WO2024066387A1

WO2024066387A1 - Test method, apparatus, and system for lane centering control function, and electronic device

Info

Publication number: WO2024066387A1
Application number: PCT/CN2023/094446
Authority: WO
Inventors: 郭干
Original assignee: 魔门塔(苏州)科技有限公司
Priority date: 2022-09-26
Filing date: 2023-05-16
Publication date: 2024-04-04
Also published as: CN117804495A

Abstract

A test method, apparatus, and system for a lane centering control function, and an electronic device, relating to the technical field of smart vehicle control. The method comprises: acquiring detected lane line positioning information of a target lane line detected by a positioning device (101); collecting first vehicle positioning information of a vehicle under test and a vehicle signal related to a lane centering control function, and receiving base station positioning information of a positioning base station (102); calculating the lateral distance between the vehicle under test and the target lane line according to the detected lane line positioning information, the first vehicle positioning information, and the base station positioning information (103); and testing the lane centering control function according to the lateral distance and the vehicle signal (104), wherein the positioning device comprises a curve detection device, and the target lane line comprises a curve lane line.

Description

车道居中保持功能的测试方法、装置、***和电子设备Lane centering function testing method, device, system and electronic equipment

本申请要求于2022年09月26日提交中国专利局、申请号为202211174780.2、申请名称为“车道居中保持功能的测试方法、装置、***和电子设备”的中国专利申请的优先权，其全部内容通过引用结合在申请中。This application claims priority to a Chinese patent application filed with the Chinese Patent Office on September 26, 2022, with application number 202211174780.2 and application name “Testing method, device, system and electronic device for lane centering keeping function”, the entire contents of which are incorporated by reference in the application.

技术领域Technical Field

本申请涉及智能汽车控制技术领域，尤其是涉及到一种车道居中保持功能的测试方法、车道居中保持功能的测试装置、车道居中保持功能的测试***、电子设备和计算机可读存储介质。The present application relates to the field of intelligent vehicle control technology, and in particular to a lane centering keeping function testing method, a lane centering keeping function testing device, a lane centering keeping function testing system, an electronic device, and a computer-readable storage medium.

背景技术Background technique

随着汽车电子行业的发展，汽车主动***安全越来越多的受到了行业及客户的关注。LCC(Lane Centering Control，车道居中保持)功能是主动安全***中的一种，当驾驶员开启LCC功能的时候，能够对车辆的横向行驶进行控制，保证车辆能够沿着车道线中心线的位置行驶。该功能的原理是基于智能摄像头对车道线信息进行识别，将车道线数据信息反馈到智能驾驶控制器，智能驾驶控制器根据车辆当前状态发出调节指令，不断缩短车辆行驶时偏离车道线中心线的距离，从而达到控制车辆横向状态，保证车辆居中行驶的目的。With the development of the automotive electronics industry, the safety of active automotive systems has received more and more attention from the industry and customers. The LCC (Lane Centering Control) function is one of the active safety systems. When the driver turns on the LCC function, the lateral driving of the vehicle can be controlled to ensure that the vehicle can drive along the center line of the lane. The principle of this function is to identify the lane information based on the smart camera and feed the lane data information to the smart driving controller. The smart driving controller issues adjustment instructions based on the current state of the vehicle, and continuously shortens the distance that the vehicle deviates from the center line of the lane when driving, so as to achieve the purpose of controlling the lateral state of the vehicle and ensuring that the vehicle drives in the center.

相关技术中的LCC功能的测试方法的准确性较低，导致不能够有效地验证LCC功能的性能效果。The accuracy of the LCC function testing method in the related art is low, resulting in the inability to effectively verify the performance effect of the LCC function.

发明内容Summary of the invention

有鉴于此，本申请提供了一种车道居中保持功能的测试方法、车道居中保持功能的测试装置、车道居中保持功能的测试***、电子设备、计算机可读存储介质、计算机程序产品、芯片和车辆，实现了准确地测量出测试车辆偏离目标车道线的距离，通过高精度且客观的数据值验证LCC功能在直道场景下的具体表现。In view of this, the present application provides a lane centering function testing method, a lane centering function testing device, a lane centering function testing system, an electronic device, a computer-readable storage medium, a computer program product, a chip and a vehicle, which can accurately measure the distance that the test vehicle deviates from the target lane line, and verify the specific performance of the LCC function in the straight road scenario through high-precision and objective data values.

第一方面，本申请实施例提供了一种车道居中保持功能的测试方法，包括：获取定位设备勘测的目标车道线的勘测车道线定位信息；采集测试车辆的第一车辆定位信息、与车道居中保持功能相关的整车信号，以及接收定位基站的基站定位信息；根据勘测车道线定位信息、第一车辆定位信息以及基站定位信息，计算测试车辆与目标车道线的横向距离；根据横向距离和整车信号，对车道居中保持功能进行测试；其中，定位设备包括弯道勘测设备，目标车道线包括弯道车道线。In a first aspect, an embodiment of the present application provides a method for testing a lane centering keeping function, comprising: obtaining survey lane line positioning information of a target lane line surveyed by a positioning device; collecting first vehicle positioning information of a test vehicle, a vehicle signal related to the lane centering keeping function, and receiving base station positioning information of a positioning base station; calculating a lateral distance between the test vehicle and the target lane line based on the survey lane line positioning information, the first vehicle positioning information, and the base station positioning information; and calculating a lateral distance between the test vehicle and the target lane line based on the lateral distance between the test vehicle and the target lane line. The distance and vehicle signal are used to test the lane centering function; wherein the positioning equipment includes curve survey equipment, and the target lane line includes curve lane line.

根据本申请实施例的上述车道居中保持功能的测试方法，还可以具有以下附加技术特征：The lane centering function testing method according to the embodiment of the present application may also have the following additional technical features:

在上述技术方案中，可选地，该方法还包括：采集测试车辆的速度信息；根据横向距离和整车信号，对车道居中保持功能进行测试，包括：根据横向距离和速度信息，计算测试车辆对目标车道线的横向碰撞时间；根据横向碰撞时间和整车信号，对车道居中保持功能进行测试。In the above technical solution, optionally, the method also includes: collecting speed information of the test vehicle; testing the lane centering function according to the lateral distance and the whole vehicle signal, including: calculating the lateral collision time of the test vehicle with the target lane line according to the lateral distance and speed information; testing the lane centering function according to the lateral collision time and the whole vehicle signal.

在上述任一技术方案中，可选地，根据勘测车道线定位信息、第一车辆定位信息以及基站定位信息，计算测试车辆与目标车道线的横向距离，包括：根据第一车辆定位信息、基站定位信息以及测试车辆的车轮与测试车辆的第一车辆定位天线之间的安装距离，确定测试车辆的车轮的位置信息；根据勘测车道线定位信息和车轮的位置信息，确定车轮相对于目标车道线的横向距离；其中，第一车辆定位天线用于采集第一车辆定位信息，测试车辆的车轮包括左车轮和/或右车轮。In any of the above technical solutions, optionally, the lateral distance between the test vehicle and the target lane line is calculated based on the survey lane line positioning information, the first vehicle positioning information and the base station positioning information, including: determining the position information of the wheels of the test vehicle based on the first vehicle positioning information, the base station positioning information and the installation distance between the wheels of the test vehicle and the first vehicle positioning antenna of the test vehicle; determining the lateral distance of the wheels relative to the target lane line based on the survey lane line positioning information and the position information of the wheels; wherein the first vehicle positioning antenna is used to collect the first vehicle positioning information, and the wheels of the test vehicle include left wheels and/or right wheels.

在上述任一技术方案中，可选地，在采集测试车辆的第一车辆定位信息之后，还包括：获取测试车辆的第一定位校正信息，并利用第一定位校正信息对第一车辆定位信息进行校准处理。In any of the above technical solutions, optionally, after collecting the first vehicle positioning information of the test vehicle, it also includes: obtaining first positioning correction information of the test vehicle, and calibrating the first vehicle positioning information using the first positioning correction information.

在上述任一技术方案中，可选地，根据勘测车道线定位信息、第一车辆定位信息以及基站定位信息，计算测试车辆与目标车道线的横向距离，包括：根据校准处理后的第一车辆定位信息、基站定位信息得到测试车辆相对于定位基站的第二车辆定位信息，并根据第二车辆定位信息和勘测车道线定位信息，确定测试车辆与目标车道线的横向距离；其中，勘测车道线定位信息为定位设备根据基站定位信息确定的目标车道线相对于定位基站的定位信息。In any of the above technical solutions, optionally, the lateral distance between the test vehicle and the target lane line is calculated based on the survey lane line positioning information, the first vehicle positioning information and the base station positioning information, including: obtaining the second vehicle positioning information of the test vehicle relative to the positioning base station based on the calibrated first vehicle positioning information and the base station positioning information, and determining the lateral distance between the test vehicle and the target lane line based on the second vehicle positioning information and the survey lane line positioning information; wherein the survey lane line positioning information is the positioning information of the target lane line relative to the positioning base station determined by the positioning device based on the base station positioning information.

第二方面，本申请实施例提供了一种车道居中保持功能的测试装置，包括设置于测试车辆的获取模块和车辆控制模块；其中，获取模块，用于获取定位设备勘测的目标车道线的勘测车道线定位信息，以及采集测试车辆的第一车辆定位信息、与车道居中保持功能相关的整车信号，以及接收定位基站的基站定位信息；车辆控制模块，用于根据勘测车道线定位信息、第一车辆定位信息以及基站定位信息，计算测试车辆与目标车道线的横向距离，以及根据横向距离和整车信号，对车道居中保持功能进行测试；其中，定位设备包括弯道勘测设备，目标车道线包括弯道车道线。In a second aspect, an embodiment of the present application provides a testing device for a lane centering function, comprising an acquisition module and a vehicle control module arranged on a test vehicle; wherein the acquisition module is used to obtain survey lane line positioning information of a target lane line surveyed by a positioning device, and collect first vehicle positioning information of the test vehicle, whole vehicle signals related to the lane centering function, and base station positioning information of a receiving positioning base station; the vehicle control module is used to calculate the lateral distance between the test vehicle and the target lane line according to the survey lane line positioning information, the first vehicle positioning information and the base station positioning information, and test the lane centering function according to the lateral distance and the whole vehicle signal; wherein the positioning device includes a curve survey device, and the target lane line includes a curve lane line.

根据本申请实施例的上述车道居中保持功能的测试装置，还可以具有以下附加技术特征：The lane centering function testing device according to the embodiment of the present application may also have the following additional technical features:

在上述技术方案中，可选地，获取模块，还用于采集测试车辆的速度信息；车辆控制模块，具体用于根据横向距离和速度信息，计算测试车辆对目标车道线的横向碰撞时间，以及根据横向碰撞时间和整车信号，对车道居中保持功能进行测试。 In the above technical solution, optionally, the acquisition module is also used to collect speed information of the test vehicle; the vehicle control module is specifically used to calculate the lateral collision time of the test vehicle with the target lane line based on the lateral distance and speed information, and to test the lane centering function based on the lateral collision time and the whole vehicle signal.

在上述任一技术方案中，可选地，获取模块包括：第一车辆定位天线，用于获取第一车辆定位信息、速度信息；信号采集模块，用于获取整车信号。In any of the above technical solutions, optionally, the acquisition module includes: a first vehicle positioning antenna, used to obtain first vehicle positioning information and speed information; and a signal acquisition module, used to obtain whole vehicle signals.

在上述任一技术方案中，可选地，车辆控制模块，具体用于根据第一车辆定位信息、基站定位信息以及测试车辆的车轮与第一车辆定位天线之间的安装距离，确定测试车辆的车轮的位置信息，以及根据勘测车道线定位信息和车轮的位置信息，确定车轮相对于目标车道线的横向距离；其中，测试车辆的车轮包括左车轮和/或右车轮。In any of the above technical solutions, optionally, the vehicle control module is specifically used to determine the position information of the wheels of the test vehicle based on the first vehicle positioning information, the base station positioning information and the installation distance between the wheels of the test vehicle and the first vehicle positioning antenna, and to determine the lateral distance of the wheels relative to the target lane line based on the survey lane line positioning information and the wheel position information; wherein the wheels of the test vehicle include left wheels and/or right wheels.

在上述任一技术方案中，可选地，获取模块，还包括：车辆差分定位模块，用于获取测试车辆的第一定位校正信息，并利用第一定位校正信息对第一车辆定位信息进行校准处理；车辆差分定位模块，还用于接收勘测车道线定位信息以及基站定位信息。In any of the above technical solutions, optionally, the acquisition module also includes: a vehicle differential positioning module, used to obtain the first positioning correction information of the test vehicle, and use the first positioning correction information to calibrate the first vehicle positioning information; the vehicle differential positioning module is also used to receive the survey lane line positioning information and the base station positioning information.

在上述任一技术方案中，可选地，车辆控制模块，具体用于根据校准处理后的第一车辆定位信息、基站定位信息得到测试车辆相对于定位基站的第二车辆定位信息，并根据第二车辆定位信息和勘测车道线定位信息，确定测试车辆与目标车道线的横向距离；其中，勘测车道线定位信息为定位设备根据基站定位信息确定的目标车道线相对于定位基站的定位信息。In any of the above technical solutions, optionally, the vehicle control module is specifically used to obtain the second vehicle positioning information of the test vehicle relative to the positioning base station based on the first vehicle positioning information and the base station positioning information after calibration, and determine the lateral distance between the test vehicle and the target lane line based on the second vehicle positioning information and the survey lane line positioning information; wherein the survey lane line positioning information is the positioning information of the target lane line relative to the positioning base station determined by the positioning device based on the base station positioning information.

第三方面，本申请实施例提供了一种车道居中保持功能的测试***，包括：如上述第二方面的车道居中保持功能的测试装置、定位设备以及定位基站。In a third aspect, an embodiment of the present application provides a lane centering keeping function testing system, including: a lane centering keeping function testing device, a positioning device, and a positioning base station as described in the second aspect above.

根据本申请实施例的上述车道居中保持功能的测试***，还可以具有以下附加技术特征：The lane centering function testing system according to the embodiment of the present application may also have the following additional technical features:

在上述技术方案中，可选地，定位基站包括：基站定位天线，用于获取定位基站的基站定位信息；基站差分定位模块，与测试车辆的车辆差分定位模块进行通信，用于获取定位基站的第二定位校正信息，并利用第二定位校正信息对基站定位信息进行校准处理，以及将校准处理后的基站定位信息发送至车辆差分定位模块。In the above technical solution, optionally, the positioning base station includes: a base station positioning antenna, used to obtain base station positioning information of the positioning base station; a base station differential positioning module, which communicates with the vehicle differential positioning module of the test vehicle, and is used to obtain second positioning correction information of the positioning base station, and use the second positioning correction information to calibrate the base station positioning information, and send the calibrated base station positioning information to the vehicle differential positioning module.

在上述任一技术方案中，可选地，定位设备包括：设备定位天线，用于获取目标车道线的第一车道线定位信息；设备差分定位模块，与测试车辆的车辆差分定位模块进行通信，用于获取目标车道线的第三定位校正信息，并利用第三定位校正信息对第一车道线定位信息进行校准处理；设备控制模块，与设备差分定位模块连接，用于获取定位基站的基站定位信息，根据校准处理后的第一车道线定位信息、基站定位信息得到目标车道线相对于定位基站的勘测车道线定位信息，并将勘测车道线定位信息通过设备差分定位模块发送至车辆差分定位模块。In any of the above technical solutions, optionally, the positioning device includes: a device positioning antenna, used to obtain first lane line positioning information of the target lane line; a device differential positioning module, communicating with the vehicle differential positioning module of the test vehicle, used to obtain third positioning correction information of the target lane line, and using the third positioning correction information to calibrate the first lane line positioning information; a device control module, connected to the device differential positioning module, used to obtain base station positioning information of the positioning base station, obtain the survey lane line positioning information of the target lane line relative to the positioning base station according to the calibrated first lane line positioning information and base station positioning information, and send the survey lane line positioning information to the vehicle differential positioning module through the device differential positioning module.

第四方面，本申请实施例提供了一种电子设备，该电子设备包括处理器，处理器和存储器耦合，存储器存储可在处理器上运行的程序或指令，程序或指令被处理器执行时实现如第一方面的方法的步骤。In a fourth aspect, an embodiment of the present application provides an electronic device, which includes a processor, wherein the processor is coupled to a memory, and the memory stores programs or instructions that can be executed on the processor, and when the programs or instructions are executed by the processor, the steps of the method of the first aspect are implemented.

第五方面，本申请实施例提供了一种计算机可读存储介质，该计算机可读存储介质上存储程序或指令，程序或指令被处理器执行时实现如第一方面的方法的步骤。In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium. The readable storage medium stores programs or instructions, and when the programs or instructions are executed by the processor, the steps of the method of the first aspect are implemented.

第六方面，本申请实施例提供了一种芯片，芯片包括处理器和通信接口，通信接口和处理器耦合，处理器用于运行程序或指令，实现如第一方面的方法。In a sixth aspect, an embodiment of the present application provides a chip, the chip including a processor and a communication interface, the communication interface and the processor are coupled, and the processor is used to run programs or instructions to implement the method of the first aspect.

第七方面，本申请实施例提供一种计算机程序产品，该程序产品被存储在存储介质中，该程序产品被至少一个处理器执行以实现如第一方面的方法。In a seventh aspect, an embodiment of the present application provides a computer program product, which is stored in a storage medium and is executed by at least one processor to implement the method of the first aspect.

第八方面，本申请实施例提供了一种车辆，该车辆包括处理器，处理器和存储器耦合，存储器存储可在处理器上运行的程序或指令，程序或指令被处理器执行时实现如第一方面的方法的步骤。In an eighth aspect, an embodiment of the present application provides a vehicle comprising a processor, wherein the processor is coupled to a memory, and the memory stores programs or instructions that can be executed on the processor, and when the programs or instructions are executed by the processor, the steps of the method of the first aspect are implemented.

在本申请实施例中，获取定位设备采集的目标车道线的勘测车道线定位信息，在测试车辆沿目标车道线行驶的过程中，采集测试车辆的第一车辆定位信息及测试车辆与LCC功能相关的整车信号，以及接收定位基站的基站定位信息。其中整车信号包括LCC功能的激活信号、使能信号等，并且在行驶的过程中接收测试场中设置的定位基站的基站定位信息。根据勘测车道线定位信息、第一车辆定位信息以及基站定位信息，确定测试车辆与目标车道线之间的横向距离，并结合整车信号，对测试车辆的LCC功能的提前激活、延迟激活、提前时差、延迟时差、居中行驶控制信息等性能进行测试，生成测试结果。In an embodiment of the present application, the survey lane line positioning information of the target lane line collected by the positioning device is obtained, and in the process of the test vehicle traveling along the target lane line, the first vehicle positioning information of the test vehicle and the whole vehicle signal related to the LCC function of the test vehicle are collected, and the base station positioning information of the positioning base station is received. The whole vehicle signal includes the activation signal, enable signal, etc. of the LCC function, and the base station positioning information of the positioning base station set in the test field is received during the driving process. According to the survey lane line positioning information, the first vehicle positioning information and the base station positioning information, the lateral distance between the test vehicle and the target lane line is determined, and combined with the whole vehicle signal, the performance of the LCC function of the test vehicle, such as early activation, delayed activation, advance time difference, delayed time difference, and centering driving control information, is tested to generate a test result.

本申请实施例的车道居中保持功能的测试方法适用于弯道场景。在弯道场景下，定位设备为弯道勘测设备，目标车道线为弯道车道线，弯道勘测设备需对整条弯道车道线进行勘测，保证对弯道车道线的定位信息(也即转弯情况)获取的准确性。The lane centering function test method of the embodiment of the present application is applicable to the curve scene. In the curve scene, the positioning device is a curve survey device, the target lane line is the curve lane line, and the curve survey device needs to survey the entire curve lane line to ensure the accuracy of the positioning information (i.e., the turning situation) of the curve lane line.

本申请实施例，当测试车辆在弯道上行驶时，能够准确地测量出测试车辆偏离弯道车道线的距离，通过高精度且客观的数据值验证LCC功能在弯道场景下的具体表现。进一步地，可以基于测试结果不断优化LCC功能的稳定性和准确性，从而达到弯道场景下的车道居中辅助的作用，帮助车辆更好的在弯道上行驶。In the embodiment of the present application, when the test vehicle is driving on a curve, the distance that the test vehicle deviates from the curve lane line can be accurately measured, and the specific performance of the LCC function in the curve scenario can be verified through high-precision and objective data values. Furthermore, the stability and accuracy of the LCC function can be continuously optimized based on the test results, so as to achieve the role of lane centering assistance in the curve scenario and help the vehicle drive better on the curve.

上述说明仅是本申请技术方案的概述，为了能够更清楚了解本申请的技术手段，而可依照说明书的内容予以实施，并且为了让本申请的上述和其它目的、特征和优点能够更明显易懂，以下特举本申请的具体实施方式。The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below.

附图说明BRIEF DESCRIPTION OF THE DRAWINGS

此处所说明的附图用来提供对本申请的进一步理解，构成本申请的一部分，本申请的示意性实施例及其说明用于解释本申请，并不构成对本申请的不当限定。在附图中：The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

图1示出了本申请实施例的车道居中保持功能的测试方法的流程示意图； FIG1 is a schematic diagram showing a flow chart of a method for testing a lane centering keeping function according to an embodiment of the present application;

图2示出了本申请实施例的车道居中保持功能的测试装置的结构框图；FIG2 shows a structural block diagram of a test device for a lane centering keeping function according to an embodiment of the present application;

图3示出了本申请实施例的定位基站的结构框图；FIG3 shows a structural block diagram of a positioning base station according to an embodiment of the present application;

图4示出了本申请实施例的定位设备的结构框图；FIG4 shows a structural block diagram of a positioning device according to an embodiment of the present application;

图5示出了本申请实施例的弯道勘测设备勘测弯道车道线的示意图；FIG5 is a schematic diagram showing a curved lane line surveyed by a curved lane surveying device according to an embodiment of the present application;

图6示出了本申请实施例的打点杆打点的车道线点位的示意图；FIG6 is a schematic diagram showing the lane line points marked by the marking rod according to an embodiment of the present application;

图7示出了本申请实施例的电子设备的结构框图。FIG. 7 shows a structural block diagram of an electronic device according to an embodiment of the present application.

其中，图2至图7中附图标记与部件名称之间的对应关系为：
10、车辆控制模块，11、车辆显示模块，12、车载电源，13、车辆控制
器，14、第一车辆定位天线，15、信号采集模块，16、车辆差分定位模块，17、第二车辆定位天线，161、第一实时动态差分模块，162、第一通信天线，20、定位基站，21、基站定位天线，22、基站差分定位模块，221、第二实时动态差分模块，222、第二通信天线，30、设备控制模块，31、设备定位天线，32、设备差分定位模块，33、设备显示模块，34、设备电源，35、设备控制器，321、第三实时动态差分模块，322、第三通信天线，61、水平杆，62、GPS天线，70、电子设备，71、处理器，72、存储器。The corresponding relationship between the reference numerals and component names in FIGS. 2 to 7 is as follows:
10. Vehicle control module, 11. Vehicle display module, 12. On-board power supply, 13. Vehicle controller, 14. First vehicle positioning antenna, 15. Signal acquisition module, 16. Vehicle differential positioning module, 17. Second vehicle positioning antenna, 161. First real-time dynamic differential module, 162. First communication antenna, 20. Positioning base station, 21. Base station positioning antenna, 22. Base station differential positioning module, 221. Second real-time dynamic differential module, 222. Second communication antenna, 30. Equipment control module, 31. Equipment positioning antenna, 32. Equipment differential positioning module, 33. Equipment display module, 34. Equipment power supply, 35. Equipment controller, 321. Third real-time dynamic differential module, 322. Third communication antenna, 61. Horizontal rod, 62. GPS antenna, 70. Electronic device, 71. Processor, 72. Memory.

具体实施方式Detailed ways

下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员获得的所有其他实施例，都属于本申请保护的范围。The following will be combined with the drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the present application belong to the scope of protection of this application.

本申请的说明书和权利要求书中的术语“第一”、“第二”等是用于区别类似的对象，而不用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便本申请的实施例能够以除了在这里图示或描述的那些以外的顺序实施，且“第一”、“第二”等所区分的对象通常为一类，并不限定对象的个数，例如第一对象可以是一个，也可以是多个。此外，说明书以及权利要求中“和/或”表示所连接对象的至少其中之一，字符“/”，一般表示前后关联对象是一种“或”的关系。The terms "first", "second", etc. in the specification and claims of this application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and/or" in the specification and claims represents at least one of the connected objects, and the character "/" generally indicates that the objects associated with each other are in an "or" relationship.

下面结合附图，通过具体的实施例及其应用场景对本申请实施例提供的车道居中保持功能的测试方法、车道居中保持功能的测试装置、车道居中保持功能的测试***、电子设备、计算机可读存储介质、计算机程序产品、芯片和车辆进行详细地说明。In combination with the accompanying drawings, the lane centering keeping function testing method, lane centering keeping function testing device, lane centering keeping function testing system, electronic device, computer-readable storage medium, computer program product, chip and vehicle provided in the embodiments of the present application are described in detail through specific embodiments and their application scenarios.

本申请实施例提供了一种车道居中保持功能的测试方法，如图1所示，该方法包括：The present application embodiment provides a method for testing a lane centering keeping function, as shown in FIG1 , the method comprising:

步骤101，获取定位设备勘测的目标车道线的勘测车道线定位信息；Step 101, obtaining survey lane line positioning information of a target lane line surveyed by a positioning device;

步骤102，采集测试车辆的第一车辆定位信息、与车道居中保持功能相关的整车信号，以及接收定位基站的基站定位信息； Step 102, collecting first vehicle positioning information of the test vehicle, vehicle signals related to the lane centering function, and base station positioning information of the receiving positioning base station;

步骤103，根据勘测车道线定位信息、第一车辆定位信息以及基站定位信息，计算测试车辆与目标车道线的横向距离；Step 103, calculating the lateral distance between the test vehicle and the target lane line according to the survey lane line positioning information, the first vehicle positioning information and the base station positioning information;

步骤104，根据横向距离和整车信号，对车道居中保持功能进行测试。Step 104 , testing the lane centering function based on the lateral distance and the vehicle signal.

其中，定位设备包括弯道勘测设备，目标车道线包括弯道车道线。Wherein, the positioning device includes a curve survey device, and the target lane line includes a curve lane line.

在该实施例中，测试车辆设置有LCC功能的测试装置和LCC功能，本申请实施例的LCC功能的测试方法应用于LCC功能的测试装置。In this embodiment, the test vehicle is provided with a test device for the LCC function and an LCC function, and the test method for the LCC function of the embodiment of the present application is applied to the test device for the LCC function.

获取定位设备采集的目标车道线的勘测车道线定位信息，在测试车辆沿目标车道线行驶的过程中，采集测试车辆的第一车辆定位信息及测试车辆与LCC功能相关的整车信号，以及接收定位基站的基站定位信息。其中整车信号包括LCC功能的激活信号、使能信号等，并且在行驶的过程中接收测试场中设置的定位基站的基站定位信息。The survey lane line positioning information of the target lane line collected by the positioning device is obtained, and when the test vehicle is driving along the target lane line, the first vehicle positioning information of the test vehicle and the whole vehicle signal related to the LCC function of the test vehicle are collected, and the base station positioning information of the positioning base station is received. The whole vehicle signal includes the activation signal and enable signal of the LCC function, and the base station positioning information of the positioning base station set in the test field is received during the driving process.

根据勘测车道线定位信息、第一车辆定位信息以及基站定位信息，确定测试车辆与目标车道线之间的横向距离，并结合整车信号，对测试车辆的LCC功能的提前激活、延迟激活、提前时差、延迟时差、居中行驶控制信息等性能进行测试，生成测试结果。According to the surveyed lane line positioning information, the first vehicle positioning information and the base station positioning information, the lateral distance between the test vehicle and the target lane line is determined, and combined with the whole vehicle signal, the test vehicle's LCC function's early activation, delayed activation, advance time difference, delayed time difference, centering driving control information and other performance are tested to generate test results.

值得注意的是，可以预先设置不同的控制速度以控制测试车辆进行多次的LCC功能测试，从而可以验证LCC功能在直道场景不同速度下的具体表现。It is worth noting that different control speeds can be pre-set to control the test vehicle to perform multiple LCC function tests, thereby verifying the specific performance of the LCC function at different speeds in the straight-line scenario.

需要说明的是，本申请实施例的车道居中保持功能的测试方法也适用于直道场景。在直道场景下，定位设备为打点设备，目标车道线为直道车道线，直道车道线上设置有多个车道线点位，多个车道线点位的数量为至少两个，打点设备采集多个车道线点位的点位定位信息，无需对整条直道车道线进行勘测，通过至少两点确定一条直线的原理，即相当于采集到了直道车道线的定位信息。It should be noted that the test method of the lane centering function of the embodiment of the present application is also applicable to the straight road scene. In the straight road scene, the positioning device is a dot-marking device, the target lane line is a straight road lane line, and multiple lane line points are set on the straight road lane line. The number of the multiple lane line points is at least two. The dot-marking device collects the point positioning information of the multiple lane line points. There is no need to survey the entire straight road lane line. The principle of determining a straight line through at least two points is equivalent to collecting the positioning information of the straight road lane line.

打点设备设置有设备定位模块和水平仪，车道线点位的点位定位信息由设备定位模块在水平仪为水平状态下所获得。具体地，打点设备包括打点杆、设备定位模块和水平仪，打点杆顶部安装设备定位模块，底部对准直道车道线上的车道线点位，通过打点杆上的水平仪，保证顶部的设备定位模块和底部的车道线点位在同一个垂直高度，从而提高设备定位模块对车道线点位的点位定位信息采集的准确度。 The dotting equipment is provided with a device positioning module and a level. The position positioning information of the lane line points is obtained by the device positioning module when the level is in a horizontal state. Specifically, the dotting equipment includes a dotting rod, a device positioning module and a level. The device positioning module is installed on the top of the dotting rod, and the bottom is aligned with the lane line points on the straight lane line. Through the level on the dotting rod, it is ensured that the top device positioning module and the bottom lane line points are at the same vertical height, thereby improving the accuracy of the equipment positioning module in collecting the position positioning information of the lane line points.

在本申请的一个实施例中，该方法还包括：采集测试车辆的速度信息；根据横向距离和整车信号，对车道居中保持功能进行测试，包括：根据横向距离和速度信息，计算测试车辆对目标车道线的横向碰撞时间；根据横向碰撞时间和整车信号，对车道居中保持功能进行测试。In one embodiment of the present application, the method also includes: collecting speed information of the test vehicle; testing the lane centering function based on the lateral distance and the whole vehicle signal, including: calculating the lateral collision time of the test vehicle with the target lane line based on the lateral distance and speed information; testing the lane centering function based on the lateral collision time and the whole vehicle signal.

在该实施例中，在测试车辆沿目标车道线行驶的过程中，还可以采集测试车辆的速度信息(也即横向偏离速度)，再结合测试车辆与目标车道线的横向距离，得到横向TTC(Time To Collision，碰撞时间)，最后根据横向TTC和整车信号，进一步地对测试车辆的LCC功能进行测试。In this embodiment, while the test vehicle is traveling along the target lane line, the speed information of the test vehicle (i.e., lateral deviation speed) can also be collected, and then combined with the lateral distance between the test vehicle and the target lane line to obtain the lateral TTC (Time To Collision). Finally, based on the lateral TTC and the whole vehicle signal, the LCC function of the test vehicle is further tested.

通过上述方式，实现对LCC功能进行准确地测试，提高测试的全面性。Through the above method, the LCC function can be accurately tested and the comprehensiveness of the test can be improved.

在本申请的一个实施例中，根据勘测车道线定位信息、第一车辆定位信息以及基站定位信息，计算测试车辆与目标车道线的横向距离，包括：根据第一车辆定位信息、基站定位信息以及测试车辆的车轮与测试车辆的第一车辆定位天线(也即，GPS(Global Positioning System，全球定位***)天线)之间的安装距离，确定测试车辆的车轮的位置信息；根据勘测车道线定位信息和车轮的位置信息，确定车轮相对于目标车道线的横向距离；其中，第一车辆定位天线用于采集第一车辆定位信息，测试车辆的车轮包括左车轮和/或右车轮。In one embodiment of the present application, the lateral distance between the test vehicle and the target lane line is calculated based on the survey lane line positioning information, the first vehicle positioning information and the base station positioning information, including: determining the position information of the wheels of the test vehicle based on the first vehicle positioning information, the base station positioning information and the installation distance between the wheels of the test vehicle and the first vehicle positioning antenna (that is, GPS (Global Positioning System) antenna) of the test vehicle; determining the lateral distance of the wheels relative to the target lane line based on the survey lane line positioning information and the position information of the wheels; wherein the first vehicle positioning antenna is used to collect the first vehicle positioning information, and the wheels of the test vehicle include left wheels and/or right wheels.

在该实施例中，测试车辆安装有第一车辆定位天线，用于采集第一车辆定位信息。In this embodiment, the test vehicle is equipped with a first vehicle positioning antenna for collecting first vehicle positioning information.

基于第一车辆定位天线在测试车辆上的安装位置，得到测试车辆的左车轮和/或右车轮相对于第一车辆定位天线的安装距离，并通过补偿的方式将第一车辆定位信息补偿到测试车辆的左车轮和/或右车轮，此时可以获取到左车轮和/或右车轮的位置信息。进而根据勘测车道线定位信息和测试车辆的车轮的位置信息，确定测试车辆的车轮相对于目标车道线的横向距离。Based on the installation position of the first vehicle positioning antenna on the test vehicle, the installation distance of the left wheel and/or right wheel of the test vehicle relative to the first vehicle positioning antenna is obtained, and the first vehicle positioning information is compensated to the left wheel and/or right wheel of the test vehicle by compensation, and the position information of the left wheel and/or right wheel can be obtained at this time. Then, according to the survey lane line positioning information and the position information of the wheels of the test vehicle, the lateral distance of the wheels of the test vehicle relative to the target lane line is determined.

本申请实施例，通过精细计算至测试车辆的车轮与目标车道线的横向距离，提高了对LCC功能测试的准确度。The embodiment of the present application improves the accuracy of the LCC function test by precisely calculating the lateral distance between the wheels of the test vehicle and the target lane line.

在本申请的一个实施例中，在采集测试车辆的第一车辆定位信息之后，还包括：获取测试车辆的第一定位校正信息，并利用第一定位校正信息对第一车辆定位信息进行校准处理。In one embodiment of the present application, after collecting the first vehicle positioning information of the test vehicle, it also includes: obtaining first positioning correction information of the test vehicle, and calibrating the first vehicle positioning information using the first positioning correction information.

在该实施例中，利用第一车辆定位天线获取的第一车辆定位信息会由于信号传输过程中的环境、距离等因素的影响，导致其精度不高。所以，本申请实施例基于RTK(Real-Time Kinematic，实时动态)载波相位差分定位原理，利用第一定位校正信息对获取到的第一车辆定位信息进行校准处理，相比于仅利用GPS定位，能够减小定位误差，提高对测试车辆定位的精度。In this embodiment, the first vehicle positioning information obtained by using the first vehicle positioning antenna will have a low accuracy due to the influence of factors such as the environment and distance during the signal transmission process. Therefore, the embodiment of the present application is based on the RTK (Real-Time Kinematic) carrier phase differential positioning principle, and uses the first positioning correction information to calibrate the obtained first vehicle positioning information. Compared with using only GPS positioning, it can reduce positioning errors and improve the accuracy of positioning the test vehicle.

在本申请的一个实施例中，根据勘测车道线定位信息、第一车辆定位信息以及基站定位信息，计算测试车辆与目标车道线的横向距离，包括：根据校准处理后的第一车辆定位信息、基站定位信息得到测试车辆相对于定位基站的第二车辆定位信息，并根据第二车辆定位信息和勘测车道线定位信息，确定测试车辆与目标车道线的横向距离；其中，勘测车道线定位信息为定位设备根据基站定位信息确定的目标车道线相对于定位基站的定位信息。In one embodiment of the present application, the lateral distance between the test vehicle and the target lane line is calculated according to the survey lane line positioning information, the first vehicle positioning information and the base station positioning information, including: obtaining the second vehicle positioning information of the test vehicle relative to the positioning base station according to the calibrated first vehicle positioning information and the base station positioning information, and calculating the lateral distance between the test vehicle and the target lane line according to the second vehicle positioning information and the survey lane line positioning information. The positioning information of the surveyed lane line is used to determine the lateral distance between the test vehicle and the target lane line; wherein the surveyed lane line positioning information is the positioning information of the target lane line relative to the positioning base station determined by the positioning device based on the base station positioning information.

在该实施例中，根据RTK载波相位差分处理后的第一车辆定位信息、基站定位信息，确定出在以定位基站的基站定位天线(也即，基站GPS天线)垂直映射到地面的点建立的二维平面坐标系下测试车辆相对于定位基站的第二车辆定位信息，再根据上述二维平面坐标系下目标车道线相对于定位基站的勘测车道线定位信息，计算测试车辆相对于目标车道线的横向距离。In this embodiment, based on the first vehicle positioning information and the base station positioning information after RTK carrier phase difference processing, the second vehicle positioning information of the test vehicle relative to the positioning base station is determined in a two-dimensional plane coordinate system established by vertically mapping the base station positioning antenna (i.e., the base station GPS antenna) of the positioning base station to the point on the ground, and then based on the survey lane line positioning information of the target lane line relative to the positioning base station in the above two-dimensional plane coordinate system, the lateral distance of the test vehicle relative to the target lane line is calculated.

通过上述方式，结合GPS天线和RTK差分一起精准定位，使得测试车辆的定位精度达到2cm左右，从而实现有效地进行LCC功能的性能测试。Through the above method, combined with GPS antenna and RTK differential precise positioning, the positioning accuracy of the test vehicle can reach about 2cm, thereby effectively implementing the performance test of the LCC function.

本申请实施例提供了一种车道居中保持功能的测试***，该***设置于测试场中，测试场中包括测试道路，测试道路中心或两侧设置目标车道线。An embodiment of the present application provides a testing system for a lane centering keeping function. The system is arranged in a test field. The test field includes a test road. Target lane lines are arranged in the center or on both sides of the test road.

该***包括车道居中保持功能的测试装置、定位设备以及定位基站，其中，车道居中保持功能的测试装置设置于测试车辆，测试车辆具有车道居中保持功能，定位设备用于勘测目标车道线的勘测车道线定位信息。The system includes a lane centering keeping function test device, a positioning device and a positioning base station, wherein the lane centering keeping function test device is arranged on a test vehicle, the test vehicle has a lane centering keeping function, and the positioning device is used to survey lane line positioning information of a target lane line.

如图2所示，车道居中保持功能的测试装置包括：获取模块、车辆控制模块10、车辆显示模块11、车载电源12、车辆控制器13。As shown in FIG. 2 , the testing device for the lane centering keeping function includes: an acquisition module, a vehicle control module 10 , a vehicle display module 11 , an on-board power supply 12 , and a vehicle controller 13 .

其中，获取模块，用于获取定位设备勘测的目标车道线的勘测车道线定位信息，以及采集测试车辆的第一车辆定位信息、与车道居中保持功能相关的整车信号，以及接收定位基站的基站定位信息；车辆控制模块，用于根据勘测车道线定位信息、第一车辆定位信息以及基站定位信息，计算测试车辆与目标车道线的横向距离，以及根据横向距离和整车信号，对车道居中保持功能进行测试。Among them, the acquisition module is used to obtain the survey lane line positioning information of the target lane line surveyed by the positioning equipment, as well as to collect the first vehicle positioning information of the test vehicle, the whole vehicle signal related to the lane centering keeping function, and the base station positioning information of the receiving positioning base station; the vehicle control module is used to calculate the lateral distance between the test vehicle and the target lane line according to the survey lane line positioning information, the first vehicle positioning information and the base station positioning information, and to test the lane centering keeping function according to the lateral distance and the whole vehicle signal.

需要说明的是，本申请实施例的车道居中保持功能的测试方法也适用于直道场景。在直道场景下，定位设备为打点设备，目标车道线为直道车道线，直道车道线上设置有多个车道线点位，多个车道线点位的数量为至少两个，打点设备采集多个车道线点位的点位定位信息，无需对整条直道车道线进行勘测，通过至少两点确定一条直线的原理，即相当于采集到了直道车道线的定位信息。It should be noted that the lane centering function test method of the embodiment of the present application is also applicable to the straight road scene. In the straight road scene, the positioning device is a dot device, the target lane line is a straight lane line, and there are multiple lane line points on the straight lane line. The number of the multiple lane line points is at least The marking equipment collects the position information of multiple lane line points. There is no need to survey the entire straight lane line. The principle of determining a straight line through at least two points is equivalent to collecting the position information of the straight lane line.

在本申请的一个实施例中，获取模块，还用于采集测试车辆的速度信息；车辆控制模块，具体用于根据横向距离和速度信息，计算测试车辆对目标车道线的横向碰撞时间，以及根据横向碰撞时间和整车信号，对车道居中保持功能进行测试。In one embodiment of the present application, the acquisition module is also used to collect speed information of the test vehicle; the vehicle control module is specifically used to calculate the lateral collision time of the test vehicle with the target lane line based on the lateral distance and speed information, and to test the lane centering function based on the lateral collision time and the vehicle signal.

在该实施例中，在测试车辆沿目标车道线行驶的过程中，还可以采集测试车辆的速度信息(也即横向偏离速度)，再结合测试车辆与目标车道线的横向距离，得到横向TTC，最后根据横向TTC和整车信号，进一步地对测试车辆的LCC功能进行测试。In this embodiment, while the test vehicle is traveling along the target lane line, the speed information of the test vehicle (i.e., lateral deviation speed) can also be collected, and then combined with the lateral distance between the test vehicle and the target lane line to obtain the lateral TTC. Finally, based on the lateral TTC and the whole vehicle signal, the LCC function of the test vehicle is further tested.

在本申请的一个实施例中，如图2所示，获取模块包括：第一车辆定位天线14，用于获取第一车辆定位信息、速度信息；信号采集模块15，用于获取整车信号。In one embodiment of the present application, as shown in FIG. 2 , the acquisition module includes: a first vehicle positioning antenna 14 for acquiring first vehicle positioning information and speed information; and a signal acquisition module 15 for acquiring vehicle signals.

在该实施例中，获取模块包括第一车辆定位天线14和信号采集模块15，其中，第一车辆定位天线14能够采集测试车辆的第一车辆定位信息和速度信息，信号采集模块15能够采集与LCC功能相关的整车信号，从而为LCC功能的测试提供准确地测试数据。In this embodiment, the acquisition module includes a first vehicle positioning antenna 14 and a signal acquisition module 15, wherein the first vehicle positioning antenna 14 can collect the first vehicle positioning information and speed information of the test vehicle, and the signal acquisition module 15 can collect the whole vehicle signal related to the LCC function, thereby providing accurate test data for the test of the LCC function.

在本申请的一个实施例中，车辆控制模块10，具体用于根据第一车辆定位信息、基站定位信息以及测试车辆的车轮与第一车辆定位天线14之间的安装距离，确定测试车辆的车轮的位置信息，以及根据勘测车道线定位信息和车轮的位置信息，确定车轮相对于目标车道线的横向距离；其中，测试车辆的车轮包括左车轮和/或右车轮。In one embodiment of the present application, the vehicle control module 10 is specifically used to determine the position information of the wheels of the test vehicle based on the first vehicle positioning information, the base station positioning information, and the installation distance between the wheels of the test vehicle and the first vehicle positioning antenna 14, and to determine the lateral distance of the wheels relative to the target lane line based on the survey lane line positioning information and the wheel position information; wherein the wheels of the test vehicle include left wheels and/or right wheels.

在该实施例中，基于第一车辆定位天线14在测试车辆上的安装位置，得到测试车辆的左车轮和/或右车轮相对于第一车辆定位天线14的安装距离，并通过补偿的方式将第一车辆定位信息补偿到测试车辆的左车轮和/或右车轮，此时可以获取到左车轮和/或右车轮的位置信息。进而根据勘测车道线定位信息和测试车辆的车轮的位置信息，确定测试车辆的车轮相对于目标车道线的横向距离。In this embodiment, based on the installation position of the first vehicle positioning antenna 14 on the test vehicle, the installation distance of the left wheel and/or right wheel of the test vehicle relative to the first vehicle positioning antenna 14 is obtained, and the first vehicle positioning information is compensated to the left wheel and/or right wheel of the test vehicle by compensation, and the position information of the left wheel and/or right wheel can be obtained at this time. Then, according to the survey lane line positioning information and the position information of the wheels of the test vehicle, the lateral distance of the wheels of the test vehicle relative to the target lane line is determined.

在本申请的一个实施例中，获取模块，还包括：车辆差分定位模块16，用于获取测试车辆的第一定位校正信息，并利用第一定位校正信息对第一车辆定位信息进行校准处理；车辆差分定位模块16，还用于接收勘测车道线定位信息以及基站定位信息。In one embodiment of the present application, the acquisition module also includes: a vehicle differential positioning module 16, which is used to obtain the first positioning correction information of the test vehicle and calibrate the first vehicle positioning information using the first positioning correction information; the vehicle differential positioning module 16 is also used to receive the survey lane line positioning information and the base station positioning information.

在该实施例中，利用第一车辆定位天线14获取的第一车辆定位信息会由于信号传输过程中的环境、距离等因素的影响，导致其精度不高。所以，本申请实施例基于RTK载波相位差分定位原理，利用第一定位校正信息对获取到的第一车辆定位信息进行校准处理，相比于仅利用GPS定位，能够减小定位误差，提高对测试车辆定位的精度。In this embodiment, the first vehicle positioning information obtained by the first vehicle positioning antenna 14 may be affected by factors such as the environment and distance during signal transmission, resulting in low accuracy. Therefore, the embodiment of the present application is based on the RTK carrier phase differential positioning principle, and uses the first positioning correction information to correct the position of the first vehicle. The first vehicle positioning information obtained is calibrated, which can reduce positioning errors and improve the accuracy of positioning the test vehicle compared to using only GPS positioning.

如图2所示，车辆差分定位模块16包括第一实时动态差分模块161和第一通信天线162，第一实时动态差分模块161获取测试车辆的第一定位校正信息，并利用第一定位校正信息对第一车辆定位信息进行RTK载波相位差分处理，第一通信天线162用于获取定位设备发送的勘测车道线定位信息以及接收定位基站发送的基站定位信息。通过上述方式，实现精准地采集测试车辆的定位信息，从而有效地测试LCC功能的性能表现。As shown in FIG2 , the vehicle differential positioning module 16 includes a first real-time dynamic differential module 161 and a first communication antenna 162. The first real-time dynamic differential module 161 obtains the first positioning correction information of the test vehicle, and uses the first positioning correction information to perform RTK carrier phase differential processing on the first vehicle positioning information. The first communication antenna 162 is used to obtain the survey lane line positioning information sent by the positioning device and the base station positioning information sent by the receiving positioning base station. In the above manner, the positioning information of the test vehicle can be accurately collected, thereby effectively testing the performance of the LCC function.

此外，上述确定左车轮和/或右车轮的位置信息的方式，包括：根据校准处理后的第一车辆定位信息、基站定位信息得到测试车辆相对于定位基站的第二车辆定位信息，根据第二车辆定位信息和安装距离，获取到左车轮和/或右车轮的位置信息。In addition, the above-mentioned method of determining the position information of the left wheel and/or the right wheel includes: obtaining the second vehicle positioning information of the test vehicle relative to the positioning base station based on the first vehicle positioning information after calibration and the base station positioning information, and obtaining the position information of the left wheel and/or the right wheel based on the second vehicle positioning information and the installation distance.

在本申请的一个实施例中，车辆控制模块10，具体用于根据校准处理后的第一车辆定位信息、基站定位信息得到测试车辆相对于定位基站的第二车辆定位信息，并根据第二车辆定位信息和勘测车道线定位信息，确定测试车辆与目标车道线的横向距离；其中，勘测车道线定位信息为定位设备根据基站定位信息确定的目标车道线相对于定位基站的定位信息。In one embodiment of the present application, the vehicle control module 10 is specifically used to obtain the second vehicle positioning information of the test vehicle relative to the positioning base station based on the first vehicle positioning information and the base station positioning information after calibration, and determine the lateral distance between the test vehicle and the target lane line based on the second vehicle positioning information and the survey lane line positioning information; wherein the survey lane line positioning information is the positioning information of the target lane line relative to the positioning base station determined by the positioning device based on the base station positioning information.

在该实施例中，根据RTK载波相位差分处理后的第一车辆定位信息、基站定位信息，确定出在以定位基站的基站定位天线垂直映射到地面的点建立的二维平面坐标系下测试车辆相对于定位基站的第二车辆定位信息，再根据上述二维平面坐标系下目标车道线相对于定位基站的勘测车道线定位信息，计算测试车辆相对于目标车道线的横向距离。In this embodiment, based on the first vehicle positioning information and the base station positioning information after RTK carrier phase difference processing, the second vehicle positioning information of the test vehicle relative to the positioning base station is determined in a two-dimensional plane coordinate system established by vertically mapping the base station positioning antenna of the positioning base station to the point on the ground, and then based on the survey lane line positioning information of the target lane line relative to the positioning base station in the above two-dimensional plane coordinate system, the lateral distance of the test vehicle relative to the target lane line is calculated.

通过上述方式，结合GPS天线和RTK差分一起精准定位，使得测试车辆的定位精度达到2cm左右，通过测试车辆相对于定位基站的定位信息实现以固定差分技术(也即，绝对差分技术)确定测试车辆相对于目标车道线的相对距离，相比于移动差分技术(也即，相对差分技术)，其精准度更高，从而实现有效地进行LCC功能的性能测试。Through the above method, combined with GPS antenna and RTK differential precise positioning, the positioning accuracy of the test vehicle can reach about 2cm. The positioning information of the test vehicle relative to the positioning base station is used to determine the relative distance of the test vehicle relative to the target lane line using fixed differential technology (that is, absolute differential technology). Compared with the moving differential technology (that is, relative differential technology), it has higher accuracy, thereby effectively realizing the performance test of the LCC function.

在本申请的一个实施例中，获取模块还包括：第二车辆定位天线17(也即，GPS天线)，用于获取测试车辆的第三车辆定位信息；车辆控制模块10，还用于根据第一车辆定位信息和第三车辆定位信息确定测试车辆的航向角。In one embodiment of the present application, the acquisition module also includes: a second vehicle positioning antenna 17 (ie, a GPS antenna), which is used to obtain third vehicle positioning information of the test vehicle; and a vehicle control module 10, which is also used to determine the heading angle of the test vehicle based on the first vehicle positioning information and the third vehicle positioning information.

在该实施例中，第二车辆定位天线17作为从天线，而第一车辆定位天线14为主天线。主天线和从天线通过两点确定一条直线的原理一起确定测试车辆的航向角，从而根据航向角对LCC功能的性能进行测试。In this embodiment, the second vehicle positioning antenna 17 is used as a slave antenna, and the first vehicle positioning antenna 14 is used as a master antenna. The master antenna and the slave antenna determine the heading angle of the test vehicle together through the principle of two points determining a straight line, thereby testing the performance of the LCC function according to the heading angle.

另外，需要说明的是，第二车辆定位天线17还能够辅助第一车辆定位天线14进行测试车辆的定位以及进行测试车辆的行驶速度的确定。In addition, it should be noted that the second vehicle positioning antenna 17 can also assist the first vehicle positioning antenna 14 in positioning the test vehicle and determining the driving speed of the test vehicle.

在本申请的一个实施例中，车辆显示模块11与车辆控制模块10连接，用于获取并显示以下至少一项：横向距离、横向碰撞时间以及测试结果，便于测试过程中测试人员观察数据信号的变化。 In one embodiment of the present application, the vehicle display module 11 is connected to the vehicle control module 10 to obtain and display at least one of the following: lateral distance, lateral collision time and test results, so that the tester can observe the changes in the data signal during the test.

在本申请的一个实施例中，车载电源12与车辆控制模块10连接，用于向车辆控制模块10供电，保证***运行正常。In one embodiment of the present application, the vehicle power supply 12 is connected to the vehicle control module 10 for supplying power to the vehicle control module 10 to ensure normal operation of the system.

在本申请的一个实施例中，车辆控制器13，能够设置和定位基站相同的通讯模式和通讯频率，保证能够与定位基站进行通讯。并且，在进行测试时将测试车辆的模式设置为测试模式，使得测试车辆在测试模式下进行LCC功能的测试。In one embodiment of the present application, the vehicle controller 13 can set the same communication mode and communication frequency as the positioning base station to ensure that it can communicate with the positioning base station. In addition, when testing, the mode of the test vehicle is set to the test mode, so that the test vehicle performs the LCC function test in the test mode.

需要说明的是，勘测车道线定位信息可以在测试车辆的非测试模式下接收，也即在测试车辆转换为测试模式之前进行接收。It should be noted that the survey lane line positioning information may be received in a non-test mode of the test vehicle, that is, before the test vehicle is switched to a test mode.

如图3所示，定位基站(也即，固定基站)设置有基站定位天线21(也即，基站GPS天线)和基站差分定位模块22，基站定位天线21用于获取定位基站的基站定位信息，基站差分定位模块与测试车辆的车辆差分定位模块16进行通信，用于获取定位基站的第二定位校正信息，并利用第二定位校正信息对基站定位信息进行校准处理，以及将校准处理后的基站定位信息发送至车辆差分定位模块16。As shown in Figure 3, the positioning base station (i.e., a fixed base station) is provided with a base station positioning antenna 21 (i.e., a base station GPS antenna) and a base station differential positioning module 22. The base station positioning antenna 21 is used to obtain the base station positioning information of the positioning base station. The base station differential positioning module communicates with the vehicle differential positioning module 16 of the test vehicle to obtain the second positioning correction information of the positioning base station, and uses the second positioning correction information to calibrate the base station positioning information, and sends the calibrated base station positioning information to the vehicle differential positioning module 16.

在该实施例中，基站定位天线21会与天上的卫星进行搜星定位，用于获取定位基站20的基站定位信息，该基站定位信息会由于信号传输过程中的环境、距离等因素的影响，导致其精度不高，精度大约在40cm左右。所以，本申请实施例设置基站差分定位模块22，基于RTK载波相位差分定位原理，对基站定位天线21获取到的基站定位信息进行校准处理，相比于仅利用GPS定位，能够减小定位误差，提高对定位基站20定位的精度。In this embodiment, the base station positioning antenna 21 will search for stars with the satellites in the sky to obtain the base station positioning information of the positioning base station 20. The base station positioning information will be affected by factors such as the environment and distance during the signal transmission process, resulting in low accuracy, with an accuracy of about 40 cm. Therefore, the embodiment of the present application sets a base station differential positioning module 22, which calibrates the base station positioning information obtained by the base station positioning antenna 21 based on the RTK carrier phase differential positioning principle. Compared with using only GPS positioning, it can reduce positioning errors and improve the accuracy of positioning the positioning base station 20.

在本申请的一个实施例中，如图3所示，基站差分定位模块22包括第二实时动态差分模块221和第二通信天线222；第二实时动态差分模块221获取定位基站的第二定位校正信息，并利用第二定位校正信息对基站定位信息进行RTK载波相位差分处理，第二通信天线222为2.4GHz频段的通讯天线，能够与测试车辆的车辆差分定位模块16和定位设备的设备差分定位模块32进行位置数据通讯，保证能够为整个测试提供一个精准的绝对位置信息。In one embodiment of the present application, as shown in Figure 3, the base station differential positioning module 22 includes a second real-time dynamic differential module 221 and a second communication antenna 222; the second real-time dynamic differential module 221 obtains the second positioning correction information of the positioning base station, and uses the second positioning correction information to perform RTK carrier phase differential processing on the base station positioning information. The second communication antenna 222 is a communication antenna in the 2.4GHz frequency band, which can communicate position data with the vehicle differential positioning module 16 of the test vehicle and the device differential positioning module 32 of the positioning device, ensuring that an accurate absolute position information can be provided for the entire test.

通过上述方式，结合GPS天线和RTK差分一起精准定位，使得定位基站20的定位精度达到2cm左右，将为整个测试过程提供一个精准的绝对位置信息，从而有效地测试LCC功能的性能表现。Through the above method, combined with the GPS antenna and RTK differential precise positioning, the positioning accuracy of the positioning base station 20 reaches about 2cm, which will provide an accurate absolute position information for the entire test process, thereby effectively testing the performance of the LCC function.

需要说明的是，本申请实施例应用于固定的测试场下的LCC功能的性能测试，通过定位基站保证获取的测试车辆和目标车道线的定位信息的延迟较小、偏差较小，相对于不通过定位基站而是通过GPS定位的实际行驶场景下的测试方法，能够提高测试的精准度。It should be noted that the embodiment of the present application is applied to the performance test of the LCC function in a fixed test field. The positioning base station is used to ensure that the positioning information of the test vehicle and the target lane line obtained has a small delay and a small deviation. Compared with the test method in the actual driving scenario that does not use the positioning base station but uses GPS positioning, it can improve the accuracy of the test.

定位设备可以为一个小推车，如图4所示，上面安装设备控制模块30、设备定位天线31(也即，设备GPS天线)、设备差分定位模块32、设备显示模块33、设备电源34以及设备控制器35。 The positioning device can be a small cart, as shown in Figure 4, on which a device control module 30, a device positioning antenna 31 (that is, a device GPS antenna), a device differential positioning module 32, a device display module 33, a device power supply 34 and a device controller 35 are installed.

其中，设备定位天线31，用于获取目标车道线的第一车道线定位信息(也即，GPS车道线定位信息)；设备差分定位模块32，与测试车辆的车辆差分定位模块16进行通信，用于获取目标车道线的第三定位校正信息，并利用第三定位校正信息对第一车道线定位信息进行校准处理；设备控制模块30，与设备差分定位模块32连接，用于获取定位基站的基站定位信息，根据校准处理后的第一车道线定位信息、基站定位信息得到目标车道线相对于定位基站的勘测车道线定位信息，并将勘测车道线定位信息通过设备差分定位模块32发送至车辆差分定位模块16。Among them, the device positioning antenna 31 is used to obtain the first lane line positioning information of the target lane line (that is, the GPS lane line positioning information); the device differential positioning module 32 communicates with the vehicle differential positioning module 16 of the test vehicle to obtain the third positioning correction information of the target lane line, and uses the third positioning correction information to calibrate the first lane line positioning information; the device control module 30 is connected to the device differential positioning module 32, and is used to obtain the base station positioning information of the positioning base station, and obtain the survey lane line positioning information of the target lane line relative to the positioning base station according to the first lane line positioning information and the base station positioning information after the calibration, and send the survey lane line positioning information to the vehicle differential positioning module 16 through the device differential positioning module 32.

在该实施例中，设备定位天线31用于获取目标车道线的第一车道线定位信息，该第一车道线定位信息会由于信号传输过程中的环境、距离等因素的影响，导致其精度不高。所以，本申请实施例设置设备差分定位模块32，基于RTK载波相位差分定位原理，对设备定位天线31获取到的第一车道线定位信息进行校准处理，相比于仅利用GPS定位，能够减小定位误差，提高对目标车道线定位的精度。In this embodiment, the device positioning antenna 31 is used to obtain the first lane line positioning information of the target lane line. The first lane line positioning information may be affected by factors such as the environment and distance during signal transmission, resulting in low accuracy. Therefore, the embodiment of the present application sets a device differential positioning module 32, which performs calibration processing on the first lane line positioning information obtained by the device positioning antenna 31 based on the RTK carrier phase differential positioning principle. Compared with using GPS positioning alone, it can reduce positioning errors and improve the accuracy of positioning the target lane line.

在本申请的一个实施例中，如图4所示，设备差分定位模块32包括第三实时动态差分模块321和第三通信天线322；第三实时动态差分模块321获取目标车道线的第三定位校正信息，并利用第三定位校正信息对目标车道线的第一车道线定位信息进行RTK载波相位差分处理。设备控制模块30获取处理后的第一车道线定位信息和定位基站的基站定位信息，根据处理后的第一车道线定位信息、基站定位信息得到目标车道线相对于定位基站的勘测车道线定位信息。第三通信天线322与测试车辆的车辆差分定位模块16的第一通信天线162进行通信，将勘测车道线定位信息发送至第一通信天线162。In one embodiment of the present application, as shown in FIG4 , the device differential positioning module 32 includes a third real-time dynamic differential module 321 and a third communication antenna 322; the third real-time dynamic differential module 321 obtains the third positioning correction information of the target lane line, and uses the third positioning correction information to perform RTK carrier phase differential processing on the first lane line positioning information of the target lane line. The device control module 30 obtains the processed first lane line positioning information and the base station positioning information of the positioning base station, and obtains the survey lane line positioning information of the target lane line relative to the positioning base station based on the processed first lane line positioning information and the base station positioning information. The third communication antenna 322 communicates with the first communication antenna 162 of the vehicle differential positioning module 16 of the test vehicle, and sends the survey lane line positioning information to the first communication antenna 162.

通过上述方式，结合GPS天线和RTK差分一起精准定位，使得目标车道线的定位精度达到2cm左右，通过目标车道线相对于定位基站的定位信息实现以固定差分技术(也即，绝对差分技术)确定测试车辆相对于目标车道线的相对距离，相比于移动差分技术(也即，相对差分技术)，其精准度更高，从而实现有效地进行LCC功能的性能测试。Through the above method, combined with GPS antenna and RTK differential precise positioning, the positioning accuracy of the target lane line can reach about 2cm. The positioning information of the target lane line relative to the positioning base station is used to determine the relative distance of the test vehicle relative to the target lane line using fixed differential technology (that is, absolute differential technology). Compared with the mobile differential technology (that is, relative differential technology), it has higher accuracy, thereby effectively realizing the performance test of the LCC function.

在本申请的一个实施例中，定位设备的设备显示模块33，与设备控制模块30连接，用于获取并显示勘测车道线定位信息，便于测试过程中测试人员观察数据信号的变化。In one embodiment of the present application, the device display module 33 of the positioning device is connected to the device control module 30 and is used to obtain and display the survey lane line positioning information, so as to facilitate the tester to observe the changes in the data signal during the test.

在本申请的一个实施例中，定位设备的设备电源34，与设备控制模块30连接，用于向设备控制模块30供电，保证***运行正常。In one embodiment of the present application, a device power supply 34 of the positioning device is connected to the device control module 30 and is used to supply power to the device control module 30 to ensure normal operation of the system.

在本申请的一个实施例中，定位设备的设备控制器35，能够设置和定位基站相同的通讯模式和通讯频率，保证能够与定位基站进行通讯。In one embodiment of the present application, the device controller 35 of the positioning device can be set to the same communication mode and communication frequency as the positioning base station to ensure that it can communicate with the positioning base station.

在本申请的一个实施例中，基于弯道场景的LCC功能的测试方法包括：In one embodiment of the present application, a method for testing an LCC function based on a curve scenario includes:

(1)将测试场的固定基站搭建完成，设置固定基站模式下的通讯模式和通讯频率，保证能够为整个测试提供一个精准的相对坐标系原点。 (1) Complete the construction of the fixed base station at the test site, set the communication mode and frequency under the fixed base station mode, and ensure that an accurate relative coordinate system origin can be provided for the entire test.

(2)设置定位设备的弯道勘测模式，进行弯道车道线勘测，在整个试验场里面，选取需要测试的弯道车道线，如图5所示，沿着弯道车道线内侧通过定位设备进行弯道车道线勘测，沿着弯道车道线从头到尾进行勘测，结束后保存车道线信息，此时会模拟出一条虚拟的弯道车道线信息，此时的虚拟车道线信息和实际的车道线信息是完全重合的。(2) Set the curve survey mode of the positioning device to conduct curve lane line survey. In the entire test field, select the curve lane line to be tested, as shown in Figure 5, and use the positioning device to survey the curve lane line along the inner side of the curve lane line. The survey is performed from beginning to end along the curve lane line. After the completion, the lane line information is saved. At this time, a virtual curve lane line information will be simulated. At this time, the virtual lane line information and the actual lane line information are completely overlapped.

(3)将勘测出的弯道车道线信息导入到测试车辆。(3) Import the surveyed curve lane line information into the test vehicle.

(4)将测试车辆设置为测试模式。(4) Set the test vehicle to test mode.

(5)基于定位基站和测试车辆的RTK差分通讯，确定测试车辆在二维平面坐标系中的位置，计算出此时弯道车道线内侧到测试车辆左右前轮外侧位置的横向距离、横向偏离速度、横向TTC等关键横向信息。(5) Based on the RTK differential communication between the positioning base station and the test vehicle, the position of the test vehicle in the two-dimensional plane coordinate system is determined, and key lateral information such as the lateral distance from the inner side of the curve lane line to the outer side of the left and right front wheels of the test vehicle, the lateral deviation speed, and the lateral TTC are calculated.

(6)激活测试车辆的LCC***，沿着勘测的弯道车道线行驶，实时观察并记录测试车辆左右前轮外侧距离弯道车道线的横向信息。(6) Activate the LCC system of the test vehicle, drive along the surveyed curve lane line, and observe and record in real time the lateral information of the distance between the outer sides of the left and right front wheels of the test vehicle and the curve lane line.

(7)分析当LCC功能激活后测试车辆行驶时左右前轮外侧距离弯道车道线的横向偏差信息，得到LCC功能在弯道场景中的性能表现。(7) Analyze the lateral deviation information of the left and right front wheels from the curve lane line when the test vehicle is driving after the LCC function is activated, and obtain the performance of the LCC function in the curve scenario.

在本申请的一个实施例中，基于直道场景的LCC功能的测试方法包括：In one embodiment of the present application, a method for testing the LCC function based on a straight road scenario includes:

(1)将测试场的固定基站搭建完成，设置固定基站模式下的通讯模式和通讯频率，保证能够为整个测试提供一个精准的相对坐标系原点。(1) Complete the construction of the fixed base station at the test site, set the communication mode and frequency under the fixed base station mode, and ensure that an accurate relative coordinate system origin can be provided for the entire test.

(2)设置打点设备的直线打点模式，此时通过GPS天线和水平杆(也即打点杆)配合使用进行打点。在整个测试场里面，选取需要测试的直线车道，如图6所示，沿着直线车道的直道车道线内侧通过水平杆61和GPS天线62进行直线打点，每隔150m左右的位置打一个点，连续打8个点。(2) Set the straight line dotting mode of the dotting device, and dotting is performed by using the GPS antenna and the horizontal rod (i.e., the dotting rod) in combination. In the entire test field, select the straight lane to be tested, as shown in FIG6 , and perform straight line dotting along the inner side of the straight lane line of the straight lane through the horizontal rod 61 and the GPS antenna 62, and dot a point every 150 meters or so, and do 8 points in succession.

(3)打点完成后保存点位定位信息。(3) After the point marking is completed, save the point location information.

(5)基于固定基站和测试车辆的RTK差分通讯，确定测试车辆在二维平面坐标系中的位置，计算此时直道车道线内侧到测试车辆的左右前轮外侧位置的横向距离、横向偏离速度、横向TTC等关键横向信息。(5) Based on the RTK differential communication between the fixed base station and the test vehicle, the position of the test vehicle in the two-dimensional plane coordinate system is determined, and key lateral information such as the lateral distance from the inner side of the straight lane line to the outer side of the left and right front wheels of the test vehicle, the lateral deviation speed, and the lateral TTC are calculated.

(6)激活测试车辆的LCC***，沿着刚才打点的直线车道行驶，实时观察并记录测试车辆的左右轮外侧距离直道车道线的横向信息。(6) Activate the LCC system of the test vehicle and drive along the straight lane just marked. Observe and record the lateral information of the distance between the outer sides of the left and right wheels of the test vehicle and the straight lane line in real time.

(7)根据当LCC功能激活后，测试车辆行驶时距离直道车道线的偏差信息，分析LCC功能在直道场景中的性能表现。(7) Based on the deviation information of the test vehicle from the straight lane line when the LCC function is activated, the performance of the LCC function in the straight road scenario is analyzed.

示例性地，直线车道道宽3.6米，测试车辆车宽1.8米，直道车道线为直线车道的左侧车道线，在测试车辆的左车轮距离左侧车道线0.9±0.2米、右车轮距离右侧车道线0.9±0.2米的情况下，视为测试车辆为车道居中行驶。在实际测试中，当检测出测试车辆的左车轮距离左侧车道线的横向距离为0.5米时，表明测试车辆偏左(未居中)行驶。For example, the straight lane is 3.6 meters wide, the test vehicle is 1.8 meters wide, and the straight lane line is the left lane line of the straight lane. When the left wheel of the test vehicle is 0.9±0.2 meters away from the left lane line and the right wheel is 0.9±0.2 meters away from the right lane line, the test vehicle is considered to be driving in the center of the lane. In actual tests, when the lateral distance between the left wheel of the test vehicle and the left lane line is detected to be 0.5 meters, it indicates that the test vehicle is driving to the left (not centered).

当然，直道车道线也可以为直线车道的右侧车道线，通过检测测试车辆的右车轮距离右侧车道线的横向距离确定测试车辆是否居中行驶。直道车道线也可以为直线车道的左侧车道线和右侧车道线，通过检测测试车辆的左车轮距离左侧车道线的横向距离和右车轮距离右侧车道线的横向距离，确定测试车辆是否居中行驶。Of course, the straight lane line can also be the right lane line of the straight lane. By detecting the lateral distance between the right wheel of the test vehicle and the right lane line, it is determined whether the test vehicle is driving in the center. The straight lane line can also be the left lane line and the right lane line of the straight lane. By detecting the lateral distance between the right wheel of the test vehicle and the right lane line, it is determined whether the test vehicle is driving in the center. The lateral distance between the left wheel and the left lane line and the lateral distance between the right wheel and the right lane line are used to determine whether the test vehicle is driving in the center.

本申请实施例还提供一种电子设备，如图7所示，该电子设备70包括处理器71，处理器71和存储器72耦合，存储器72上存储有可在处理器71上运行的程序或指令，该程序或指令被处理器71执行时实现上述基于直道场景的LCC功能的测试方法实施例的各个步骤，且能达到相同的技术效果，为避免重复，这里不再赘述。其中，存储器72为可选的。The embodiment of the present application also provides an electronic device, as shown in FIG7 , the electronic device 70 includes a processor 71, the processor 71 is coupled to a memory 72, and the memory 72 stores a program or instruction that can be run on the processor 71, and when the program or instruction is executed by the processor 71, each step of the above-mentioned test method embodiment of the LCC function based on the straight scene is implemented, and the same technical effect can be achieved, so it will not be repeated here to avoid repetition. Among them, the memory 72 is optional.

需要说明的是，本申请实施例中的电子设备70可以是终端，也可以为除终端之外的其他设备。示例性的，电子设备可以为手机、平板电脑、笔记本电脑、掌上电脑、车载电子设备、移动上网装置(Mobile Internet Device，MID)、机器人、超级移动个人计算机(Ultra-Mobile Personal Computer，UMPC)、上网本或者个人数字助理(Personal Digital Assistant，PDA)等，还可以为服务器、网络附属存储器(Network Attached Storage，NAS)、个人计算机(Personal Computer，PC)等，本申请实施例不作具体限定。It should be noted that the electronic device 70 in the embodiment of the present application can be a terminal or other devices except the terminal. Exemplarily, the electronic device can be a mobile phone, a tablet computer, a laptop computer, a PDA, a vehicle-mounted electronic device, a mobile Internet device (Mobile Internet Device, MID), a robot, an ultra-mobile personal computer (Ultra-Mobile Personal Computer, UMPC), a netbook or a personal digital assistant (Personal Digital Assistant, PDA), etc. It can also be a server, a network attached storage (Network Attached Storage, NAS), a personal computer (Personal Computer, PC), etc., and the embodiment of the present application does not make specific limitations.

本申请实施例中的电子设备70可以为具有操作***的装置。该操作***可以为安卓(Android)操作***，可以为ios操作***，还可以为其他可能的操作***，本申请实施例不作具体限定。The electronic device 70 in the embodiment of the present application may be a device having an operating system. The operating system may be an Android operating system, an iOS operating system, or other possible operating systems, which are not specifically limited in the embodiment of the present application.

存储器72可用于存储软件程序以及各种数据。存储器72可主要包括存储程序或指令的第一存储区和存储数据的第二存储区，其中，第一存储区可存储操作***、至少一个功能所需的应用程序或指令(比如声音播放功能、图像播放功能等)等。此外，存储器72可以包括易失性存储器或非易失性存储器，或者，存储器72可以包括易失性和非易失性存储器两者。其中，非易失性存储器可以是只读存储器(Read-Only Memory，ROM)、可编程只读存储器(Programmable ROM，PROM)、可擦除可编程只读存储器(Erasable PROM，EPROM)、电可擦除可编程只读存储器(Electrically EPROM，EEPROM)或闪存。易失性存储器可以是随机存取存储器(Random Access Memory，RAM)，静态随机存取存储器(Static RAM，SRAM)、动态随机存取存储器(Dynamic RAM，DRAM)、同步动态随机存取存储器(Synchronous DRAM，SDRAM)、双倍数据速率同步动态随机存取存储器(Double Data Rate SDRAM，DDRSDRAM)、增强型同步动态随机存取存储器(Enhanced SDRAM，ESDRAM)、同步连接动态随机存取存储器(Synch link DRAM，SLDRAM)和直接内存总线随机存取存储器(Direct Rambus RAM，DRRAM)。本申请实施例中的存储器72包括但不限于这些和任意其它适合类型的存储器。The memory 72 can be used to store software programs and various data. The memory 72 may mainly include a first storage area for storing programs or instructions and a second storage area for storing data, wherein the first storage area may store an operating system, an application program or instructions required for at least one function (such as a sound playback function, an image playback function, etc.), etc. In addition, the memory 72 may include a volatile memory or a non-volatile memory, or the memory 72 may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), a static random access memory (SRAM), a dynamic random access memory (DRAM), a synchronous dynamic random access memory (SDRAM), a double data rate synchronous dynamic random access memory (DDRSDRAM), an enhanced synchronous dynamic random access memory (ESDRAM), a synchronous link dynamic random access memory (SLDRAM) and a direct memory bus random access memory (DRRAM). The memory 72 in the embodiment of the present application includes but is not limited to these and any other suitable types of memory.

处理器71可包括一个或多个处理单元；可选的，处理器71集成应用处理器和调制解调处理器，其中，应用处理器主要处理涉及操作***、用户界面和应用程序等的操作，调制解调处理器主要处理无线通信信号，如基带处理器。可以理解的是，上述调制解调处理器也可以不集成到处理器71中。 The processor 71 may include one or more processing units; optionally, the processor 71 integrates an application processor and a modem processor, wherein the application processor mainly processes operations related to the operating system, user interface, and application programs, and the modem processor mainly processes wireless communication signals, such as a baseband processor. It is understandable that the modem processor may not be integrated into the processor 71.

本申请实施例还提供一种计算机可读存储介质，该计算机可读存储介质上存储有程序或指令，该程序或指令被处理器执行时实现上述车道居中保持功能的测试方法实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。An embodiment of the present application also provides a computer-readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, each process of the test method embodiment of the lane centering keeping function described above is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

本申请实施例还提供了一种芯片，芯片包括处理器和通信接口，通信接口和处理器耦合，处理器用于运行程序或指令，实现上述车道居中保持功能的测试方法实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。An embodiment of the present application also provides a chip, which includes a processor and a communication interface. The communication interface and the processor are coupled, and the processor is used to run programs or instructions to implement the various processes of the above-mentioned lane centering keeping function test method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

应理解，本申请实施例提到的芯片还可以称为***级芯片、***芯片、芯片***或片上***芯片等。It should be understood that the chip mentioned in the embodiments of the present application can also be called a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

本申请实施例还提供一种计算机程序产品，该程序产品被存储在存储介质中，该程序产品被至少一个处理器执行以实现如上述车道居中保持功能的测试方法实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。An embodiment of the present application also provides a computer program product, which is stored in a storage medium. The program product is executed by at least one processor to implement the various processes of the test method embodiment of the lane centering keeping function as described above, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

本申请实施例还提供一种车辆，该车辆包括处理器，处理器和存储器耦合，存储器存储可在处理器上运行的程序或指令，程序或指令被处理器执行时实现如上述车道居中保持功能的测试方法实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。An embodiment of the present application also provides a vehicle, which includes a processor, which is coupled to a memory, and the memory stores programs or instructions that can be run on the processor. When the programs or instructions are executed by the processor, the various processes of the test method embodiment of the lane centering keeping function as described above are implemented, and the same technical effect can be achieved. To avoid repetition, they will not be repeated here.

需要说明的是，在本文中，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者装置不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者装置所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括该要素的过程、方法、物品或者装置中还存在另外的相同要素。此外，需要指出的是，本申请实施方式中的方法和装置的范围不限按示出或讨论的顺序来执行功能，还可包括根据所涉及的功能按基本同时的方式或按相反的顺序来执行功能，例如，可以按不同于所描述的次序来执行所描述的方法，并且还可以添加、省去、或组合各种步骤。另外，参照某些示例所描述的特征可在其他示例中被组合。It should be noted that, in this article, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises one..." does not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be noted that the scope of the method and device in the embodiment of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

上面结合附图对本申请的实施例进行了描述，但是本申请并不局限于上述的具体实施方式，上述的具体实施方式仅仅是示意性的，而不是限制性的，本领域的普通技术人员在本申请的启示下，在不脱离本申请宗旨和权利要求所保护的范围情况下，还可做出很多形式，均属于本申请的保护之内。 The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

Claims

一种车道居中保持功能的测试方法，其特征在于，包括：A method for testing a lane centering keeping function, comprising:

获取定位设备勘测的目标车道线的勘测车道线定位信息；Acquire survey lane line positioning information of the target lane line surveyed by the positioning device;

采集测试车辆的第一车辆定位信息、与所述车道居中保持功能相关的整车信号，以及接收定位基站的基站定位信息；Collecting first vehicle positioning information of the test vehicle, vehicle signals related to the lane centering keeping function, and receiving base station positioning information of a positioning base station;

根据所述勘测车道线定位信息、所述第一车辆定位信息以及所述基站定位信息，计算所述测试车辆与所述目标车道线的横向距离；Calculating a lateral distance between the test vehicle and the target lane line according to the survey lane line positioning information, the first vehicle positioning information, and the base station positioning information;

根据所述横向距离和所述整车信号，对所述车道居中保持功能进行测试；Testing the lane centering function according to the lateral distance and the vehicle signal;

其中，所述定位设备包括弯道勘测设备，所述目标车道线包括弯道车道线。Wherein, the positioning device includes a curve survey device, and the target lane line includes a curve lane line.
根据权利要求1所述的方法，其特征在于，还包括：The method according to claim 1, further comprising:

采集所述测试车辆的速度信息；Collecting speed information of the test vehicle;

所述根据所述横向距离和所述整车信号，对所述车道居中保持功能进行测试，包括：The testing of the lane centering keeping function according to the lateral distance and the vehicle signal includes:

根据所述横向距离和所述速度信息，计算所述测试车辆对所述目标车道线的横向碰撞时间；Calculating a lateral collision time of the test vehicle with the target lane line according to the lateral distance and the speed information;

根据所述横向碰撞时间和所述整车信号，对所述车道居中保持功能进行测试。The lane centering keeping function is tested according to the lateral collision time and the whole vehicle signal.
根据权利要求1所述的方法，其特征在于，所述根据所述勘测车道线定位信息、所述第一车辆定位信息以及所述基站定位信息，计算所述测试车辆与所述目标车道线的横向距离，包括：The method according to claim 1, characterized in that the step of calculating the lateral distance between the test vehicle and the target lane line according to the survey lane line positioning information, the first vehicle positioning information, and the base station positioning information comprises:

根据所述第一车辆定位信息、所述基站定位信息以及所述测试车辆的车轮与所述测试车辆的第一车辆定位天线之间的安装距离，确定所述测试车辆的车轮的位置信息；Determine the position information of the wheel of the test vehicle according to the first vehicle positioning information, the base station positioning information, and the installation distance between the wheel of the test vehicle and the first vehicle positioning antenna of the test vehicle;

根据所述勘测车道线定位信息和所述车轮的位置信息，确定所述车轮相对于所述目标车道线的横向距离；Determining a lateral distance of the wheel relative to the target lane line according to the surveyed lane line positioning information and the position information of the wheel;

其中，所述第一车辆定位天线用于采集所述第一车辆定位信息，所述测试车辆的车轮包括左车轮和/或右车轮。The first vehicle positioning antenna is used to collect the first vehicle positioning information, and the wheels of the test vehicle include left wheels and/or right wheels.
根据权利要求1至3中任一项所述的方法，其特征在于，在采集所述测试车辆的第一车辆定位信息之后，还包括：The method according to any one of claims 1 to 3, characterized in that after collecting the first vehicle positioning information of the test vehicle, it also includes:

获取所述测试车辆的第一定位校正信息，并利用所述第一定位校正信息对所述第一车辆定位信息进行校准处理。The first positioning correction information of the test vehicle is obtained, and the first vehicle positioning information is calibrated using the first positioning correction information.
根据权利要求4所述的方法，其特征在于，所述根据所述勘测车道线定位信息、所述第一车辆定位信息以及所述基站定位信息，计算所述测试车辆与所述目标车道线的横向距离，包括：The method according to claim 4, characterized in that the step of calculating the lateral distance between the test vehicle and the target lane line according to the survey lane line positioning information, the first vehicle positioning information, and the base station positioning information comprises:

根据校准处理后的所述第一车辆定位信息、所述基站定位信息得到所述测试车辆相对于所述定位基站的第二车辆定位信息，并根据所述第二车辆定位信息和所述勘测车道线定位信息，确定所述测试车辆与所述目标车道线的横向距离；The first vehicle positioning information and the base station positioning information after calibration are obtained. second vehicle positioning information of the test vehicle relative to the positioning base station, and determining a lateral distance between the test vehicle and the target lane line according to the second vehicle positioning information and the survey lane line positioning information;

其中，所述勘测车道线定位信息为所述定位设备根据所述基站定位信息确定的所述目标车道线相对于所述定位基站的定位信息。The surveyed lane line positioning information is the positioning information of the target lane line relative to the positioning base station determined by the positioning device according to the base station positioning information.
一种车道居中保持功能的测试装置，其特征在于，包括设置于测试车辆的获取模块和车辆控制模块；A test device for a lane centering keeping function, characterized by comprising an acquisition module and a vehicle control module arranged on a test vehicle;

其中，所述获取模块，用于获取定位设备勘测的目标车道线的勘测车道线定位信息，以及采集测试车辆的第一车辆定位信息、与所述车道居中保持功能相关的整车信号，以及接收定位基站的基站定位信息；The acquisition module is used to acquire the survey lane line positioning information of the target lane line surveyed by the positioning device, collect the first vehicle positioning information of the test vehicle, the whole vehicle signal related to the lane centering keeping function, and receive the base station positioning information of the positioning base station;

所述车辆控制模块，用于根据所述勘测车道线定位信息、所述第一车辆定位信息以及所述基站定位信息，计算所述测试车辆与所述目标车道线的横向距离，以及根据所述横向距离和所述整车信号，对所述车道居中保持功能进行测试；The vehicle control module is used to calculate the lateral distance between the test vehicle and the target lane line according to the survey lane line positioning information, the first vehicle positioning information and the base station positioning information, and to test the lane centering function according to the lateral distance and the whole vehicle signal;

其中，所述定位设备包括弯道勘测设备，所述目标车道线包括弯道车道线。Wherein, the positioning device includes a curve survey device, and the target lane line includes a curve lane line.
根据权利要求6所述的装置，其特征在于，The device according to claim 6, characterized in that

所述获取模块，还用于采集所述测试车辆的速度信息；The acquisition module is further used to collect speed information of the test vehicle;

所述车辆控制模块，具体用于根据所述横向距离和所述速度信息，计算所述测试车辆对所述目标车道线的横向碰撞时间，以及根据所述横向碰撞时间和所述整车信号，对所述车道居中保持功能进行测试。The vehicle control module is specifically used to calculate the lateral collision time of the test vehicle with the target lane line according to the lateral distance and the speed information, and to test the lane centering function according to the lateral collision time and the whole vehicle signal.
根据权利要求7所述的装置，其特征在于，所述获取模块包括：The device according to claim 7, characterized in that the acquisition module comprises:

第一车辆定位天线，用于获取所述第一车辆定位信息、所述速度信息；A first vehicle positioning antenna, used to obtain the first vehicle positioning information and the speed information;

信号采集模块，用于获取所述整车信号。The signal acquisition module is used to acquire the vehicle signal.
根据权利要求8所述的装置，其特征在于，The device according to claim 8, characterized in that

所述车辆控制模块，具体用于根据所述第一车辆定位信息、所述基站定位信息以及所述测试车辆的车轮与所述第一车辆定位天线之间的安装距离，确定所述测试车辆的车轮的位置信息，以及根据所述勘测车道线定位信息和所述车轮的位置信息，确定所述车轮相对于所述目标车道线的横向距离；The vehicle control module is specifically used to determine the position information of the wheel of the test vehicle according to the first vehicle positioning information, the base station positioning information and the installation distance between the wheel of the test vehicle and the first vehicle positioning antenna, and determine the lateral distance of the wheel relative to the target lane line according to the survey lane line positioning information and the wheel position information;

其中，所述测试车辆的车轮包括左车轮和/或右车轮。Wherein, the wheels of the test vehicle include left wheels and/or right wheels.
根据权利要求8或9所述的装置，其特征在于，所述获取模块，还包括：The device according to claim 8 or 9, characterized in that the acquisition module further comprises:

车辆差分定位模块，用于获取所述测试车辆的第一定位校正信息，并利用所述第一定位校正信息对所述第一车辆定位信息进行校准处理；A vehicle differential positioning module, used for acquiring first positioning correction information of the test vehicle, and calibrating the first vehicle positioning information using the first positioning correction information;

所述车辆差分定位模块，还用于接收所述勘测车道线定位信息以及所述基站定位信息。The vehicle differential positioning module is also used to receive the survey lane line positioning information and the base station positioning information.
根据权利要求10所述的装置，其特征在于，The device according to claim 10, characterized in that

所述车辆控制模块，具体用于根据校准处理后的所述第一车辆定位信息、所述基站定位信息得到所述测试车辆相对于所述定位基站的第二车辆定位信息，并根据所述第二车辆定位信息和所述勘测车道线定位信息，确定所述测试车辆与所述目标车道线的横向距离；The vehicle control module is specifically configured to: The test vehicle is positioned relative to the positioning base station using the positioning information of the base station and the positioning information of the base station, and the lateral distance between the test vehicle and the target lane line is determined according to the second vehicle positioning information and the positioning information of the surveyed lane line;

其中，所述勘测车道线定位信息为所述定位设备根据所述基站定位信息确定的所述目标车道线相对于所述定位基站的定位信息。The surveyed lane line positioning information is the positioning information of the target lane line relative to the positioning base station determined by the positioning device according to the base station positioning information.
一种车道居中保持功能的测试***，其特征在于，包括：如权利要求6至11中任一项所述的车道居中保持功能的测试装置、定位设备以及定位基站。A lane centering keeping function testing system, characterized by comprising: a lane centering keeping function testing device, a positioning device, and a positioning base station as described in any one of claims 6 to 11.
根据权利要求12所述的***，其特征在于，所述定位基站包括：The system according to claim 12, characterized in that the positioning base station comprises:

基站定位天线，用于获取所述定位基站的基站定位信息；A base station positioning antenna, used to obtain base station positioning information of the positioning base station;

基站差分定位模块，与所述测试车辆的车辆差分定位模块进行通信，用于获取所述定位基站的第二定位校正信息，并利用所述第二定位校正信息对所述基站定位信息进行校准处理，以及将校准处理后的所述基站定位信息发送至所述车辆差分定位模块。The base station differential positioning module communicates with the vehicle differential positioning module of the test vehicle to obtain the second positioning correction information of the positioning base station, calibrate the base station positioning information using the second positioning correction information, and send the calibrated base station positioning information to the vehicle differential positioning module.
根据权利要求12所述的***，其特征在于，所述定位设备包括：The system according to claim 12, characterized in that the positioning device comprises:

设备定位天线，用于获取所述目标车道线的第一车道线定位信息；A device positioning antenna, used to obtain first lane line positioning information of the target lane line;

设备差分定位模块，与所述测试车辆的车辆差分定位模块进行通信，用于获取所述目标车道线的第三定位校正信息，并利用所述第三定位校正信息对所述第一车道线定位信息进行校准处理；A device differential positioning module communicates with the vehicle differential positioning module of the test vehicle to obtain third positioning correction information of the target lane line, and calibrates the first lane line positioning information using the third positioning correction information;

设备控制模块，与所述设备差分定位模块连接，用于获取所述定位基站的基站定位信息，根据校准处理后的所述第一车道线定位信息、所述基站定位信息得到所述目标车道线相对于所述定位基站的勘测车道线定位信息，并将所述勘测车道线定位信息通过所述设备差分定位模块发送至所述车辆差分定位模块。The device control module is connected to the device differential positioning module, and is used to obtain the base station positioning information of the positioning base station, obtain the survey lane line positioning information of the target lane line relative to the positioning base station according to the first lane line positioning information and the base station positioning information after calibration, and send the survey lane line positioning information to the vehicle differential positioning module through the device differential positioning module.
一种电子设备，其特征在于，包括处理器，所述处理器和存储器耦合，所述存储器存储有在所述处理器上运行的程序或指令，所述程序或指令被所述处理器执行时实现如权利要求1至5中任一项所述的车道居中保持功能的测试方法的步骤。An electronic device, characterized in that it includes a processor, the processor is coupled to a memory, the memory stores a program or instruction running on the processor, and when the program or instruction is executed by the processor, the steps of the lane centering keeping function testing method as described in any one of claims 1 to 5 are implemented.
一种计算机可读存储介质，其上存储有程序或指令，其特征在于，所述程序或指令被处理器执行时实现如权利要求1至5中任一项所述的车道居中保持功能的测试方法的步骤。 A computer-readable storage medium having a program or instruction stored thereon, characterized in that when the program or instruction is executed by a processor, the steps of the lane centering keeping function testing method as described in any one of claims 1 to 5 are implemented.