CN114013427A - Parking data processing method for automatic parking test - Google Patents
Parking data processing method for automatic parking test Download PDFInfo
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- 238000003672 processing method Methods 0.000 title claims abstract description 14
- 238000000034 method Methods 0.000 claims abstract description 17
- 230000008569 process Effects 0.000 claims abstract description 9
- 238000004898 kneading Methods 0.000 claims abstract description 6
- 238000013461 design Methods 0.000 abstract description 4
- 238000012356 Product development Methods 0.000 abstract description 3
- 238000005259 measurement Methods 0.000 description 8
- 238000004458 analytical method Methods 0.000 description 3
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- 230000000694 effects Effects 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/04—Monitoring the functioning of the control system
- B60W50/045—Monitoring control system parameters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0002—Automatic control, details of type of controller or control system architecture
- B60W2050/0004—In digital systems, e.g. discrete-time systems involving sampling
- B60W2050/0005—Processor details or data handling, e.g. memory registers or chip architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/04—Monitoring the functioning of the control system
- B60W2050/041—Built in Test Equipment [BITE]
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/04—Monitoring the functioning of the control system
- B60W50/045—Monitoring control system parameters
- B60W2050/046—Monitoring control system parameters involving external transmission of data to or from the vehicle, e.g. via telemetry, satellite, Global Positioning System [GPS]
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
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- Traffic Control Systems (AREA)
Abstract
The invention discloses a parking data processing method for automatic parking test, which has the main design conception that the positions of objects such as a target parking space, a test vehicle, an obstacle and the like are established in the same coordinate system according to the principle of 1:1 by carrying a specially set test system on the test vehicle, and test data required by the parking test is displayed and recorded in real time in the parking process of the test vehicle, so that a data basis for analyzing and optimizing the path planning, the garage kneading times and the garage parking position of a parking system is provided simply, efficiently and accurately, and a reliable basis is provided for product development.
Description
Technical Field
The invention relates to the field of vehicle control, in particular to a parking data processing method for an automatic parking test.
Background
An automatic parking assist system (APA) is used for automatically detecting a parking space and providing a driver with auxiliary functions such as parking indication and/or direction control when a vehicle is parked. When the intelligent driving automobile is used for automatic parking tests (such as parking in/out tests, parking gesture measurement, parking path test analysis, garage number test analysis and the like), the real-time position of any point on the automobile needs to be collected in real time, and parameters such as a trajectory line, an outline envelope, a driving gesture, a relative distance between the intelligent driving automobile and an obstacle in the whole moving process are generated.
At present, GPS/differential base station measurement and manual measurement are generally adopted, taking GPS/differential base station measurement as an example, one or more fixed base stations are needed to be matched to establish vehicles, obstacles, surrounding environments and the like in a test coordinate system, coordinate positions of each point are drawn in real time through a radio ranging technology and a communication technology, and then information such as a moving track and a moving speed of each point, a relative distance between two points, a whole vehicle contour envelope and the like is generated. This entails the following disadvantages: a fixed base station needs to be installed in a fixed open field, and the test cannot be carried out in areas which affect GPS signals, such as underground parking lots, nearby high-rise buildings, rainshelters and the like; the defects of manual measurement are obvious, the driving track and the outline envelope cannot be drawn in real time, the distance acquisition speed is low, the efficiency is low, and the error is large.
In summary, both GPS/differential base station measurement and manual measurement cannot analyze the driving trajectory of the vehicle during parking, and cannot add and analyze new variables for the collected data in the playback process for the test scene.
Disclosure of Invention
In view of the above, the present invention aims to provide a parking data processing method for an automatic parking test to solve the problem of the existing parking test data processing method.
The technical scheme adopted by the invention is as follows:
a parking data processing method for an automatic parking test, comprising:
configuring a test system for a test vehicle, wherein the test system comprises a control host, an upper computer, a double-GPS positioning device, an inertial navigation device and a hit difference positioning device;
the parking space information and a preset coordinate system are fused in an upper computer by using a main antenna in the double-GPS positioning device;
fusing the outline of the test vehicle with the parking space in the coordinate system in the upper computer by taking a main antenna in the double-GPS positioning device as a reference;
fusing the information of the test vehicle and the obstacle with the coordinate system in the upper computer by using a main antenna in the double-GPS positioning device;
the control host controls the test vehicle to execute automatic parking operation;
and in the parking test process, displaying parking information based on the coordinate system in real time through an upper computer, and acquiring target test data by combining with a Kalman filter.
In at least one possible implementation manner, the fusing the parking space information and the preset coordinate system in the upper computer comprises: and establishing the relation of the target parking space passing through the point, the line and the plane on a coordinate system preset in the upper computer.
In at least one possible implementation manner, the merging, in the upper computer, the contour of the test vehicle with the parking space in the coordinate system includes:
setting a plurality of characteristic points of a test vehicle;
and drawing the outline of the test vehicle according to the characteristic points, and placing the outline in the parking space under the coordinate system.
In at least one possible implementation manner, the fusing the information of the test vehicle and the obstacle with the coordinate system in the upper computer includes: and establishing the relation between the passing point, the line and the surface of the test vehicle and the obstacle on the coordinate system.
In at least one possible implementation manner, the parking information includes a plurality of information combinations as follows: the parking speed, the distance between the test vehicle and the obstacle, the position and the posture of the test vehicle, the parking angle, the parking path and the number of times of kneading the garage.
In at least one possible implementation manner, the target test data includes: a distance value and/or an angle value.
In at least one possible implementation, the distance value includes: distance data between two moving objects, or distance data of one moving object from one fixed object.
In at least one possible implementation manner, the distance value further includes: and calculating the X-direction distance and the Y-direction distance between two objects by taking one object as a reference.
In at least one possible implementation, the angle value includes: heading bias between two objects.
In at least one possible implementation manner, the data processing method further includes: redefining test data based on the parking information when the target test data is played back; the redefined test data is used to analyze and optimize parking paths.
The main design concept of the invention is that the test vehicle carries a specially set test system, the positions of the target parking space, the test vehicle, the barrier and other objects are established in the same coordinate system according to the principle of 1:1, and the test data required by the parking test is displayed and recorded in real time in the parking process of the test vehicle, so that the analysis and optimization data basis is provided for path planning, garage kneading times and garage parking position and posture of the parking system simply, efficiently and accurately, and the reliable basis is provided for product development.
Further, the acquired test data may be secondarily defined in a later test data playback process.
Drawings
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described with reference to the accompanying drawings, in which:
fig. 1 is a flowchart of a parking data processing method for an automatic parking test according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative only and should not be construed as limiting the invention.
The present invention provides an embodiment of a parking data processing method for an automatic parking test, specifically, as shown in fig. 1, including:
step S1, configuring a test system for the test vehicle, wherein the test system comprises a control host, an upper computer, a double GPS positioning device, an inertial navigation device and a hit difference positioning device;
it should be noted that the present invention provides high-precision positioning using femto base stations, and the number of fixed base stations can be reduced, i.e., centimeter-level high-precision positioning can be achieved without the need for cooperating with fixed base stations. In actual operation, the searching base station replaces a plurality of original fixed base stations, the positioning range is wide, and the positioning precision is small in external interference; the control host serves as a control main body of the method embodiment, and preferably integrates 6-axis high-precision IMU signals and high-precision GNSS/indoor positioning wireless signals, so that high-precision pose measurement of a single vehicle end/single target can be completed, lever arm values among a plurality of characteristic points of the vehicle appearance, IMU coordinate origin points and GNSS reference antenna centers can be accurately calibrated, and then the scheme is assisted to calculate under the communication of multiple targets and a unified coordinate system (a coordinate system of a main vehicle) to obtain the pose relationship among the multiple targets; the inertial navigation device can accurately output information such as acceleration, angular speed, course angle, yaw angle, pitch angle and the like, and can acquire accurate pose information through Kalman filtering.
S2, fusing parking space information with a preset coordinate system in an upper computer by using a main antenna in the double-GPS positioning device;
step S3, fusing the outline of the test vehicle with the parking space in the coordinate system in the upper computer by taking the main antenna in the double-GPS positioning device as a reference;
s4, fusing the information of the test vehicle and the obstacle with the coordinate system in the upper computer by using a main antenna in the double-GPS positioning device;
step S5, the control host controls the test vehicle to execute automatic parking operation;
and step S6, displaying parking information based on the coordinate system in real time through the upper computer in the parking test process, and acquiring target test data by combining with a Kalman filter.
Further, fuse parking stall information and predetermine coordinate system in the host computer includes: and establishing the relation of the target parking space passing through the point, the line and the plane on a coordinate system preset in the upper computer.
Further, the profile of the test vehicle and the parking space fusion in the coordinate system in the upper computer comprise:
setting a plurality of characteristic points of a test vehicle;
and drawing the outline of the test vehicle according to the characteristic points, and placing the outline in the parking space under the coordinate system.
Further, the fusion of the information of the test vehicle and the obstacle with the coordinate system in the upper computer comprises: and establishing the relation between the passing point, the line and the surface of the test vehicle and the obstacle on the coordinate system.
Further, the parking information includes a plurality of information combinations as follows: the parking speed, the distance between the test vehicle and the obstacle, the position and the posture of the test vehicle, the parking angle, the parking path and the number of times of kneading the garage.
Further, the target test data includes: a distance value and/or an angle value.
Further, the distance value includes: distance data between two moving objects, or distance data of one moving object from one fixed object.
Further, the distance value further includes: and calculating the X-direction distance and the Y-direction distance between two objects by taking one object as a reference.
Further, the angle values include: heading bias between two objects.
Further, the data processing method further comprises: redefining test data based on the parking information when the target test data is played back; the redefined test data is used to analyze and optimize parking paths.
In summary, the main design concept of the invention is that a test vehicle carries a specially set test system, the positions of objects such as a target parking space, the test vehicle, an obstacle and the like are established in the same coordinate system according to the principle of 1:1, and test data required by a parking test are displayed and recorded in real time in the parking process of the test vehicle, so that a data basis for analyzing and optimizing the path planning, the library kneading times and the parking position and posture of the parking system is provided simply, efficiently and accurately, and a reliable basis is provided for product development.
In the embodiments of the present invention, "at least one" means one or more, "a plurality" means two or more. "and/or" describes the association relationship of the associated objects, and means that there may be three relationships, for example, a and/or B, and may mean that a exists alone, a and B exist simultaneously, and B exists alone. Wherein A and B can be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "at least one of the following" and similar expressions refer to any combination of these items, including any combination of singular or plural items. For example, at least one of a, b, and c may represent: a, b, c, a and b, a and c, b and c or a and b and c, wherein a, b and c can be single or multiple.
The structure, features and effects of the present invention have been described in detail with reference to the embodiments shown in the drawings, but the above embodiments are merely preferred embodiments of the present invention, and it should be understood that technical features related to the above embodiments and preferred modes thereof can be reasonably combined and configured into various equivalent schemes by those skilled in the art without departing from and changing the design idea and technical effects of the present invention; therefore, the invention is not limited to the embodiments shown in the drawings, and all the modifications and equivalent embodiments that can be made according to the idea of the invention are within the scope of the invention as long as they are not beyond the spirit of the description and the drawings.
Claims (10)
1. A parking data processing method for an automatic parking test, characterized by comprising:
configuring a test system for a test vehicle, wherein the test system comprises a control host, an upper computer, a double-GPS positioning device, an inertial navigation device and a hit difference positioning device;
the parking space information and a preset coordinate system are fused in an upper computer by using a main antenna in the double-GPS positioning device;
fusing the outline of the test vehicle with the parking space in the coordinate system in the upper computer by taking a main antenna in the double-GPS positioning device as a reference;
fusing the information of the test vehicle and the obstacle with the coordinate system in the upper computer by using a main antenna in the double-GPS positioning device;
the control host controls the test vehicle to execute automatic parking operation;
and in the parking test process, displaying parking information based on the coordinate system in real time through an upper computer, and acquiring target test data by combining with a Kalman filter.
2. The method for processing parking data for an automatic parking test according to claim 1, wherein the fusing the parking space information with the preset coordinate system in the upper computer includes: and establishing the relation of the target parking space passing through the point, the line and the plane on a coordinate system preset in the upper computer.
3. The method for processing parking data for an automated parking test according to claim 1, wherein the fusing the outline of the test vehicle with the parking space in the coordinate system in the host computer includes:
setting a plurality of characteristic points of a test vehicle;
and drawing the outline of the test vehicle according to the characteristic points, and placing the outline in the parking space under the coordinate system.
4. The parking data processing method for the automatic parking test according to claim 1, wherein the fusing information of the test vehicle and the obstacle with the coordinate system in the upper computer includes: and establishing the relation between the passing point, the line and the surface of the test vehicle and the obstacle on the coordinate system.
5. The method for processing parking data for an automatic parking test according to claim 1, wherein the parking information includes a plurality of information combinations: the parking speed, the distance between the test vehicle and the obstacle, the position and the posture of the test vehicle, the parking angle, the parking path and the number of times of kneading the garage.
6. The method for processing parking data for an automatic parking test according to claim 1, wherein the target test data includes: a distance value and/or an angle value.
7. The method for processing parking data for an automatic parking test according to claim 6, wherein the distance value includes: distance data between two moving objects, or distance data of one moving object from one fixed object.
8. The method for processing parking data for an automatic parking test according to claim 7, wherein the distance value further includes: and calculating the X-direction distance and the Y-direction distance between two objects by taking one object as a reference.
9. The method for processing parking data for an automatic parking test according to claim 6, wherein the angle value includes: heading bias between two objects.
10. The parking data processing method for the automatic parking test according to any one of claims 1 to 9, characterized by further comprising: redefining test data based on the parking information when the target test data is played back; the redefined test data is used to analyze and optimize parking paths.
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| CN202111343754.3A CN114013427A (en) | 2021-11-13 | 2021-11-13 | Parking data processing method for automatic parking test |
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| CN117168833A (en) * | 2023-08-17 | 2023-12-05 | 中汽研汽车检验中心(广州)有限公司 | Automatic parking performance test method and system in complex meteorological environment |
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| CN114475581A (en) * | 2022-02-25 | 2022-05-13 | 北京流马锐驰科技有限公司 | Automatic parking positioning method based on wheel speed pulse and IMU Kalman filtering fusion |
| CN114475581B (en) * | 2022-02-25 | 2022-09-16 | 北京流马锐驰科技有限公司 | Automatic parking positioning method based on wheel speed pulse and IMU Kalman filtering fusion |
| CN117168833A (en) * | 2023-08-17 | 2023-12-05 | 中汽研汽车检验中心(广州)有限公司 | Automatic parking performance test method and system in complex meteorological environment |
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