CN113778900A - Automatic driving test field information acquisition and multi-vehicle test method and system based on V2X - Google Patents
Automatic driving test field information acquisition and multi-vehicle test method and system based on V2X Download PDFInfo
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Abstract
The invention provides an automatic driving test field information acquisition and multi-vehicle test method and system based on V2X, comprising the following steps: after receiving the test request information of the test vehicle through V2X communication, the test field cloud control center sends an information acquisition signal to the drive test equipment in the test field; the cloud control center judges whether the conditions of the test field meet the test application requirements of the current test vehicle or not based on the test environment information collected by the drive test equipment, and sends test marks to the test vehicles meeting the test application requirements to inform the test vehicles to enter the test field to start testing; after the test vehicle reaches the test unit, sending test vehicle information to the road test equipment through V2X communication and entering a waiting queue, and storing the test vehicle information by the road test equipment through a data storage module; and the drive test equipment sequentially checks the test identification of the test vehicle to acquire the test vehicle information stored in the data storage module to test the test unit. The invention improves the utilization rate of the test unit in the test field and the overall test efficiency.
Description
Technical Field
The invention relates to the field of automatic driving test, in particular to a method and a system for acquiring information of an automatic driving test field and testing multiple vehicles based on V2X.
Background
With the gradual development of science and technology, automatic driving is receiving more and more attention. Compared with the traditional automobile, the automatic driving technology can solve the serious problems of traffic safety, traffic jam and the like in a scientific and intelligent mode. At present, the sensing difficulty of the automatic driving automobile can be effectively reduced by the gradually improved V2X communication technology, the driving safety is improved, and more intelligent automatic driving is realized through information interaction and sharing.
The autopilot test is critical before the autonomous vehicle formally approaches the road. The automatic driving test field in China is still in a construction improvement stage, the test efficiency of the test field is low, most of test units in the test field are in an idle state, the progress of automatic driving tests is slowed down, and the development of automatic driving technology is hindered.
Patent document CN109993849A (application No. 201910223012.3) discloses a simulation method, device and system for reproducing an automatic driving test scene, wherein the simulation method comprises the following steps: constructing a scene reproduction model of a scene to be reproduced; controlling the automatic driving vehicle and the unmanned test vehicle to realize scene reproduction in the test field according to the scene reproduction model; and acquiring data information of the automatic driving vehicle and the unmanned test vehicle in the scene reproduction process in real time. The automatic driving test scene reappearing simulation system comprises a control center, a test field and controlled vehicles located in the test field, the controlled vehicles comprise automatic driving vehicles and unmanned test vehicles, an automatic driving test scene reappearing simulation device runs on a server of the control center, and the device comprises a scene model building module, a scene reappearing realization module and a result obtaining module.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an automatic driving test field information acquisition and multi-vehicle test method and system based on V2X.
The invention provides an automatic driving test field information acquisition and multi-vehicle test method based on V2X, which comprises the following steps:
step M1: after receiving the test request information of the test vehicle through V2X communication, the test field cloud control center sends an information acquisition signal to the drive test equipment in the test field;
step M2: the cloud control center judges whether the conditions of the test field meet the test application requirements of the test vehicle or not based on the test environment information collected by the road test equipment, and sends test marks to the test vehicle meeting the test application requirements to inform the test vehicle to enter the test field to start testing;
step M3: after the test vehicle reaches the test unit, sending test vehicle information to the road test equipment through V2X communication and entering a waiting queue, and storing the test vehicle information by the road test equipment through a data storage module;
step M4: and the drive test equipment sequentially acquires the test vehicle information stored in the local according to the test identification of the test vehicle, and informs the test vehicles in the waiting queue to test the test unit.
Preferably, the test request information in the step M1 includes basic parameters of the vehicle body and preset test requirements;
the test preset requirements include: time requirements, weather requirements, road surface condition requirements, and V2X communication signal strength requirements.
Preferably, the test environment information in the step M2 includes weather information, surrounding road condition information, and V2X communication signal strength information.
Preferably, the step M2 includes: the cloud control center performs fusion processing on the test environment information acquired by all the drive test equipment, and analyzes and judges whether the test field condition meets the test application requirement or not according to the fused test environment information; when the test field condition does not meet the test application requirement, the cloud control center notifies to carry out test environment debugging processing, information is sent to notify the cloud control platform after debugging is finished, and the cloud control center carries out information acquisition and judgment operation again; and when the conditions of the test field meet the requirements of the test application, placing a test mark on the body of the test vehicle, and informing the test vehicle of entering the test field to start testing.
Preferably, the test identifier in the step M2 includes a two-dimensional code, a barcode or a test license plate containing the test vehicle number information.
Preferably, the test vehicle information in the step M3 includes the current test vehicle oil/electricity quantity, in-vehicle tester information, in-vehicle sensing device status information, in-vehicle V2X communication module status information, in-vehicle memory capacity information, vehicle safety system status information, and test vehicle number.
Preferably, the step M4 includes:
step M4.1: the drive test equipment scans the test identification of the first vehicle in the waiting queue and obtains the test vehicle number, and the test vehicle information stored in the data storage module is matched according to the test vehicle number;
step M4.2: acquiring test vehicle information according to the test vehicle number, sending a test signal to a first vehicle in the waiting queue by the drive test equipment, informing the vehicles to test the test unit, entering the next test unit by the first vehicle after the test is finished, and beginning to check the subsequent vehicles in the waiting queue by the drive test equipment;
step M4.3: and after the test vehicle completes the tests of all the test units, sending a test completion signal to the cloud control center.
The invention provides an automatic driving test field information acquisition and multi-vehicle test system based on V2X, which comprises:
the system comprises a test vehicle, a drive test device and a cloud control center, wherein the test vehicle is provided with a V2X communication module;
the drive test equipment comprises a sensing module, a sensing information processing module, a data storage module and a V2X communication module of the drive test equipment;
the V2X communication module is used for sending test request information and test vehicle information to the cloud control center and the drive test equipment and receiving test signals of the drive test equipment;
the sensing module is used for acquiring test field information and acquiring a test identifier of a test vehicle;
the perception information processing module is used for identifying the test identification of the test vehicle and matching the test vehicle information stored in the data storage module;
the data storage module is used for storing the test vehicle information of the test vehicle;
the V2X communication module of the drive test equipment is used for receiving test request information of a test vehicle and sending a test signal to the test vehicle;
module M1: after receiving the test request information of the test vehicle through V2X communication, the test field cloud control center sends an information acquisition signal to the drive test equipment in the test field;
module M2: the cloud control center judges whether the conditions of the test field meet the test application requirements of the current test vehicle or not based on the test environment information collected by the drive test equipment, and sends test marks to the test vehicles meeting the test application requirements to inform the test vehicles to enter the test field to start testing;
module M3: after the test vehicle reaches the test unit, sending test vehicle information to the road test equipment through V2X communication and entering a waiting queue, and storing the test vehicle information by the road test equipment through a data storage module;
module M4: and the drive test equipment sequentially checks the test identification of the test vehicle to acquire the test vehicle information stored in the data storage module to test the test unit.
Preferably, the test request information in the module M1 includes basic parameters of the vehicle body and preset test requirements;
the test preset requirements include: time requirements, weather requirements, road surface condition requirements, and V2X communication signal strength requirements;
the testing environment information in the module M2 comprises weather information, surrounding road condition information and V2X communication signal strength information;
the module M2 includes: the cloud control center performs fusion processing on the test environment information acquired by all the drive test equipment, and analyzes and judges whether the test field condition meets the test application requirement or not according to the fused test environment information; when the test field condition does not meet the test application requirement, the cloud control center notifies to carry out test environment debugging processing, information is sent to notify the cloud control platform after debugging is finished, and the cloud control center carries out information acquisition and judgment operation again; when the conditions of the test field meet the requirements of the test application, placing a test mark on the body of the test vehicle, and informing the test vehicle of entering the test field to start testing;
the test identification in the module M2 comprises a two-dimensional code, a bar code or a test license plate containing the test vehicle number information.
Preferably, the test vehicle information in the module M3 includes the current test vehicle oil/electricity quantity, in-vehicle tester information, in-vehicle sensing equipment state information, in-vehicle V2X communication module state information, in-vehicle memory capacity information, vehicle safety system state information, and test vehicle number;
the module M4 includes:
module M4.1: the drive test equipment scans the test identification of the first vehicle in the waiting queue and obtains the test vehicle number, and the test vehicle information stored in the data storage module is matched according to the test vehicle number;
module M4.2: acquiring test vehicle information according to the test vehicle number, sending a test signal to the test vehicle, informing the vehicle to test the test unit, after the test is finished, enabling the first vehicle to enter the next test unit, and enabling the road test equipment to start to test the subsequent vehicles in the waiting queue;
module M4.3: and after the test vehicle completes the tests of all the test units, sending a test completion signal to the cloud control center.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention realizes the test request information acquisition and the test field test environment information acquisition of the test vehicle based on the V2X communication technology, meets different test requirements of the test vehicle through the debugging processing of the test field, and meanwhile, the acquired test environment information also has reference value for the evaluation of the test.
2. Based on the V2X communication technology, the invention completes the bidirectional binding between the test vehicle and the road test equipment by introducing the test identifier, and realizes a multi-vehicle test mode, thereby improving the utilization rate of the test unit in the test field and improving the overall test efficiency of the test field.
3. According to the invention, the information acquisition and multi-vehicle test of the automatic driving test field are completed cooperatively by the test vehicle, the road test equipment and the cloud control center, so that the manual operation is reduced to a certain extent, the time is saved, and the intellectualization of the automatic driving test field is realized.
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Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic diagram of the overall structure of an automatic driving test field information collection and multi-vehicle test method and system provided by the present invention;
FIG. 2 is a flow chart of information collection before a test vehicle enters a test field according to the present invention;
FIG. 3 is a schematic view of a test mark for testing a side portion of a vehicle body according to the present invention;
FIG. 4 is a flow chart of a multi-vehicle test of a test unit provided by the present invention;
FIG. 5 is a schematic diagram of a test cell provided in the present invention;
fig. 6 is a schematic diagram of a drive test device module according to the present invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
Example 1
The invention provides an automatic driving test field information acquisition and multi-vehicle test method based on V2X, which comprises the following steps:
step M1: after receiving the test request information of the test vehicle through V2X communication, the test field cloud control center sends an information acquisition signal to the drive test equipment in the test field;
step M2: the cloud control center judges whether the conditions of the test field meet the test application requirements of the test vehicle or not based on the test environment information collected by the road test equipment, and sends test marks to the test vehicle meeting the test application requirements to inform the test vehicle to enter the test field to start testing;
step M3: after the test vehicle reaches the test unit, sending test vehicle information to the road test equipment through V2X communication, enabling the test vehicle information to enter a waiting queue, and locally storing the test vehicle information by the road test equipment;
step M4: and the drive test equipment sequentially acquires the test vehicle information stored in the local according to the test identification of the test vehicle, and informs the test vehicles in the waiting queue to test the test unit.
Specifically, the test request information in the step M1 includes basic parameters of the vehicle body and preset test requirements;
the test preset requirements include: time requirements, weather requirements, road surface condition requirements, and V2X communication signal strength requirements.
Specifically, the test environment information in the step M2 includes weather information, surrounding road condition information, and V2X communication signal strength information.
Specifically, the step M2 includes: the cloud control center performs fusion processing on the test environment information acquired by all the drive test equipment, and analyzes and judges whether the test field condition meets the test application requirement or not according to the fused test environment information; when the test field condition does not meet the test application requirement, the cloud control center notifies to carry out test environment debugging processing, information is sent to notify the cloud control platform after debugging is finished, and the cloud control center carries out information acquisition and judgment operation again; and when the conditions of the test field meet the requirements of the test application, placing a test mark on the side part of the vehicle body of the test vehicle, and informing the test vehicle of entering the test field to start testing.
Specifically, the test identifier in the step M2 includes a two-dimensional code, a barcode, or a test license plate containing the test vehicle number information.
Specifically, the test vehicle information in the step M3 includes the current test vehicle oil/electricity quantity, in-vehicle tester information, in-vehicle sensing device status information, in-vehicle V2X communication module status information, in-vehicle memory capacity information, vehicle safety system status information, and test vehicle number.
Specifically, the step M4 includes:
step M4.1: the drive test equipment scans the test identification of the first vehicle in the waiting queue and obtains the test vehicle number, and the test vehicle information stored in the data storage module is matched according to the test vehicle number;
step M4.2: acquiring test vehicle information according to the test vehicle number, sending a test signal to a first vehicle in the waiting queue by the drive test equipment, informing the vehicles to test the test unit, entering the next test unit by the first vehicle after the test is finished, and beginning to check the subsequent vehicles in the waiting queue by the drive test equipment;
step M4.3: and after the test vehicle completes the tests of all the test units, sending a test completion signal to the cloud control center.
The invention provides an automatic driving test field information acquisition and multi-vehicle test system based on V2X, which comprises:
the system comprises a test vehicle, a drive test device and a cloud control center, wherein the test vehicle is provided with a V2X communication module;
the drive test equipment comprises a sensing module, a sensing information processing module, a data storage module and a V2X communication module of the drive test equipment;
the V2X communication module is used for sending test request information and test vehicle information to the cloud control center and the drive test equipment and receiving test signals of the drive test equipment;
the sensing module is used for acquiring test field information and acquiring a test identifier of a test vehicle;
the perception information processing module is used for identifying the test identification of the test vehicle and matching the test vehicle information stored in the data storage module;
the data storage module is used for storing the test vehicle information of the test vehicle;
the V2X communication module of the drive test equipment is used for receiving test request information of a test vehicle and sending a test signal to the test vehicle;
module M1: after receiving the test request information of the test vehicle through V2X communication, the test field cloud control center sends an information acquisition signal to the drive test equipment in the test field;
module M2: the cloud control center judges whether the conditions of the test field meet the test application requirements of the test vehicle or not based on the test environment information collected by the road test equipment, and sends test marks to the test vehicle meeting the test application requirements to inform the test vehicle to enter the test field to start testing;
module M3: after the test vehicle reaches the test unit, sending test vehicle information to the road test equipment through V2X communication, enabling the test vehicle information to enter a waiting queue, and locally storing the test vehicle information by the road test equipment;
module M4: and the drive test equipment sequentially acquires the test vehicle information stored in the local according to the test identification of the test vehicle, and informs the test vehicles in the waiting queue to test the test unit.
Specifically, the test request information in the module M1 includes basic parameters of the vehicle body and preset test requirements;
the test preset requirements include: time requirements, weather requirements, road surface condition requirements, and V2X communication signal strength requirements.
Specifically, the test environment information in the module M2 includes weather information, surrounding road condition information, and V2X communication signal strength information.
Specifically, the module M2 includes: the cloud control center performs fusion processing on the test environment information acquired by all the drive test equipment, and analyzes and judges whether the test field condition meets the test application requirement or not according to the fused test environment information; when the test field condition does not meet the test application requirement, the cloud control center notifies to carry out test environment debugging processing, information is sent to notify the cloud control platform after debugging is finished, and the cloud control center carries out information acquisition and judgment operation again; and when the conditions of the test field meet the requirements of the test application, placing a test mark on the side part of the vehicle body of the test vehicle, and informing the test vehicle of entering the test field to start testing.
Specifically, the test identifier in the module M2 includes a two-dimensional code, a barcode, or a test license plate containing the test vehicle number information.
Specifically, the test vehicle information in the module M3 includes the current test vehicle oil/electricity quantity, in-vehicle tester information, in-vehicle sensing device status information, in-vehicle V2X communication module status information, in-vehicle memory capacity information, vehicle safety system status information, and test vehicle number.
Specifically, the module M4 includes:
module M4.1: the drive test equipment scans the test identification of the first vehicle in the waiting queue and obtains the test vehicle number, and the test vehicle information stored in the data storage module is matched according to the test vehicle number;
module M4.2: acquiring test vehicle information according to the test vehicle number, sending a test signal to a first vehicle in the waiting queue by the drive test equipment, informing the vehicles to test the test unit, entering the next test unit by the first vehicle after the test is finished, and beginning to check the subsequent vehicles in the waiting queue by the drive test equipment;
module M4.3: and after the test vehicle completes the tests of all the test units, sending a test completion signal to the cloud control center.
Example 2
Example 2 is a modification of example 1
As shown in fig. 1, an embodiment of the present invention provides an automatic driving test site information collection and multi-vehicle test method based on V2X, which includes the following steps:
after receiving the test request information of the test vehicle through V2X communication, the test field cloud control center sends an information acquisition signal to the drive test equipment in the test field;
the cloud control center judges whether the conditions of the test field meet the requirements of test application or not based on the test environment information collected by the drive test equipment, and sends test marks to the test vehicles meeting the requirements of the test application to inform the test vehicles to enter the test field to start testing;
after the test vehicle reaches the test unit, sending test request information to the drive test equipment through V2X communication, and enabling the drive test equipment to enter a waiting queue, wherein the drive test equipment stores the test request information locally;
and the drive test equipment sequentially informs the test vehicles in the waiting queue to test the test unit after checking the test identification of the test vehicle.
Specifically, the test request information sent by the test vehicle to the cloud control center comprises basic parameters of the vehicle body and additional test requirements.
Specifically, the test additional requirements include time requirements, weather requirements, road surface condition requirements, and V2X communication signal strength requirements.
Specifically, the test environment information collected by the drive test equipment includes weather information, surrounding road condition information, and V2X communication signal strength.
As shown in fig. 2, the specific process before the test vehicle enters the test field includes:
the test vehicle enters a parking area of the test field;
the test vehicle sends test request information to the cloud control platform through V2X communication;
the cloud control platform broadcasts and sends information acquisition signals to the drive test equipment in the test field, and the drive test equipment starts to acquire information and sends all the acquired information to the cloud control platform;
the cloud control center performs fusion processing on the test environment information acquired by all the drive test equipment, and analyzes and judges whether the conditions of the test field meet the requirements of test application;
if the test field condition does not meet the test application requirement, the test field staff carries out debugging processing, and sends information to inform the cloud control platform after the test field staff finishes debugging;
and if the test field conditions meet the test application requirements, the test field staff issues test identifications to the test vehicles, and the test vehicles enter the test field to start testing.
As shown in fig. 3, the test mark issued by the test field worker to the test vehicle should be placed on the side of the vehicle body of the test vehicle, so as to facilitate the inspection and identification of the drive test equipment.
Specifically, the test mark at least comprises one of a two-dimensional code, a bar code or a test license plate containing test vehicle information.
Referring to fig. 4 and 5, the specific process of the multi-vehicle test of the test unit includes:
the test vehicle enters the test unit;
the vehicle sends test request information to the drive test equipment through the V2X communication module and enters a test waiting queue;
the drive test equipment scans and identifies the test identification of the first vehicle in the waiting queue, and matches the locally stored test request information;
the drive test equipment sends a test signal to the first vehicle in the waiting queue and informs the vehicle to test the test unit;
after the test is finished, the first vehicle enters the next test unit, and the road test equipment starts to check the subsequent vehicles in the waiting queue;
and after the test vehicle completes the tests of all the test units, sending a test completion signal to the cloud control center.
Specifically, the test request information sent by the test vehicle to the road test equipment includes: current test vehicle fuel/charge, in-vehicle test personnel information, in-vehicle sensing device status information, in-vehicle V2X communication module status information, in-vehicle memory capacity information, and vehicle safety system status information.
The embodiment of the invention also provides an automatic driving test field information acquisition and multi-vehicle test system based on V2X, which comprises a test vehicle provided with a V2X communication module, a drive test device and a cloud control center;
the V2X communication module of the test vehicle is used for sending test request information to the cloud control center and the drive test equipment and receiving test signals of the drive test equipment;
the cloud control platform is used for sending information acquisition signals to the drive test equipment and informing test field workers to carry out test environment debugging processing.
As shown in fig. 6, the drive test device includes a sensing module, a sensing information processing module, a data storage module, and a V2X communication module;
the sensing module of the drive test equipment is used for acquiring test field information and acquiring a test identifier of a test vehicle;
the perception information processing module of the drive test equipment is used for identifying the test identification of the test vehicle and matching the test request information stored locally;
the data storage module of the drive test equipment is used for storing test request information of a test vehicle;
the V2X communication module of the drive test equipment is used for receiving test request information of a test vehicle and sending a test signal to the test vehicle.
Those skilled in the art will appreciate that, in addition to implementing the systems, apparatus, and various modules thereof provided by the present invention in purely computer readable program code, the same procedures can be implemented entirely by logically programming method steps such that the systems, apparatus, and various modules thereof are provided in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system, the device and the modules thereof provided by the present invention can be considered as a hardware component, and the modules included in the system, the device and the modules thereof for implementing various programs can also be considered as structures in the hardware component; modules for performing various functions may also be considered to be both software programs for performing the methods and structures within hardware components.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. The utility model provides a method for automatic drive test field information acquisition and multi-vehicle test based on V2X which characterized in that includes:
step M1: after receiving the test request information of the test vehicle through V2X communication, the test field cloud control center sends an information acquisition signal to the drive test equipment in the test field;
step M2: the cloud control center judges whether the conditions of the test field meet the test application requirements of the test vehicle or not based on the test environment information collected by the road test equipment, and sends test marks to the test vehicle meeting the test application requirements to inform the test vehicle to enter the test field to start testing;
step M3: after the test vehicle reaches the test unit, sending test vehicle information to the road test equipment through V2X communication and entering a waiting queue, and storing the test vehicle information by the road test equipment through a data storage module;
step M4: and the drive test equipment sequentially acquires the test vehicle information stored in the local according to the test identification of the test vehicle, and informs the test vehicles in the waiting queue to test the test unit.
2. The V2X-based automatic driving test yard information collection and multi-vehicle testing method according to claim 1, wherein the test request information in the step M1 includes basic parameters of the vehicle body and preset test requirements;
the test preset requirements include: time requirements, weather requirements, road surface condition requirements, and V2X communication signal strength requirements.
3. The V2X-based automatic driving test yard information collection and multi-vehicle testing method according to claim 1, wherein the testing environment information in step M2 includes weather information, surrounding road condition information, and V2X communication signal strength information.
4. The V2X-based automated driving test yard information collection and multi-vehicle testing method according to claim 1, wherein the step M2 comprises: the cloud control center performs fusion processing on the test environment information acquired by all the drive test equipment, and analyzes and judges whether the test field condition meets the test application requirement or not according to the fused test environment information; when the test field condition does not meet the test application requirement, the cloud control center notifies to carry out test environment debugging processing, information is sent to notify the cloud control platform after debugging is finished, and the cloud control center carries out information acquisition and judgment operation again; and when the conditions of the test field meet the requirements of the test application, placing a test mark on the body of the test vehicle, and informing the test vehicle of entering the test field to start testing.
5. The V2X-based automatic driving test yard information collection and multi-vehicle testing method according to claim 1, wherein the test identification in the step M2 comprises a two-dimensional code, a bar code or a test license plate containing test vehicle number information.
6. The V2X-based AMT information collection and multi-vehicle testing method according to claim 1, wherein the test vehicle information in step M3 includes current test vehicle fuel/electricity quantity, in-vehicle tester information, on-vehicle sensing equipment status information, on-vehicle V2X communication module status information, on-vehicle storage capacity information, vehicle safety system status information, and test vehicle number.
7. The V2X-based automated driving test yard information collection and multi-vehicle testing method according to claim 1, wherein the step M4 comprises:
step M4.1: the drive test equipment scans the test identification of the first vehicle in the waiting queue and obtains the test vehicle number, and the test vehicle information stored in the data storage module is matched according to the test vehicle number;
step M4.2: acquiring test vehicle information according to the test vehicle number, sending a test signal to a first vehicle in the waiting queue by the drive test equipment, informing the vehicles to test the test unit, entering the next test unit by the first vehicle after the test is finished, and beginning to check the subsequent vehicles in the waiting queue by the drive test equipment;
step M4.3: and after the test vehicle completes the tests of all the test units, sending a test completion signal to the cloud control center.
8. The utility model provides an autopilot test field information acquisition and multi-car test system based on V2X which characterized in that includes:
the system comprises a test vehicle, a drive test device and a cloud control center, wherein the test vehicle is provided with a V2X communication module;
the drive test equipment comprises a sensing module, a sensing information processing module, a data storage module and a V2X communication module of the drive test equipment;
the V2X communication module is used for sending test request information and test vehicle information to the cloud control center and the drive test equipment and receiving test signals of the drive test equipment;
the sensing module is used for acquiring test field information and acquiring a test identifier of a test vehicle;
the perception information processing module is used for identifying the test identification of the test vehicle and matching the test vehicle information stored in the data storage module;
the data storage module is used for storing the test vehicle information of the test vehicle;
the V2X communication module of the drive test equipment is used for receiving test request information of a test vehicle and sending a test signal to the test vehicle;
module M1: after receiving the test request information of the test vehicle through V2X communication, the test field cloud control center sends an information acquisition signal to the drive test equipment in the test field;
module M2: the cloud control center judges whether the conditions of the test field meet the test application requirements of the current test vehicle or not based on the test environment information collected by the drive test equipment, and sends test marks to the test vehicles meeting the test application requirements to inform the test vehicles to enter the test field to start testing;
module M3: after the test vehicle reaches the test unit, sending test vehicle information to the road test equipment through V2X communication and entering a waiting queue, and storing the test vehicle information by the road test equipment through a data storage module;
module M4: and the drive test equipment sequentially checks the test identification of the test vehicle to acquire the test vehicle information stored in the data storage module to test the test unit.
9. The V2X-based automatic driving test yard information collection and multi-vehicle testing system according to claim 8, wherein the test request information in the module M1 includes basic parameters of vehicle body and preset test requirements;
the test preset requirements include: time requirements, weather requirements, road surface condition requirements, and V2X communication signal strength requirements;
the testing environment information in the module M2 comprises weather information, surrounding road condition information and V2X communication signal strength information;
the module M2 includes: the cloud control center performs fusion processing on the test environment information acquired by all the drive test equipment, and analyzes and judges whether the test field condition meets the test application requirement or not according to the fused test environment information; when the test field condition does not meet the test application requirement, the cloud control center notifies to carry out test environment debugging processing, information is sent to notify the cloud control platform after debugging is finished, and the cloud control center carries out information acquisition and judgment operation again; when the conditions of the test field meet the requirements of the test application, placing a test mark on the body of the test vehicle, and informing the test vehicle of entering the test field to start testing;
the test identification in the module M2 comprises a two-dimensional code, a bar code or a test license plate containing the test vehicle number information.
10. The V2X-based autopilot test yard information collection and multi-vehicle testing system according to claim 8, wherein the test vehicle information in module M3 includes current test vehicle fuel/power, in-vehicle test personnel information, on-vehicle sensing equipment status information, on-vehicle V2X communication module status information, on-vehicle storage capacity information, vehicle safety system status information, and test vehicle number;
the module M4 includes:
module M4.1: the drive test equipment scans the test identification of the first vehicle in the waiting queue and obtains the test vehicle number, and the test vehicle information stored in the data storage module is matched according to the test vehicle number;
module M4.2: acquiring test vehicle information according to the test vehicle number, sending a test signal to the test vehicle, informing the vehicle to test the test unit, after the test is finished, enabling the first vehicle to enter the next test unit, and enabling the road test equipment to start to test the subsequent vehicles in the waiting queue;
module M4.3: and after the test vehicle completes the tests of all the test units, sending a test completion signal to the cloud control center.
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