test data and sending the test data to the test module in real time; the test data comprises vehicle data and fusion data of all the vehicle data;
the test module is used for receiving the test data and detecting the vehicle perception performance, the fusion performance and the vehicle function based on the test data;
the monitoring module is used for remotely monitoring the current state and the acquisition task of the data acquisition module;
and the power supply module is used for supplying power to the data acquisition module and the test module.
In some of these embodiments, the vehicle data includes image data, radar data, and vehicle operation data.
In some of these embodiments, the data acquisition module comprises: the system comprises an ADAS controller, a camera, a radar sensor and an operation data acquisition module, wherein the camera, the radar sensor and the operation data acquisition module are electrically connected with the ADAS controller;
the camera is used for acquiring image data, sending the image data to the test module and/or returning the image data to the ADAS controller after being processed by the test module;
the radar sensor is used for acquiring radar data and sending the radar data to the ADAS controller and the test module;
the operation data acquisition module is used for acquiring vehicle operation data and sending the vehicle operation data to the ADAS controller and the test module;
and the ADAS controller is used for receiving and processing the image data, the radar data and the vehicle operation data to obtain fusion data, and transmitting the fusion data to the test module.
In some of these embodiments, the test module comprises: the system comprises an industrial personal computer, a video card, a 5G module, a data card, an Ethernet card and a vehicle-mounted memory, wherein the video card, the 5G module, the data card and the Ethernet card are connected with the industrial personal computer;
the video card is used for receiving the image data sent by the camera and copying the image data to the vehicle-mounted memory; and/or receiving the image data sent by the camera, converting the format of the image data, returning the image data to the ADAS controller, and copying the image data to the vehicle-mounted memory;
the data card is used for receiving radar data sent by a radar sensor and vehicle operation data sent by the operation data acquisition module;
the Ethernet card is used for receiving the fusion data sent by the data acquisition module;
the 5G module is used for sending the test data to a remote server for real-time storage;
the industrial personal computer is used for acquiring image data in the video card, radar data and vehicle operation data in the data card and fusion data in the Ethernet card to perform performance detection; the performance detection comprises vehicle perception performance testing, fusion performance testing and function testing.
In some of these embodiments, the test module further comprises: a display device is arranged on the base plate,
the display is electrically connected with the industrial personal computer and used for displaying the test result of the performance detection in an imaging mode.
In some embodiments, the industrial personal computer is further configured to:
acquiring image data acquired by the camera and perception data obtained after the image data is subjected to format conversion by the video card and then returned to the ADAS controller;
displaying the image data and the perception data on the display in an overlapping mode to obtain an overlapped image;
and comparing the vehicle information based on the superposed image, and acquiring a test result of the vehicle perception performance test according to the comparison result.
In some embodiments, the industrial personal computer is further configured to:
acquiring image data acquired by the camera and displaying the image data in a first window to obtain first display information;
acquiring fusion data sent by the data acquisition module and displaying the fusion data in a second window to obtain second display information;
and comparing the first display information with the second display information, and acquiring a test result of the fusion performance test according to the comparison result.
In some embodiments, the industrial personal computer is further configured to:
acquiring a function test item;
acquiring image data acquired by the camera and displaying the image data on a third window to obtain real-time response information of the vehicle;
and determining the test result of the functional test item corresponding to the vehicle according to the real-time response information or the vehicle operation data of the vehicle CAN bus.
In some embodiments, the monitoring module is further configured to,
monitoring whether a diagnosis instruction exists;
when a diagnosis instruction is monitored, sending the diagnosis instruction to an ADAS controller so that the ADAS controller carries out function diagnosis based on the diagnosis instruction;
and acquiring the diagnosis information returned by the ADAS controller.
In some embodiments, the monitoring module is further configured to,
monitoring whether a flash program instruction exists;
responding to the flash program instruction, and acquiring a software flash package corresponding to the ADAS controller;
and sending the software flashing packet and the flashing program instruction to the ADAS controller so that the ADAS controller carries out program flashing according to the software flashing packet and the flashing program instruction.
In some of these embodiments, the power module comprises: the uninterruptible power supply comprises a storage battery; the storage battery is connected with the inverter, the inverter is respectively connected with the data acquisition module and the test module,
the uninterrupted power supply is used for outputting the voltage-stabilized voltage of the whole vehicle to the data acquisition module and the test module when the vehicle electrical input is normal, and simultaneously charging the storage battery;
and the inverter is used for converting the direct current of the storage battery and then outputting the converted direct current to the data acquisition module and the test module when the vehicle is electrically interrupted.
Compared with the prior art, the intelligent driving vehicle test system provided by the embodiment of the application comprises a test module and a test module, wherein the test module is used for detecting vehicle perception performance, fusion performance and vehicle functions according to the test data, so that test results of the vehicle perception performance, the fusion performance and the vehicle functions can be obtained, and subsequent vehicle performance analysis is facilitated. The current state and the collection task of the data collection module are remotely monitored through the monitoring module, and the data collection module can be uniformly managed on line.
The details of one or more embodiments of the application are set forth in the accompanying drawings and the description below to provide a more thorough understanding of the application.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a block diagram of a smart driving vehicle testing system in one embodiment;
FIG. 2 is a block diagram of a monitoring module in an intelligent driving vehicle testing system in one embodiment;
FIG. 3 is a schematic diagram of an intelligent driving vehicle testing system in one embodiment;
FIG. 4 is a schematic diagram of an alternate embodiment of a smart driving vehicle testing system;
FIG. 5 is a logic flow diagram that illustrates the visualization of test results by a test module in one embodiment;
FIG. 6 is a flow diagram of ADAS controller function diagnostics in one embodiment;
figure 7 is a flow diagram of an ADAS controller program flash in one embodiment.
Description of the drawings: 101. a data acquisition module; 102. a test module; 103. a monitoring module; 104. and a power supply module.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments provided in the present application without any inventive step are within the scope of protection of the present application.
It is obvious that the drawings in the following description are only examples or embodiments of the present application, and that it is also possible for a person skilled in the art to apply the present application to other similar contexts on the basis of these drawings without inventive effort. Moreover, it should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions must be made to achieve the developers' specific goals, such as compliance with system-related and business-related constraints, which may vary from one implementation to another.
Reference in the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the specification. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of ordinary skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments without conflict.
Unless defined otherwise, technical or scientific terms referred to herein shall have the ordinary meaning as understood by those of ordinary skill in the art to which this application belongs. Reference to "a," "an," "the," and similar words throughout this application are not to be construed as limiting in number, and may refer to the singular or the plural. The present application is directed to the use of the terms "including," "comprising," "having," and any variations thereof, which are intended to cover non-exclusive inclusions; for example, a process, method, system, article, or apparatus that comprises a list of steps or modules (elements) is not limited to the listed steps or elements, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus. Reference to "connected," "coupled," and the like in this application is not intended to be limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The term "plurality" as referred to herein means two or more. "and/or" describes an association relationship of associated objects, meaning that three relationships may exist, for example, "A and/or B" may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. Reference herein to the terms "first," "second," "third," and the like, are merely to distinguish similar objects and do not denote a particular ordering for the objects.
The intelligent driving vehicle test system described in the application can be used in the field of various automatic driving vehicle control, and the automatic driving system adopts advanced communication, computers, networks and control technologies to realize real-time and continuous control on vehicles. When the vehicle is operating in an autonomous driving mode, various locations may be navigated to using onboard sensors, allowing the vehicle to travel with minimal human interaction or in some cases without any passengers. The automatic driving system carries out planning decision on automatic driving of the vehicle based on a planning control algorithm, and motion planning and control are key operations in the automatic driving. The accuracy and efficiency of motion planning and control depends to a large extent on vehicle performance detection, including vehicle perceived performance, fusion performance, and vehicle functions.
Referring to fig. 1, the present embodiment provides an intelligent driving vehicle testing system, which includes: the device comprises a data acquisition module 101, a test module 102, a monitoring module 103 and a power module 104, wherein the power module 104 is respectively connected with the data acquisition module 101 and the test module 102, and the monitoring module 103 is wirelessly connected with the data acquisition module 101.
Specifically, the data acquisition module 101 is configured to acquire test data and send the test data to the test module 102 in real time; the test data comprises vehicle data and fusion data of all the vehicle data; the vehicle data includes image data, radar data, and vehicle operation data. Vehicle operating data includes, but is not limited to, vehicle dynamics data, position data, and the like. Wherein, the image data can be acquired through the image sensor; radar data is acquired through radar sensors such as laser radars, millimeter wave radars and the like; and acquiring vehicle operation data through a vehicle body sensor or a vehicle CAN bus.
The test module 102 is configured to receive the test data, and detect vehicle perception performance, fusion performance, and vehicle functions based on the test data. Wherein the vehicle perception performance includes the type of perception object such as lane line, vehicle, pedestrian, traffic identifier, traffic light and road guide line, the position, acceleration, etc. of the object; the fusion performance comprises the distance, speed and the like of the object; the vehicle functions comprise automatic emergency braking AEB, front collision warning FCW, lane keeping LKA, lane departure warning LDW, a front collision mitigation system CMSF, a rear collision mitigation system CMSR, avoidance control auxiliary EMA, a front crossroad traffic warning system FCTA, a rear crossroad traffic warning system RCTA, a door opening warning DOW, an adaptive cruise ACC, lane changing auxiliary LCA, traffic sign information TSI, emergency lane occupation warning ELOW and the like. Of course, the vehicle sensing performance, the fusion performance and the vehicle function may also be other attributes, and the invention is not particularly limited.
Referring to fig. 2, the monitoring module 103 is configured to remotely monitor the current status and the collection task of the data collection module 101. Optionally, the monitoring module 103 is an intelligent device with a display screen, such as a smart phone, a notebook computer, a server, and the like, and may check the current state and the collection task of the data collection module 101 through the display screen, and send a warning message when an abnormal condition is monitored.
The power module 104 is configured to supply power to the data acquisition module 101 and the test module 102, so as to ensure stable operation of the intelligent driving vehicle test system.
In the intelligent driving vehicle test system provided by this embodiment, fusion data test data including vehicle data and all vehicle data is acquired and sent to the test module 102 in real time, and the test module 102 detects vehicle perception performance, fusion performance and vehicle functions based on the test data, so that test results of the vehicle perception performance, the fusion performance and the vehicle functions can be obtained, and subsequent vehicle performance analysis is facilitated. The current state and the collection task of the data collection module 101 are remotely monitored through the monitoring module 103, and the data collection module 101 can be uniformly managed on line.
The embodiments of the present application are described and illustrated below by means of preferred embodiments.
In one embodiment, the data acquisition module 101 includes: the system comprises an ADAS controller, a camera, a radar sensor and an operation data acquisition module, wherein the camera, the radar sensor and the operation data acquisition module are electrically connected with the ADAS controller. The camera supports gmsl and fpdLink interfaces; the radar sensor supports CAN and CANFD interfaces; the operation data acquisition module supports flexray, CAN and CANFD interfaces; the ADAS controller output supports the usb interface and the ethernet.
The camera is configured to acquire image data, send the image data to the test module 102 and/or return the image data to the ADAS controller after being processed by the test module 102. The radar sensor is configured to collect radar data and send the radar data to the ADAS controller and the test module 102. The operation data acquisition module is configured to acquire vehicle operation data and send the vehicle operation data to the ADAS controller and the test module 102. The operation data acquisition module comprises vehicle body sensors such as a wheel rotation speed sensor, a steering angle sensor, a Global Positioning System (GPS), an Inertial Measurement Unit (IMU), and the like.
The ADAS controller is configured to receive and process the image data, the radar data, and the vehicle operation data to obtain fusion data, and transmit the fusion data to the test module 102.
Referring to fig. 3, in a specific embodiment, the ADAS controller may control the camera to acquire image data, send an image acquisition signal to the camera, acquire the image data after the camera receives the image acquisition signal, send the image data to the test module 102 for storage, and receive the image data returned after being processed by the test module 102 to obtain sensing data. The radar sensor collects radar data and sends the radar data to the ADAS controller and the test module 102 through a CAN/CANFD interface; similarly, the operation data acquisition module acquires vehicle operation data and sends the vehicle operation data to the ADAS controller and the test module 102 through the CAN/CANFD interface. Then, the ADAS controller receives and processes the image data, the radar data, and the vehicle operation data to obtain fusion data, and transmits the fusion data to the test module 102 for storage and vehicle performance test.
Optionally, as shown in fig. 4, the camera may also be controlled by the video capture card to capture an image, first, the video capture card sends an image capture signal to the camera through the mipi protocol, and the camera starts to capture image data after receiving the image capture signal. The camera then sends the image data to the FPD-Link III serializer with a CSI-2 interface according to the mipi protocol. And the serializer carries out serial processing on the image data and then returns the image data to the video acquisition card through the FPD-Link III interface. The video acquisition card receives the serialized image data, transmits the serialized image data to the ADAS controller through the output end of the video acquisition card, and simultaneously stores the deserialized image data.
Referring to fig. 3-4, in one embodiment, the test module 102 includes: the industrial computer, connect in video card, 5G module, data card, ethernet card and the vehicle mounted memory of industrial computer, the 5G module is connected with video card, data card and ethernet card electricity.
The video card is used for receiving the image data sent by the camera and copying the image data to the vehicle-mounted memory; and/or receiving the image data sent by the camera, converting the format of the image data, returning the image data to the ADAS controller, and copying the image data to the vehicle-mounted memory.
The data card is used for receiving radar data sent by the radar sensor and vehicle operation data sent by the operation data acquisition module. The ethernet card is configured to receive the fusion data sent by the data acquisition module 101. And the 5G module is used for sending the test data to a remote server for real-time storage. The industrial personal computer is used for acquiring image data in the video card, radar data and vehicle operation data in the data card and fusion data in the Ethernet card to perform performance detection; the performance detection comprises vehicle perception performance testing, fusion performance testing and function testing.
In this embodiment, the acquisition module is configured before the test. Specifically, the configuration information of the vehicle, such as the device number, the project information, the vehicle information, the CAN protocol parameter, the TCP/IP protocol parameter, etc., is acquired, so as to collect the image data, the radar data and the vehicle operation data in real time.
In this embodiment, on one hand, the video card receives the image data sent by the camera and copies the image data to the vehicle-mounted memory, so as to realize the interception of the image data and complete the local storage of the image data; and on the other hand, the image data sent by the camera is received, the format of the image data is converted and then the image data is returned to the ADAS controller for subsequent data fusion, and the image data is copied to the vehicle-mounted memory for local storage.
Of course, in this embodiment, the test data may also be saved in a customized manner according to the save request of the user. Specifically, when a storage request of a user is received, the vehicle data and the perception fusion data are stored in a specific storage path in a specific format according to the storage request.
In this embodiment, after the data acquisition module 101 acquires the test data, the test data is sent to the test module 102. The test data includes vehicle data and fused data of all vehicle data. The vehicle data comprises image data acquired by the camera, perception data obtained after the image data is subjected to format conversion by the video card and returned to the ADAS controller, radar data acquired by a radar sensor and vehicle operation data of a vehicle CAN bus acquired by an operation data acquisition module; the fusion data is a fusion result of all vehicle data after algorithm processing, reflects the perception and fusion capability of the ADAS controller, and is an important evaluation index of vehicle performance. The 5G module is connected with the remote server, and the test data are sent to the remote server for real-time storage, the module has an ultra-fast network transmission rate, the transmission speed can reach average 500Mbps, the data storage of 3.7GB is supported per minute, the real-time uploading of the collected test data can be realized, and the efficient collection and safety of the data are ensured. If data cannot be transmitted due to other reasons such as network failure, the data can be stored in the local vehicle-mounted memory. And (4) optional. Because the data volume that general real car gathered is big among the intelligent driving process, the transmission rate that needs far surpasss ordinary hard disk transmission rate, this embodiment can adopt disk array storage when local storage, rises write-in speed for data can in time be saved, avoids data loss.
Referring to fig. 5, in one embodiment, the test module 102 further includes: and the display is electrically connected with the industrial personal computer. After the test module 102 receives the sensing data, the fusion data and the vehicle operation data of the ADAS controller, the test result of the performance detection is selectively displayed in an imaging manner, so that the performance of the vehicle and the sensing and fusion capabilities of the ADAS controller can be determined in real time.
In one embodiment, the industrial personal computer is further used for carrying out a vehicle perception performance test:
and acquiring image data acquired by the camera and perception data obtained after the image data is subjected to format conversion by the video card and then returned to the ADAS controller. The format conversion processes the image data into a data type (such as a raw type) that can be recognized by the ADAS controller, processes the image data and the perception data into a data type that can be displayed, and displays the data type on the display in an overlapping manner to obtain an overlapping image, where the display attribute information of the overlapping image includes but is not limited to: target ID, lateral longitudinal position, lateral longitudinal velocity, acceleration, etc. And comparing the perception performances of the position, the category and the like of the object which is perceived based on the superposed image, and obtaining a test result of the vehicle perception performance test according to the comparison result. If the deviation between the display information of the perception object and the real image data of the image data exceeds a preset value, the perception result is abnormal, otherwise, the perception test result is normal.
In one embodiment, the industrial personal computer is further configured to perform a fusion performance test:
acquiring image data acquired by the camera and displaying the image data in a first window to obtain first display information; acquiring the fusion data sent by the data acquisition module 101 and displaying the fusion data on a second window to obtain second display information; and comparing the first display information with the second display information, and acquiring a test result of the fusion performance test according to the comparison result. If the deviation of the fusion performance of the distance, the speed and the like of the object in the display information of the second window and the real display information of the first window exceeds a preset value, the fusion performance of the ADAS controller is abnormal.
In one embodiment, the industrial personal computer is further used for performing a functional test:
acquiring a function test item; acquiring image data acquired by the camera and displaying the image data on a third window to obtain real-time response information of the vehicle; and determining the test result of the functional test item corresponding to the vehicle according to the real-time response information or the vehicle operation data of the vehicle CAN bus.
For example, in one particular embodiment, the lane keeping LKA function of the vehicle may be detected. Specifically, the function test item to be detected is acquired as lane keeping LKA, image data acquired by the camera is acquired, the image data is processed into a data type capable of being displayed, and the data type is displayed in a third window. At this time, if the situation that the vehicle deviates from the road or is pressed through the third window is observed, when the lane keeping function is normal, the vehicle should correct the direction of the vehicle in real time. On one hand, real-time response information of the vehicle can be obtained by observing the vehicle from the third window, namely whether the direction of the vehicle can be corrected or not, if the direction of the vehicle cannot be corrected or the vehicle cannot be guaranteed to run in a straight line in the center of the lane, the lane keeping LKA function is abnormal; on the other hand, whether the vehicle direction CAN be corrected or not CAN be judged according to the analysis result by analyzing the vehicle operation data of the vehicle CAN bus, and if the vehicle direction is not corrected and responded in the analysis result, the lane keeping LKA function is abnormal.
In one embodiment, the industrial personal computer is further configured to perform operation log recording, including but not limited to recording operation logs and operation logs of each component in the monitoring module 103, such as state information and occurrence time of module startup, self-check, exception, fault, recovery, and shutdown, and recording time and main operation conditions of an operator entering or exiting the system in the operation logs.
Referring to fig. 6, in one embodiment, the monitoring module 103 is further configured to,
monitoring whether a diagnosis instruction exists;
when a diagnosis instruction is monitored, sending the diagnosis instruction to an ADAS controller so that the ADAS controller carries out function diagnosis based on the diagnosis instruction;
and acquiring the diagnosis information returned by the ADAS controller.
In this embodiment, remote diagnosis of the ADAS controller may be achieved by the monitoring module 103. Specifically, the monitoring module 103 may monitor a diagnosis instruction sent by a manager in real time, obtain an ADAS controller to be diagnosed after monitoring the diagnosis instruction, send a diagnosis command to the corresponding ADAS controller, and obtain a diagnosis result according to diagnosis information returned by the ADAS controller.
Referring to fig. 7, in one embodiment, the monitoring module 103 is further configured to,
monitoring whether a flash program instruction exists;
responding to the flash program instruction, and acquiring a software flash package corresponding to the ADAS controller;
and sending the software flashing packet and the flashing program instruction to the ADAS controller so that the ADAS controller carries out program flashing according to the software flashing packet and the flashing program instruction.
In this embodiment, remote program flashing to the ADAS controller may be implemented by the monitoring module 103. Specifically, the monitoring module 103 may monitor a flash program instruction sent by a manager in real time, obtain an ADAS controller to be flashed when the flash program instruction is monitored, and send a flash instruction and a software flash packet to the corresponding ADAS controller, so that the ADAS controller performs program flash according to the software flash packet and the flash program instruction.
In one embodiment, the power module 104 includes: the uninterruptible power supply comprises a storage battery; the storage battery is connected with the inverter, and the inverter is respectively connected with the data acquisition module 101 and the test module 102. The uninterruptible power supply is configured to output the regulated voltage of the vehicle power to the data acquisition module 101 and the test module 102, and charge the storage battery simultaneously when the vehicle power input is normal. The inverter is configured to convert the direct current of the storage battery into alternating current and output the alternating current to the data acquisition module 101 and the test module 102 when the vehicle is electrically interrupted.
The existing acquisition scheme equipment is powered by a whole vehicle or a storage battery, and the whole vehicle is powered by the storage battery, so that the equipment is in power failure risk due to unstable voltage, and the storage battery is powered by the storage battery and needs to be frequently replaced. In this embodiment, a ups (uninterruptible Power system) Power supply is used to ensure that the data acquisition module 101 and the test module 102 work normally, thereby avoiding damage to hardware and software caused by Power failure of the device when the voltage is unstable.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (11)
1. An intelligent driving vehicle testing system, comprising: the device comprises a data acquisition module, a test module, a monitoring module and a power module, wherein the power module is respectively connected with the data acquisition module and the test module, and the monitoring module is wirelessly connected with the data acquisition module;
the data acquisition module is used for acquiring test data and sending the test data to the test module in real time; the test data comprises vehicle data and fusion data of all the vehicle data;
the test module is used for receiving the test data and detecting the vehicle perception performance, the fusion performance and the vehicle function based on the test data;
the monitoring module is used for remotely monitoring the current state and the acquisition task of the data acquisition module;
and the power supply module is used for supplying power to the data acquisition module and the test module.
2. The smart-driven vehicle testing system of claim 1, wherein the vehicle data includes image data, radar data, and vehicle operation data.
3. The smart driven vehicle testing system of claim 2, wherein the data collection module comprises: the system comprises an ADAS controller, a camera, a radar sensor and an operation data acquisition module, wherein the camera, the radar sensor and the operation data acquisition module are electrically connected with the ADAS controller;
the camera is used for acquiring image data, sending the image data to the test module and/or returning the image data to the ADAS controller after being processed by the test module;
the radar sensor is used for acquiring radar data and sending the radar data to the ADAS controller and the test module;
the operation data acquisition module is used for acquiring vehicle operation data and sending the vehicle operation data to the ADAS controller and the test module;
and the ADAS controller is used for receiving and processing the image data, the radar data and the vehicle operation data to obtain fusion data, and transmitting the fusion data to the test module.
4. The smart-driven vehicle testing system of claim 3, wherein the testing module comprises: the system comprises an industrial personal computer, a video card, a 5G module, a data card, an Ethernet card and a vehicle-mounted memory, wherein the video card, the 5G module, the data card and the Ethernet card are connected with the industrial personal computer;
the video card is used for receiving the image data sent by the camera and copying the image data to the vehicle-mounted memory; and/or receiving the image data sent by the camera, converting the format of the image data, returning the image data to the ADAS controller, and copying the image data to the vehicle-mounted memory;
the data card is used for receiving radar data sent by a radar sensor and vehicle operation data sent by the operation data acquisition module;
the Ethernet card is used for receiving the fusion data sent by the data acquisition module;
the 5G module is used for sending the test data to a remote server for real-time storage;
the industrial personal computer is used for acquiring image data in the video card, radar data and vehicle operation data in the data card and fusion data in the Ethernet card to perform performance detection; the performance detection comprises vehicle perception performance testing, fusion performance testing and function testing.
5. The smart-driven vehicle testing system of claim 4, wherein the testing module further comprises: a display device is arranged on the base plate,
the display is electrically connected with the industrial personal computer and used for displaying the test result of the performance detection in an imaging mode.
6. The intelligent driving vehicle test system of claim 5, wherein the industrial personal computer is further configured to:
acquiring image data acquired by the camera and perception data obtained after the image data is subjected to format conversion by the video card and then returned to the ADAS controller;
displaying the image data and the perception data on the display in an overlapping mode to obtain an overlapped image;
and comparing the vehicle information based on the superposed image, and acquiring a test result of the vehicle perception performance test according to the comparison result.
7. The intelligent driving vehicle test system of claim 5, wherein the industrial personal computer is further configured to:
acquiring image data acquired by the camera and displaying the image data in a first window to obtain first display information;
acquiring fusion data sent by the data acquisition module and displaying the fusion data in a second window to obtain second display information;
and comparing the first display information with the second display information, and acquiring a test result of the fusion performance test according to the comparison result.
8. The intelligent driving vehicle test system of claim 5, wherein the industrial personal computer is further configured to:
acquiring a function test item;
acquiring image data acquired by the camera and displaying the image data on a third window to obtain real-time response information of the vehicle;
and determining the test result of the functional test item corresponding to the vehicle according to the real-time response information or the functional state data of the vehicle CAN bus.
9. The smart-driven vehicle testing system of claim 3, wherein the monitoring module is further configured to,
monitoring whether a diagnosis instruction exists;
when a diagnosis instruction is monitored, sending the diagnosis instruction to an ADAS controller so that the ADAS controller carries out function diagnosis based on the diagnosis instruction;
and acquiring the diagnosis information returned by the ADAS controller.
10. The smart-driven vehicle testing system of claim 3, wherein the monitoring module is further configured to,
monitoring whether a flash program instruction exists;
responding to the flash program instruction, and acquiring a software flash package corresponding to the ADAS controller;
and sending the software flashing packet and the flashing program instruction to the ADAS controller so that the ADAS controller carries out program flashing according to the software flashing packet and the flashing program instruction.
11. The smart-driven vehicle testing system of claim 1, wherein the power module comprises: the uninterruptible power supply comprises a storage battery; the storage battery is connected with the inverter, the inverter is respectively connected with the data acquisition module and the test module,
the uninterrupted power supply is used for outputting the voltage-stabilized voltage of the whole vehicle to the data acquisition module and the test module when the vehicle electrical input is normal, and simultaneously charging the storage battery;
and the inverter is used for converting the direct current of the storage battery and then outputting the converted direct current to the data acquisition module and the test module when the vehicle is electrically interrupted.
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