技术领域Technical Field
本发明涉及计算机技术，尤其涉及一种设备测试方法、装置、电子设备、系统和存储介质。The present invention relates to computer technology, and in particular to a device testing method, device, electronic equipment, system and storage medium.
背景技术Background Art
感知设备，例如毫米波雷达、激光雷达、摄像头、融合一体机等，可以用来跟踪检测目标。在实际应用中，可以根据感知设备对目标的跟踪检测效果来筛选所需的感知设备，因而需要对感知设备的跟踪检测效果进行测试。Perception devices, such as millimeter wave radar, laser radar, camera, integrated machine, etc., can be used to track and detect targets. In practical applications, the required perception devices can be selected according to the tracking and detection effect of the perception devices on the targets, so the tracking and detection effect of the perception devices needs to be tested.
现有的对感知设备的跟踪检测效果进行测试的方法，主要依赖激光测距仪，通过激光测距仪静态采点，对静态采点进行分析计算得到感知设备的跟踪检测效果。在实现本发明的过程中，发明人发现，静态采点比较繁琐，实施过程不安全，数据容易存在很大的波动，测试结果不够准确；另外现有技术还缺乏测试结果的直观展示。The existing method for testing the tracking and detection effect of the sensing device mainly relies on a laser rangefinder, which collects static points through the laser rangefinder, and analyzes and calculates the static points to obtain the tracking and detection effect of the sensing device. In the process of implementing the present invention, the inventor found that static point collection is cumbersome, the implementation process is unsafe, the data is prone to large fluctuations, and the test results are not accurate enough; in addition, the existing technology lacks an intuitive display of the test results.
发明内容Summary of the invention
本发明实施例提供一种设备测试方法、装置、电子设备、系统和存储介质，能够简化测试过程、提升测试安全、直观地展示测试结果。The embodiments of the present invention provide a device testing method, apparatus, electronic device, system and storage medium, which can simplify the testing process, improve testing safety and intuitively display test results.
第一方面，本发明实施例提供一种设备测试方法，该所述设备测试方法应用于设备测试系统，所述设备测试系统中包括安装在路侧单元RSU上的待测感知设备和安装在测试车辆上的标准感知设备，所述测试车辆具有车载单元OBU，所述设备测试方法包括：In a first aspect, an embodiment of the present invention provides a device testing method, which is applied to a device testing system, wherein the device testing system includes a sensing device to be tested installed on a roadside unit RSU and a standard sensing device installed on a test vehicle, wherein the test vehicle has an on-board unit OBU, and the device testing method includes:
从所述车载单元获取标准行驶数据和测试行驶数据，所述标准行驶数据为所述标准感知设备检测所述测试车辆得到的行驶数据，所述测试行驶数据为所述待测感知设备检测所述测试车辆得到的行驶数据，所述标准行驶数据由所述车载单元从所述标准感知设备获取，所述测试行驶数据由所述车载单元通过所述路侧单元从所述待测感知设备获取；Acquire standard driving data and test driving data from the vehicle-mounted unit, the standard driving data being driving data obtained by the standard sensing device detecting the test vehicle, and the test driving data being driving data obtained by the sensing device to be tested detecting the test vehicle, the standard driving data being acquired by the vehicle-mounted unit from the standard sensing device, and the test driving data being acquired by the vehicle-mounted unit from the sensing device to be tested via the roadside unit;
根据所述标准行驶数据在预设地图上生成标准行驶轨迹，并根据所述测试行驶数据在所述预设地图上生成测试行驶轨迹；Generating a standard driving track on a preset map according to the standard driving data, and generating a test driving track on the preset map according to the test driving data;
在所述预设地图上对比显示所述标准行驶轨迹和所述测试行驶轨迹。The standard driving trajectory and the test driving trajectory are displayed comparatively on the preset map.
第二方面，本发明实施例提供一种设备测试装置，所述设备测试装置应用于设备测试系统，所述设备测试系统中包括安装在路侧单元RSU上的待测感知设备和安装在测试车辆上的标准感知设备，所述测试车辆具有车载单元OBU，所述设备测试装置包括：In a second aspect, an embodiment of the present invention provides a device testing apparatus, which is applied to a device testing system, wherein the device testing system includes a sensing device to be tested installed on a roadside unit RSU and a standard sensing device installed on a test vehicle, wherein the test vehicle has an on-board unit OBU, and the device testing apparatus includes:
获取模块，用于从所述车载单元获取标准行驶数据和测试行驶数据，所述标准行驶数据为所述标准感知设备检测所述测试车辆得到的行驶数据，所述测试行驶数据为所述待测感知设备检测所述测试车辆得到的行驶数据，所述标准行驶数据由所述车载单元从所述标准感知设备获取，所述测试行驶数据由所述车载单元通过所述路侧单元从所述待测感知设备获取；an acquisition module, configured to acquire standard driving data and test driving data from the vehicle-mounted unit, wherein the standard driving data is driving data obtained by the standard sensing device detecting the test vehicle, and the test driving data is driving data obtained by the sensing device to be tested detecting the test vehicle, the standard driving data is acquired by the vehicle-mounted unit from the standard sensing device, and the test driving data is acquired by the vehicle-mounted unit from the sensing device to be tested via the roadside unit;
生成模块，用于根据所述标准行驶数据在预设地图上生成标准行驶轨迹，并根据所述测试行驶数据在所述预设地图上生成测试行驶轨迹；A generating module, configured to generate a standard driving track on a preset map according to the standard driving data, and to generate a test driving track on the preset map according to the test driving data;
显示模块，用于在所述预设地图上对比显示所述标准行驶轨迹和所述测试行驶轨迹。The display module is used to compare and display the standard driving track and the test driving track on the preset map.
第三方面，本发明实施例还提供了一种电子设备，包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，所述处理器执行所述程序时实现如本发明实施例中任一所述的设备测试方法。In a third aspect, an embodiment of the present invention further provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, a device testing method as described in any one of the embodiments of the present invention is implemented.
第四方面，本发明实施例还提供了一种设备测试系统，包括安装在路侧单元RSU上的待测感知设备、安装在测试车辆上的标准感知设备以及用于执行如本发明实施例任一所述的设备测试方法的电子设备，所述测试车辆具有车载单元OBU。In a fourth aspect, an embodiment of the present invention further provides an equipment testing system, comprising a sensing device to be tested installed on a roadside unit RSU, a standard sensing device installed on a test vehicle, and an electronic device for executing an equipment testing method as described in any one of the embodiments of the present invention, wherein the test vehicle has an on-board unit OBU.
第五方面，本发明实施例还提供了一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现如本发明实施例中任一所述的设备测试方法。In a fifth aspect, an embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a device testing method as described in any one of the embodiments of the present invention.
本发明实施例中，设计了一种依赖设备测试系统进行设备测试的方法，该设备测试系统中包括安装在路侧单元RSU上的待测感知设备和安装在测试车辆上的标准感知设备，测试车辆具有车载单元OBU，在测试时，可以从车载单元获取标准行驶数据和测试行驶数据，标准行驶数据为标准感知设备检测测试车辆得到的行驶数据，测试行驶数据为待测感知设备检测测试车辆得到的行驶数据，标准行驶数据由车载单元从标准感知设备获取，测试行驶数据由车载单元通过路侧单元从待测感知设备获取；根据标准行驶数据在预设地图上生成标准行驶轨迹，并根据测试行驶数据在预设地图上生成测试行驶轨迹；在预设地图上对比显示标准行驶轨迹和测试行驶轨迹。即本发明实施例中，可以利用设计的设备测试系统在测试车辆行驶的过程中，检测测试车辆以获取行驶数据，对行驶数据进行处理得到测试结果，即动态采点测试，测试所需的数据可直接从车载单元获取，因而无需激光测距仪静态采点，实施起来更加简便、安全；且动态采点获取的数据可以避免大的波动，对动态采点获取的数据进行处理得到的测试结果会更加准确；另外，绘制标准行驶轨迹和测试行驶轨迹并对比展示，可以直观地展示测试结果，方便测试。In an embodiment of the present invention, a method for performing equipment testing relying on an equipment testing system is designed. The equipment testing system includes a sensing device to be tested installed on a roadside unit RSU and a standard sensing device installed on a test vehicle. The test vehicle has an on-board unit OBU. During testing, standard driving data and test driving data can be obtained from the on-board unit. The standard driving data is driving data obtained by detecting the test vehicle with the standard sensing device, and the test driving data is driving data obtained by detecting the test vehicle with the sensing device to be tested. The standard driving data is obtained by the on-board unit from the standard sensing device, and the test driving data is obtained by the on-board unit from the sensing device to be tested through the roadside unit. A standard driving trajectory is generated on a preset map according to the standard driving data, and a test driving trajectory is generated on the preset map according to the test driving data. The standard driving trajectory and the test driving trajectory are displayed comparatively on the preset map. That is, in the embodiment of the present invention, the designed equipment test system can be used to detect the test vehicle to obtain driving data during the test vehicle's driving, and the driving data can be processed to obtain the test results, that is, dynamic point sampling test. The data required for the test can be directly obtained from the vehicle-mounted unit, so there is no need for static point sampling with a laser rangefinder, which is easier and safer to implement; and the data obtained by dynamic point sampling can avoid large fluctuations, and the test results obtained by processing the data obtained by dynamic point sampling will be more accurate; in addition, the standard driving trajectory and the test driving trajectory are drawn and compared, so that the test results can be intuitively displayed, which is convenient for testing.
进一步地，由于待测感知设备检测的数据和标准感知设备检测的数据是用不同的坐标系表示的，本发明实施例中，通过数据转换可以将二者转换成用相同坐标系表示的数据，方便了各个阶段的数据处理。Furthermore, since the data detected by the sensing device to be tested and the data detected by the standard sensing device are represented by different coordinate systems, in the embodiment of the present invention, the two can be converted into data represented by the same coordinate system through data conversion, which facilitates data processing at each stage.
此外，通过确定路侧单元和车载单元之间的系统时间差，根据系统时间差对待测感知设备和标准感知设备采集的数据对齐，方便了测试过程，进一步提高了测试结果的准确度。In addition, by determining the system time difference between the roadside unit and the vehicle-mounted unit, the data collected by the perception device to be tested and the standard perception device are aligned according to the system time difference, which facilitates the testing process and further improves the accuracy of the test results.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
为了更清楚地说明本发明实施例的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，应当理解，以下附图仅示出了本发明的某些实施例，因此不应被看作是对范围的限定，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他相关的附图。In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.
图1是本发明实施例提供的设备测试系统的一个示意图。FIG. 1 is a schematic diagram of a device testing system provided by an embodiment of the present invention.
图2是本发明实施例提供的设备测试方法的一个流程示意图。FIG. 2 is a schematic flow chart of a device testing method provided in an embodiment of the present invention.
图3是本发明实施例提供的主机和从机之间系统时间差检测的一个原理示意图。FIG3 is a schematic diagram showing a principle of detecting a system time difference between a host and a slave provided by an embodiment of the present invention.
图4是本发明实施例提供的设备测试方法的另一个流程示意图。FIG. 4 is another schematic flow chart of the device testing method provided by an embodiment of the present invention.
图5是本发明实施例提供的经纬度数据转换的一个原理示意图。FIG. 5 is a schematic diagram showing a principle of longitude and latitude data conversion provided by an embodiment of the present invention.
图6是本发明实施例提供的航向角数据转换的一个原理示意图。FIG. 6 is a schematic diagram showing a principle of heading angle data conversion provided by an embodiment of the present invention.
图7是本发明实施例提供的设备测试系统误差分析结果的一个示意图。FIG. 7 is a schematic diagram of an error analysis result of a device testing system provided in an embodiment of the present invention.
图8是本发明实施例提供的设备测试装置的一个结构示意图。FIG. 8 is a schematic diagram of the structure of a device testing apparatus provided in an embodiment of the present invention.
图9是本发明实施例提供的电子设备的一个结构示意图。FIG. 9 is a schematic structural diagram of an electronic device provided by an embodiment of the present invention.
具体实施方式DETAILED DESCRIPTION
下面结合附图和实施例对本发明作进一步的详细说明。可以理解的是，此处所描述的具体实施例仅仅用于解释本发明，而非对本发明的限定。另外还需要说明的是，为了便于描述，附图中仅示出了与本发明相关的部分而非全部结构。The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.
图1是本发明实施例提供的设备测试系统的一个示意图。本实施例可以适用于智慧交通场景，如图1所示，本发明实施例提供的设备测试系统包括待测感知设备101、路侧单元102、电子设备103、标准感知设备104以及测试车辆105，测试车辆105具有车载单元1051，待测感知设备101安装于路侧单元102，标准感知设备104安装于测试车辆105。FIG1 is a schematic diagram of a device testing system provided by an embodiment of the present invention. This embodiment can be applied to a smart traffic scenario. As shown in FIG1 , the device testing system provided by an embodiment of the present invention includes a sensing device 101 to be tested, a roadside unit 102, an electronic device 103, a standard sensing device 104, and a test vehicle 105. The test vehicle 105 has an on-board unit 1051. The sensing device 101 to be tested is installed on the roadside unit 102, and the standard sensing device 104 is installed on the test vehicle 105.
具体的，待测感知设备101可以是毫米波雷达、激光雷达、摄像头、融合一体机等设备；标准感知设备104可以为高精全球定位系统(Global Positioning System，GPS)定位设备；车载单元(On board Unit，OBU)1051可以为具有微波通信功能和高频通信功能的移动识别设备，可以存储和读写车辆行驶数据，车载单元1051可以与路侧单元(Road SideUnit，RSU)102完成信息交互；路侧单元(Road Side Unit，RSU)102通常安装于道路两侧；电子设备103可以是手机、平板电脑、个人计算机等具备计算和显示能力的设备。其中，行驶数据可以包括车辆的位置、速度、航向角等信息。Specifically, the sensing device 101 to be tested may be a millimeter wave radar, a laser radar, a camera, an integrated fusion machine, etc.; the standard sensing device 104 may be a high-precision global positioning system (GPS) positioning device; the on-board unit (OBU) 1051 may be a mobile identification device with microwave communication function and high-frequency communication function, which may store and read and write vehicle driving data, and the on-board unit 1051 may complete information exchange with the road side unit (RSU) 102; the road side unit (RSU) 102 is usually installed on both sides of the road; the electronic device 103 may be a mobile phone, a tablet computer, a personal computer, etc., which has computing and display capabilities. Among them, the driving data may include information such as the location, speed, and heading angle of the vehicle.
待测感知设备101安装于路侧单元102，待测感知设备101通过检测测试车辆105可以得到测试行驶数据，将测试行驶数据传递给路侧单元102，路侧单元102可以将测试行驶数据通过无线通信方式传输至测试车辆105具有的车载单元1051，具体的无线通信方式例如可以为长期演进-车辆(Long Term Evolution-Vehicle，LTE-V)广播。标准感知设备104安装于测试车辆105，标准感知设备104通过检测测试车辆105可以得到标准行驶数据，车载单元1051可以从标准感知设备104获取检测到的标准行驶数据。即本发明实施例中标准行驶数据可以理解为通过高精GPS定位设备检测测试车辆105得到的车辆行驶数据，测试行驶数据可以理解为通过毫米波雷达、激光雷达等设备检测测试车辆105得到的车辆行驶数据。The sensing device 101 to be tested is installed on the roadside unit 102. The sensing device 101 to be tested can obtain test driving data by detecting the test vehicle 105, and transmit the test driving data to the roadside unit 102. The roadside unit 102 can transmit the test driving data to the on-board unit 1051 of the test vehicle 105 through wireless communication. The specific wireless communication method can be, for example, Long Term Evolution-Vehicle (LTE-V) broadcast. The standard sensing device 104 is installed on the test vehicle 105. The standard sensing device 104 can obtain standard driving data by detecting the test vehicle 105, and the on-board unit 1051 can obtain the detected standard driving data from the standard sensing device 104. That is, in the embodiment of the present invention, the standard driving data can be understood as the vehicle driving data obtained by detecting the test vehicle 105 through a high-precision GPS positioning device, and the test driving data can be understood as the vehicle driving data obtained by detecting the test vehicle 105 through equipment such as millimeter wave radar and laser radar.
具体的，电子设备103可以从车载单元1051获取标准行驶数据和测试行驶数据，对获取的标准行驶数据和测试行驶数据进行误差分析，生成对应的标准行驶轨迹和测试行驶轨迹并在预设地图上进行对比显示。Specifically, the electronic device 103 can obtain standard driving data and test driving data from the vehicle-mounted unit 1051, perform error analysis on the obtained standard driving data and test driving data, generate corresponding standard driving trajectories and test driving trajectories, and display them for comparison on a preset map.
本发明实施例中，设计了一种设备测试系统，该设备测试系统中包括安装在路侧单元RSU上的待测感知设备和安装在测试车辆上的标准感知设备，测试车辆具有车载单元OBU，在测试时，可以从车载单元获取标准行驶数据和测试行驶数据，标准行驶数据为标准感知设备检测测试车辆得到的行驶数据，测试行驶数据为待测感知设备检测测试车辆得到的行驶数据，标准行驶数据由车载单元从标准感知设备获取，测试行驶数据由车载单元通过路侧单元从待测感知设备获取；根据标准行驶数据在预设地图上生成标准行驶轨迹，并根据测试行驶数据在预设地图上生成测试行驶轨迹；在预设地图上对比显示标准行驶轨迹和测试行驶轨迹。即本发明实施例中，可以利用设计的设备测试系统在测试车辆行驶的过程中，检测测试车辆以获取行驶数据，对行驶数据进行处理得到测试结果，即动态采点测试，测试所需的数据可直接从车载单元获取，因而无需激光测距仪静态采点，实施起来更加简便、安全；且动态采点获取的数据可以避免大的波动，对动态采点获取的数据进行处理得到的测试结果会更加准确；另外，绘制标准行驶轨迹和测试行驶轨迹并对比展示，可以直观地展示测试结果，方便测试。In an embodiment of the present invention, an equipment testing system is designed, which includes a sensing device to be tested installed on a roadside unit RSU and a standard sensing device installed on a test vehicle. The test vehicle has an on-board unit OBU. During testing, standard driving data and test driving data can be obtained from the on-board unit. The standard driving data is driving data obtained by the standard sensing device when detecting the test vehicle, and the test driving data is driving data obtained by the sensing device to be tested when detecting the test vehicle. The standard driving data is obtained by the on-board unit from the standard sensing device, and the test driving data is obtained by the on-board unit from the sensing device to be tested through the roadside unit; a standard driving trajectory is generated on a preset map according to the standard driving data, and a test driving trajectory is generated on the preset map according to the test driving data; and the standard driving trajectory and the test driving trajectory are displayed comparatively on the preset map. That is, in the embodiment of the present invention, the designed equipment test system can be used to detect the test vehicle to obtain driving data during the test vehicle's driving, and the driving data can be processed to obtain the test results, that is, dynamic point sampling test. The data required for the test can be directly obtained from the vehicle-mounted unit, so there is no need for static point sampling with a laser rangefinder, which is easier and safer to implement; and the data obtained by dynamic point sampling can avoid large fluctuations, and the test results obtained by processing the data obtained by dynamic point sampling will be more accurate; in addition, the standard driving trajectory and the test driving trajectory are drawn and compared, so that the test results can be intuitively displayed, which is convenient for testing.
图2为本发明实施例提供的设备测试方法的一个流程示意图，本实施例将以待测感知设备处于实验场景为例进行说明，实际场景即场景中只有测试车辆，无其他车辆的干扰。该方法可以由本发明实施例提供的设备测试装置来执行，该装置可采用软件和/或硬件的方式实现。在一个具体的实施例中，该装置可以集成在电子设备中，电子设备比如可以是手机、平板电脑、计算机等。以下实施例将以该装置集成在电子设备中为例进行说明，参考图2，该方法具体可以包括如下步骤：FIG2 is a flow chart of the device testing method provided in an embodiment of the present invention. This embodiment will be described by taking the sensing device to be tested in an experimental scenario as an example. The actual scenario is that there is only a test vehicle in the scenario without interference from other vehicles. The method can be executed by the device testing device provided in an embodiment of the present invention, and the device can be implemented in software and/or hardware. In a specific embodiment, the device can be integrated in an electronic device, such as a mobile phone, a tablet computer, a computer, etc. The following embodiments will be described by taking the device integrated in an electronic device as an example. Referring to FIG2, the method can specifically include the following steps:
步骤201、从车载单元获取标准行驶数据和测试行驶数据，标准行驶数据为标准感知设备检测测试车辆得到的行驶数据，测试行驶数据为待测感知设备检测测试车辆得到的行驶数据，标准行驶数据由车载单元从标准感知设备获取，测试行驶数据由车载单元通过路侧单元从待测感知设备获取。Step 201, obtain standard driving data and test driving data from the vehicle-mounted unit, the standard driving data is the driving data obtained by the standard sensing device detecting the test vehicle, the test driving data is the driving data obtained by the sensing device to be tested detecting the test vehicle, the standard driving data is obtained by the vehicle-mounted unit from the standard sensing device, and the test driving data is obtained by the vehicle-mounted unit from the sensing device to be tested through the roadside unit.
具体的，在实际应用中，为方便区分不同时刻检测到的行驶数据，采集车辆行驶数据时可以增加时间戳，时间戳可以为标识某一刻时间的一个字符序列。本发明实施例中，路侧单元具有GPS模块，可以通过授时机制对路侧单元授时，由于待测感知设备不支持GPS模块，路侧单元可以通过搭建网络时间协议(Network Time Protocol，NTP)时钟同步服务器为待测感知设备配置时间，从而使得待测感知设备和路侧单元达到时间同步，因此通过待测感知设备检测测试车辆得到的测试行驶数据具有时间戳。此外，标准感知设备也可以通过授时机制对车载单元授时，因此通过标准感知设备检测测试车辆得到的标准行驶数据也具有时间戳。Specifically, in practical applications, in order to facilitate the distinction between driving data detected at different times, a timestamp can be added when collecting vehicle driving data. The timestamp can be a character sequence that identifies a certain moment in time. In an embodiment of the present invention, the roadside unit has a GPS module, and the roadside unit can be timed through a timing mechanism. Since the sensing device to be tested does not support the GPS module, the roadside unit can configure the time for the sensing device to be tested by setting up a Network Time Protocol (NTP) clock synchronization server, so that the sensing device to be tested and the roadside unit can achieve time synchronization. Therefore, the test driving data obtained by detecting the test vehicle through the sensing device to be tested has a timestamp. In addition, the standard sensing device can also time the on-board unit through the timing mechanism, so the standard driving data obtained by detecting the test vehicle through the standard sensing device also has a timestamp.
具体的，由于路侧单元的系统时间和车载单元的系统时间无法保证完全一致，可能存在允许范围内的误差，为提高标准行驶数据和测试行驶数据的后续分析处理的准确率，可以获取路侧单元和车载单元之间的系统时间差，以便将测试行驶数据与标准行驶数据对齐。Specifically, since the system time of the roadside unit and the system time of the vehicle-mounted unit cannot be guaranteed to be completely consistent, there may be errors within the allowable range. In order to improve the accuracy of subsequent analysis and processing of standard driving data and test driving data, the system time difference between the roadside unit and the vehicle-mounted unit can be obtained so as to align the test driving data with the standard driving data.
具体的，可以从路侧单元和车载单元中确定出主机和从机；控制主机向从机发送测试数据，并记录主机的数据发送时间和从机的数据接收时间；控制从机在接收到测试数据之后，向主机返发测试数据，并记录主机的数据接收时间；根据记录的主机的数据发送时间、数据接收时间和从机的数据接收时间计算系统时间差。其中，主机可以为路侧单元、车载单元中的任意一者，当路侧单元、车载单元中的任意一者为主机时，另一个则为从机，主机通常用于发起测试过程。测试数据可以为用于测试系统延时的数据包，比如N字节的数据包，N为正整数。Specifically, the host and the slave can be determined from the roadside unit and the vehicle-mounted unit; the host is controlled to send test data to the slave, and the data sending time of the host and the data receiving time of the slave are recorded; the slave is controlled to send test data back to the host after receiving the test data, and the data receiving time of the host is recorded; the system time difference is calculated according to the recorded data sending time, data receiving time and data receiving time of the slave. The host can be any one of the roadside unit and the vehicle-mounted unit. When any one of the roadside unit and the vehicle-mounted unit is the host, the other is the slave. The host is usually used to initiate the test process. The test data can be a data packet used to test the system delay, such as a data packet of N bytes, where N is a positive integer.
具体的，主机和从机之间可以通过多次收发测试数据获得更加准确的系统时间差。系统时间差的检测过程，具体可如图3所示：Specifically, the host and the slave can obtain a more accurate system time difference by sending and receiving test data multiple times. The system time difference detection process can be specifically shown in Figure 3:
1.主机向从机发送N字节的测试数据，记录主机的数据发送时间H1n；1. The host sends N bytes of test data to the slave and records the host's data sending time H1n;
2.从机接收主机发送的测试数据，记录数据接收时间Sn，并向主机返发测试数据；2. The slave receives the test data sent by the host, records the data receiving time Sn, and sends the test data back to the host;
3.主机接收从机返发的测试数据，并记录主机的数据接收时间H2n；3. The host receives the test data sent back by the slave and records the host's data receiving time H2n;
4.确定测试数据一个来回对应的时间差为：H2n-H1n，分析测试数据大小以核对测试数据是否完整；4. Determine the time difference corresponding to one round trip of the test data: H2n-H1n, and analyze the size of the test data to verify whether the test data is complete;
5.确定系统时间差(即测试数据单程对应的时间差)为：H1n-Sn；5. Determine the system time difference (i.e. the time difference corresponding to the one-way test data): H1n-Sn;
6.若主机和从机来回收发测试数据M次，则平均延时＝M次时间差总和/(2*M)，最终系统时间差＝(M次系统时间差总和/M)-平均延时；6. If the master and slave send and receive test data back and forth M times, the average delay = the sum of the time differences of M times/(2*M), and the final system time difference = (the sum of the system time differences of M times/M)-average delay;
7.若最终系统时间差为负，则主机时间慢于从机时间，反之则快于从机时间。7. If the final system time difference is negative, the master time is slower than the slave time, otherwise it is faster than the slave time.
示例性的，若路侧单元为主机，车载单元为从机，系统时间差为1ms，则路侧单元系统时间快于车载单元系统时间1ms，测试行驶数据与标准行驶数据对齐时，比如可以选取1ms时的测试行驶数据对齐2ms时的标准行驶数据，2ms时的测试行驶数据对齐3ms时的标准行驶数据。For example, if the roadside unit is the host and the vehicle-mounted unit is the slave, and the system time difference is 1ms, the roadside unit system time is 1ms faster than the vehicle-mounted unit system time. When the test driving data is aligned with the standard driving data, for example, the test driving data at 1ms can be aligned with the standard driving data at 2ms, and the test driving data at 2ms can be aligned with the standard driving data at 3ms.
步骤202、根据标准行驶数据在预设地图上生成标准行驶轨迹，并根据测试行驶数据在预设地图上生成测试行驶轨迹。Step 202: Generate a standard driving trajectory on a preset map according to the standard driving data, and generate a test driving trajectory on the preset map according to the test driving data.
具体的，由于标准感知设备通常为高精GPS定位设备，高精GPS定位设备采用大地坐标系，因此通过高精GPS定位设备测量的标准行驶数据为大地坐标系表示的数据。待测感知设备测量的测试行驶数据为平面坐标系表示的数据，测试行驶数据可以为测试车辆相对于待测感知设备坐标原点的相对行驶数据。为方便对标准行驶数据和测试行驶数据的处理，可以将标准行驶数据和测试行驶数据转换为用相同坐标系表示的数据。比如，可以将标准行驶数据转换成用平面坐标系表示的数据，转换之后，再根据标准行驶数据在预设地图上生成标准行驶轨迹，并根据测试行驶数据在预设地图上生成测试行驶轨迹。其中，预设地图可以为高精地图，具体的预设地图例如可以为百度地图、高德地图。Specifically, since the standard sensing device is usually a high-precision GPS positioning device, and the high-precision GPS positioning device adopts a geodetic coordinate system, the standard driving data measured by the high-precision GPS positioning device is data expressed in a geodetic coordinate system. The test driving data measured by the sensing device to be tested is data expressed in a plane coordinate system, and the test driving data can be the relative driving data of the test vehicle relative to the coordinate origin of the sensing device to be tested. To facilitate the processing of standard driving data and test driving data, the standard driving data and the test driving data can be converted into data expressed in the same coordinate system. For example, the standard driving data can be converted into data expressed in a plane coordinate system. After the conversion, a standard driving trajectory is generated on a preset map based on the standard driving data, and a test driving trajectory is generated on a preset map based on the test driving data. Among them, the preset map can be a high-precision map, and the specific preset map can be, for example, Baidu Maps and Amap.
步骤203、在预设地图上对比显示标准行驶轨迹和测试行驶轨迹。Step 203: Compare and display the standard driving trajectory and the test driving trajectory on a preset map.
具体的，为方便显示不同行驶轨迹的对比效果，可以通过平板电脑、计算机等设备在高精地图界面采用不同的显示方式显示标准行驶轨迹和测试行驶轨迹。比如，可以用不同的颜色对比显示两种行驶轨迹，例如标准行驶轨迹可以为黑色轨迹，测试行驶轨迹可以为其他颜色轨迹。Specifically, in order to facilitate the comparison of different driving tracks, the standard driving track and the test driving track can be displayed in different display modes on the HD map interface through a tablet computer, a computer, or other devices. For example, the two driving tracks can be displayed in different colors, for example, the standard driving track can be a black track, and the test driving track can be a track of other colors.
本发明实施例中，设计了一种依赖设备测试系统进行设备测试的方法，该设备测试系统中包括安装在路侧单元RSU上的待测感知设备和安装在测试车辆上的标准感知设备，测试车辆具有车载单元OBU，在测试时，可以从车载单元获取标准行驶数据和测试行驶数据，标准行驶数据为标准感知设备检测测试车辆得到的行驶数据，测试行驶数据为待测感知设备检测测试车辆得到的行驶数据，标准行驶数据由车载单元从标准感知设备获取，测试行驶数据由车载单元通过路侧单元从待测感知设备获取；根据标准行驶数据在预设地图上生成标准行驶轨迹，并根据测试行驶数据在预设地图上生成测试行驶轨迹；在预设地图上对比显示标准行驶轨迹和测试行驶轨迹。即本发明实施例中，可以利用设计的设备测试系统在测试车辆行驶的过程中，检测测试车辆以获取行驶数据，对行驶数据进行处理得到测试结果，即动态采点测试，测试所需的数据可直接从车载单元获取，因而无需激光测距仪静态采点，实施起来更加简便、安全；且动态采点获取的数据可以避免大的波动，对动态采点获取的数据进行处理得到的测试结果会更加准确；另外，绘制标准行驶轨迹和测试行驶轨迹并对比展示，可以直观地展示测试结果，方便测试。进一步地，通过确定路侧单元和车载单元之间的系统时间差，根据系统时间差对待测感知设备和标准感知设备采集的数据对齐，方便了测试过程，进一步提高了测试结果的准确度。In an embodiment of the present invention, a method for performing equipment testing relying on an equipment testing system is designed. The equipment testing system includes a sensing device to be tested installed on a roadside unit RSU and a standard sensing device installed on a test vehicle. The test vehicle has an on-board unit OBU. During testing, standard driving data and test driving data can be obtained from the on-board unit. The standard driving data is driving data obtained by detecting the test vehicle with the standard sensing device, and the test driving data is driving data obtained by detecting the test vehicle with the sensing device to be tested. The standard driving data is obtained by the on-board unit from the standard sensing device, and the test driving data is obtained by the on-board unit from the sensing device to be tested through the roadside unit. A standard driving trajectory is generated on a preset map according to the standard driving data, and a test driving trajectory is generated on the preset map according to the test driving data. The standard driving trajectory and the test driving trajectory are displayed comparatively on the preset map. That is, in the embodiment of the present invention, the designed equipment test system can be used to detect the test vehicle during the driving process of the test vehicle to obtain driving data, and the driving data can be processed to obtain the test results, that is, dynamic point sampling test. The data required for the test can be directly obtained from the vehicle-mounted unit, so there is no need for static point sampling with a laser rangefinder, which is easier and safer to implement; and the data obtained by dynamic point sampling can avoid large fluctuations, and the test results obtained by processing the data obtained by dynamic point sampling will be more accurate; in addition, the standard driving trajectory and the test driving trajectory are drawn and compared, which can intuitively display the test results and facilitate testing. Furthermore, by determining the system time difference between the roadside unit and the vehicle-mounted unit, the data collected by the sensing device to be tested and the standard sensing device are aligned according to the system time difference, which facilitates the test process and further improves the accuracy of the test results.
由于待测感知设备在实际使用的过程中，需要处于自然环境中，在自然环境中，待测感知设备在对某个车辆进行跟踪检测时，不可避免地会受到其他车辆的干扰、影响，为了更准确地测试出待测感知设备的跟踪检测效果，本发明实施例还提供了在自然环境下对待测感知设备进行测试的方法，如图4所示，本实施例将以待测感知设备处于自然场景为例进行说明，在自然场景下，不仅包括测试车辆，还包括干扰车辆。参考图4，该方法具体可以包括如下步骤：Since the sensing device to be tested needs to be in a natural environment during actual use, in the natural environment, when the sensing device to be tested is tracking and detecting a certain vehicle, it will inevitably be interfered with and affected by other vehicles. In order to more accurately test the tracking and detection effect of the sensing device to be tested, the embodiment of the present invention also provides a method for testing the sensing device to be tested in a natural environment. As shown in FIG4 , this embodiment will be described by taking the sensing device to be tested in a natural scene as an example. The natural scene includes not only a test vehicle but also an interfering vehicle. Referring to FIG4 , the method may specifically include the following steps:
步骤301、从车载单元获取标准行驶数据，标准行驶数据为标准感知设备检测测试车辆得到的行驶数据，标准行驶数据由车载单元从标准感知设备获取。Step 301: Acquire standard driving data from the vehicle-mounted unit. The standard driving data is driving data obtained by a standard sensing device detecting a test vehicle. The standard driving data is acquired by the vehicle-mounted unit from the standard sensing device.
步骤302、从车载单元获取多份候选行驶数据，多份候选行驶数据中包括待测感知设备检测测试车辆得到的行驶数据和待测感知设备检测干扰车辆得到的行驶数据，车载单元通过路侧单元从待测感知设备获取多份候选行驶数据。Step 302: Acquire multiple sets of candidate driving data from the vehicle-mounted unit, wherein the multiple sets of candidate driving data include driving data obtained by the sensing device under test detecting a test vehicle and driving data obtained by the sensing device under test detecting an interfering vehicle. The vehicle-mounted unit acquires the multiple sets of candidate driving data from the sensing device under test through the roadside unit.
具体的，由于自然测试环境还存在其他干扰车辆，因而当干扰车辆和测试车辆行驶于待测感知设备的感知区域时，待测感知设备既可以检测到多辆干扰车辆从而得到多份干扰车辆的行驶数据，也可以检测到测试车辆从而得到测试车辆的行驶数据。因此候选行驶数据中包括待测感知设备检测测试车辆得到的行驶数据和待测感知设备检测干扰车辆得到的行驶数据。具体的，车载单元可以通过路侧单元从待测感知设备获取多份候选行驶数据。其中，多份候选行驶数据中的每份候选行驶数据对应一辆车。干扰车辆可以为一辆，也可以为多辆，在此不做限定。Specifically, since there are other interfering vehicles in the natural test environment, when the interfering vehicle and the test vehicle travel in the perception area of the perception device to be tested, the perception device to be tested can detect multiple interfering vehicles to obtain multiple driving data of the interfering vehicles, and can also detect the test vehicle to obtain the driving data of the test vehicle. Therefore, the candidate driving data includes the driving data obtained by the perception device to be tested when detecting the test vehicle and the driving data obtained by the perception device to be tested when detecting the interfering vehicle. Specifically, the on-board unit can obtain multiple candidate driving data from the perception device to be tested through the roadside unit. Among them, each of the multiple candidate driving data corresponds to a vehicle. The interfering vehicle can be one or more, which is not limited here.
需要说明的是，测试车辆具有车载单元，干扰车辆也可以具有车载单元，干扰车辆的车载单元也可以通过路侧单元从待测感知设备获取待测感知设备检测到的自身的行驶数据，并将自身的行驶数据上报给电子设备。为方便后续多份候选行驶数据的统一收集以及处理，本实施例可以通过路侧单元将待测感知设备检测测试车辆得到的行驶数据和待测感知设备检测干扰车辆得到的行驶数据均通过无线通信方式传送至测试车辆的车载单元，由测试车辆的车载单元将行驶数据统一上报给电子设备，具体的上报方式可以是广播方式。It should be noted that the test vehicle has an on-board unit, and the interference vehicle may also have an on-board unit. The on-board unit of the interference vehicle may also obtain its own driving data detected by the sensing device to be tested from the sensing device to be tested through the roadside unit, and report its own driving data to the electronic device. To facilitate the subsequent unified collection and processing of multiple candidate driving data, this embodiment can transmit the driving data obtained by the sensing device to be tested detecting the test vehicle and the driving data obtained by the sensing device to be tested detecting the interference vehicle to the on-board unit of the test vehicle through wireless communication through the roadside unit, and the on-board unit of the test vehicle will uniformly report the driving data to the electronic device, and the specific reporting method may be a broadcast method.
步骤303、获取路侧单元和车载单元之间的系统时间差。Step 303: Obtain the system time difference between the roadside unit and the vehicle-mounted unit.
其中，步骤303中可以根据上述实施例提供的主机和从机之间系统时间差检测方法获取系统时间差，在此不再赘述。Among them, in step 303, the system time difference can be obtained according to the system time difference detection method between the host and the slave provided in the above embodiment, which will not be repeated here.
步骤304、将每份候选行驶数据转换成大地坐标系表示的数据。Step 304: Convert each candidate driving data into data represented by a geodetic coordinate system.
具体的，由于标准感知设备通常为高精GPS定位设备，高精GPS定位设备采用大地坐标系，因此通过高精GPS定位设备获取的标准行驶数据为大地坐标系表示的数据。通过待测感知设备获取的候选行驶数据为平面坐标系表示的数据，候选行驶数据可以为测试车辆和干扰车辆相对于待测感知设备坐标原点的相对行驶数据(即相对位置、相对速度)。为方便对标准行驶数据和多份候选行驶数据进行对比分析，继而从多份候选行驶数据中确定出测试行驶数据，可以将每份候选行驶数据转换成大地坐标系表示的数据，即通过转换相对位置信息可以获取大地坐标系表示的经度以及纬度，通过转换相对速度可以获取航向角。Specifically, since the standard sensing device is usually a high-precision GPS positioning device, and the high-precision GPS positioning device adopts a geodetic coordinate system, the standard driving data obtained by the high-precision GPS positioning device is data expressed in a geodetic coordinate system. The candidate driving data obtained by the sensing device to be tested is data expressed in a plane coordinate system, and the candidate driving data can be the relative driving data (i.e., relative position, relative speed) of the test vehicle and the interference vehicle relative to the coordinate origin of the sensing device to be tested. In order to facilitate the comparative analysis of the standard driving data and multiple candidate driving data, and then determine the test driving data from the multiple candidate driving data, each candidate driving data can be converted into data expressed in a geodetic coordinate system, that is, by converting the relative position information, the longitude and latitude expressed in the geodetic coordinate system can be obtained, and by converting the relative speed, the heading angle can be obtained.
具体的，可以通过转换平面坐标系表示的位置获取大地坐标系表示的经度、纬度。经纬度数据转换的原理示意图，具体可如图5所示。其中，车辆(可能是测试车辆，也可能是干扰车辆)与待测感知设备的直线距离为d，具体转换步骤可以为：Specifically, the longitude and latitude represented by the earth coordinate system can be obtained by converting the position represented by the plane coordinate system. The principle diagram of longitude and latitude data conversion can be shown in Figure 5. Among them, the straight-line distance between the vehicle (which may be a test vehicle or an interference vehicle) and the sensing device to be tested is d, and the specific conversion steps can be:
1.根据检测到的用平面坐标系表示的车辆的位置信息(x，y)可以得到车辆与待测感知设备的直线距离d在X轴的分轴距离为dx，在Y轴的分轴距离为dy，通过分轴距离反正切计算得出车辆与X轴的夹角为α；1. According to the detected vehicle position information (x, y) expressed in a plane coordinate system, the linear distance d between the vehicle and the sensing device to be tested can be obtained as dx on the X-axis and dy on the Y-axis. The angle between the vehicle and the X-axis is α calculated by the inverse tangent of the split-axis distance;
2.通过标定可以得到X轴与正北方向的夹角为β；2. Through calibration, we can get the angle between the X-axis and the true north direction as β;
3.则车辆与正北方向的夹角为α+β；3. The angle between the vehicle and the north direction is α+β;
4.车辆在正北方向的距离为d*cos(α+β)，在东西方向的距离为d*sin(α+β)；4. The distance of the vehicle in the north direction is d*cos(α+β), and the distance in the east-west direction is d*sin(α+β);
5.假如南北方向上单位纬度代表的距离为d1，东西方向上单位经度代表的距离为d2，则纬度差为(d*cos(α+β))/d1，经度差为(d*sin(α+β))/d2；5. If the distance represented by a unit latitude in the north-south direction is d1, and the distance represented by a unit longitude in the east-west direction is d2, then the latitude difference is (d*cos(α+β))/d1, and the longitude difference is (d*sin(α+β))/d2;
6.将待测感知设备所在位置的经度和纬度分别与对应的经度差、纬度差相加可以得到车辆所在位置的经度、纬度。比如，若待测感知设备所在位置的经纬度为(dlong，dlat)，纬度差为(d*cos(α+β))/d1，经度差为(d*sin(α+β))/d2，则车辆所在位置的经纬度可以为(dlong+(d*sin(α+β))/d2，dlat+(d*cos(α+β))/d1)。6. The longitude and latitude of the location of the sensing device to be tested are added to the corresponding longitude difference and latitude difference to obtain the longitude and latitude of the vehicle. For example, if the longitude and latitude of the location of the sensing device to be tested are (dlong, dlat), the latitude difference is (d*cos(α+β))/d1, and the longitude difference is (d*sin(α+β))/d2, then the longitude and latitude of the vehicle can be (dlong+(d*sin(α+β))/d2, dlat+(d*cos(α+β))/d1).
具体的，可以通过转换平面坐标系表示的速度的方向得到航向角。例如待测感知设备检测车辆可以得出该车辆的速度V，则可以参考图6所示速度分解关系转换航向角。Specifically, the heading angle can be obtained by converting the direction of the speed represented by the plane coordinate system. For example, the sensing device to be tested can detect the vehicle and obtain the speed V of the vehicle, and then the heading angle can be converted by referring to the speed decomposition relationship shown in FIG. 6 .
1.计算车辆在X轴的分轴速度Vx，在Y轴的分轴速度Vy，通过分轴速度反正切计算可以得出车辆与X轴的夹角α；1. Calculate the vehicle's axis velocity Vx on the X-axis and the axis velocity Vy on the Y-axis. The angle α between the vehicle and the X-axis can be obtained by calculating the inverse tangent of the axis velocity.
2.通过标定可以得出X轴与正北方向的夹角β；2. The angle β between the X-axis and the true north direction can be obtained through calibration;
3.则车辆与正北方向的夹角为α+β。3.Then the angle between the vehicle and the north direction is α+β.
即车辆的航向角为α+β。That is, the heading angle of the vehicle is α+β.
需要说明的是，本实施例以电子设备将用平面坐标系表示的多份候选行驶数据转换成大地坐标系表示的候选行驶数据为例进行说明，实际应用中，也可以由路侧单元将用平面坐标系表示的多份候选行驶数据转换成大地坐标系表示的多份候选行驶数据，即路侧单元在从待测感知设备获取用平面坐标系表示的多份候选行驶数据之后，可以先将多份候选行驶数据转换成大地坐标系表示，转换之后，再通过测试车辆的车载单元将多份候选行驶数据发送给电子设备。It should be noted that, this embodiment is explained by taking the example of an electronic device converting multiple candidate driving data represented by a plane coordinate system into candidate driving data represented by a geodetic coordinate system. In actual applications, the roadside unit can also convert multiple candidate driving data represented by a plane coordinate system into multiple candidate driving data represented by a geodetic coordinate system. That is, after the roadside unit obtains the multiple candidate driving data represented by a plane coordinate system from the perception device to be tested, the roadside unit can first convert the multiple candidate driving data into a geodetic coordinate system. After the conversion, the multiple candidate driving data are sent to the electronic device through the on-board unit of the test vehicle.
步骤305、转换之后，根据系统时间差将每份候选行驶数据与标准行驶数据对齐。Step 305: After the conversion, align each candidate driving data with the standard driving data according to the system time difference.
具体的，将每份候选行驶数据转换成大地坐标系表示的数据之后，可以根据路侧单元和车载单元之间的系统时间差将每份候选行驶数据与标准行驶数据对齐，以便计算每份候选行驶数据与标准行驶数据的误差。Specifically, after each candidate driving data is converted into data represented by a geodetic coordinate system, each candidate driving data can be aligned with the standard driving data according to the system time difference between the roadside unit and the vehicle-mounted unit, so as to calculate the error between each candidate driving data and the standard driving data.
在转换和对其之后，电子设备可以按照一定的频率和格式将标准行驶数据和多份候选行驶数据分别保存至对应的文件。其中，数据取样频率比如可以为100ms；具体的文件保存格式例如可以为：感知设备标识、时间戳、检测目标标识、经度、纬度、速度、航向角等，在此不做具体限定。其中，感知设备标识可以用于标识待测感知设备或标准感知设备，时间戳可以用于标识获取数据的时刻，检测目标标识可以用于标识感知设备跟踪检测到的车辆。每份行驶数据的数据量取决于该份行驶数据对应的车辆在感知设备的感知区域的行驶轨迹长度和行驶时长。After conversion and alignment, the electronic device can save the standard driving data and multiple candidate driving data to corresponding files according to a certain frequency and format. Among them, the data sampling frequency can be, for example, 100ms; the specific file saving format can be, for example: sensing device identifier, timestamp, detection target identifier, longitude, latitude, speed, heading angle, etc., which are not specifically limited here. Among them, the sensing device identifier can be used to identify the sensing device to be tested or the standard sensing device, the timestamp can be used to identify the time when the data is obtained, and the detection target identifier can be used to identify the vehicle tracked and detected by the sensing device. The amount of data for each driving data depends on the length of the driving trajectory and driving time of the vehicle corresponding to the driving data in the sensing area of the sensing device.
步骤306、对齐之后，计算每份候选行驶数据与标准行驶数据的误差，得到多个误差值。Step 306: After alignment, the error between each candidate driving data and the standard driving data is calculated to obtain a plurality of error values.
具体的，电子设备可以分别从对应的文件中读取存储的标准行驶数据、多份候选行驶数据，计算每份候选行驶数据分别与标准行驶数据的误差，该误差可以是均方差。其中，本发明实施例计算均方差时采用的行驶数据可以为候选行驶数据与标准行驶数据中的经纬度。Specifically, the electronic device can read the stored standard driving data and multiple candidate driving data from the corresponding files, respectively, and calculate the error between each candidate driving data and the standard driving data, and the error can be a mean square error. The driving data used when calculating the mean square error in the embodiment of the present invention can be the longitude and latitude of the candidate driving data and the standard driving data.
计算任意一份候选行驶数据与标准行驶数据的误差的方法可以如下：The method for calculating the error between any candidate driving data and the standard driving data can be as follows:
1、从候选行驶数据与标准行驶数据中取出对应点的经纬度，计算对应点的经度差和纬度差；1. Take the longitude and latitude of the corresponding points from the candidate driving data and the standard driving data, and calculate the longitude difference and latitude difference of the corresponding points;
2、以度为单位将经度差和纬度差换算成距离值；2. Convert the longitude difference and latitude difference into distance values in degrees;
3、对两个方向的距离值做勾股定理运算，得到两点的直线距离差值del_distance；3. Perform the Pythagorean theorem operation on the distance values in the two directions to obtain the straight-line distance difference del_distance between the two points;
4、假设两份数据中对应点的数量为N(即N个点对)，取N个对应点的直线距离差值的均方，得到两份数据的均方差Res，将两份数据的均方差作为两份数据的误差，其中，4. Assume that the number of corresponding points in the two data is N (i.e., N point pairs), take the mean square of the straight-line distance difference of the N corresponding points, and obtain the mean square error Res of the two data. The mean square error of the two data is taken as the error of the two data, where:
步骤307、将多个误差值中的最小者对应的候选行驶数据确定为测试行驶数据。Step 307: Determine the candidate driving data corresponding to the smallest of the multiple error values as the test driving data.
步骤308、将标准行驶数据和测试行驶数据均转换为平面坐标系表示的数据。Step 308: Convert both the standard driving data and the test driving data into data represented by a plane coordinate system.
具体的，标准行驶数据为大地坐标系表示的数据，为方便对标准行驶数据和测试行驶数据的处理，可以将标准行驶数据和测试行驶数据转换为用平面坐标系表示的数据。Specifically, the standard driving data is data represented by a geodetic coordinate system. To facilitate processing of the standard driving data and the test driving data, the standard driving data and the test driving data may be converted into data represented by a plane coordinate system.
需要说明的是，待测感知设备检测到的原始测试行驶数据即为平面坐标系表示的数据，因而步骤308中也可以直接采用原始的用平面坐标系表示的测试行驶数据，而只将标准行驶数据转换为平面坐标系表示的数据。It should be noted that the original test driving data detected by the perception device to be tested is data represented by a plane coordinate system. Therefore, in step 308, the original test driving data represented by a plane coordinate system can be directly used, and only the standard driving data is converted into data represented by a plane coordinate system.
需要说明的是，将标准行驶数据(大地坐标系表示)转换为平面坐标系表示的数据的过程，可以理解为前面描述的将候选行驶数据(平面坐标系表示)转换成大地坐标系表示的数据的逆过程，具体转换方法此处不再赘述。It should be noted that the process of converting standard driving data (expressed in the geodetic coordinate system) into data expressed in the plane coordinate system can be understood as the inverse process of converting candidate driving data (expressed in the plane coordinate system) into data expressed in the geodetic coordinate system as described above, and the specific conversion method will not be repeated here.
步骤309、转换之后，根据标准行驶数据和测试行驶数据计算待测感知设备的各项检测误差。Step 309: After the conversion, various detection errors of the sensing device to be tested are calculated based on the standard driving data and the test driving data.
具体的，将标准行驶数据和测试行驶数据均转换为平面坐标系表示的数据之后，可以根据标准行驶数据和测试行驶数据计算待测感知设备的各项检测误差。其中，各项检测误差例如可以包括位置误差(包括横向位置误差、纵向位置误差)、速度误差、航向角误差等，这些误差可以是方差、均方差等。Specifically, after the standard driving data and the test driving data are converted into data represented by a plane coordinate system, various detection errors of the sensing device to be tested can be calculated based on the standard driving data and the test driving data. Among them, various detection errors can include, for example, position error (including lateral position error, longitudinal position error), speed error, heading angle error, etc. These errors can be variance, mean square error, etc.
步骤310、根据标准行驶数据在预设地图上生成标准行驶轨迹，并根据测试行驶数据在预设地图上生成测试行驶轨迹。Step 310: Generate a standard driving trajectory on a preset map according to the standard driving data, and generate a test driving trajectory on the preset map according to the test driving data.
具体的，电子设备可以根据标准行驶数据在预设地图上生成标准行驶轨迹，根据测试行驶数据在预设地图上生成测试行驶轨迹，还可以根据干扰车辆的行驶数据在预设地图上生成相应的行驶轨迹，即可以根据多份行驶数据在预设地图上生成多条行驶轨迹，每条行驶轨迹可以对应一辆车。Specifically, the electronic device can generate a standard driving trajectory on a preset map based on standard driving data, generate a test driving trajectory on a preset map based on test driving data, and can also generate a corresponding driving trajectory on the preset map based on the driving data of an interfering vehicle, that is, it can generate multiple driving trajectories on the preset map based on multiple sets of driving data, and each driving trajectory can correspond to a vehicle.
步骤311、在预设地图上对比显示标准行驶轨迹和测试行驶轨迹。Step 311: Compare and display the standard driving trajectory and the test driving trajectory on a preset map.
具体的，在预设地图上可以对比显示标准行驶轨迹和测试行驶轨迹，以便直观地表示出待测感知设备与标准感知设备的感知效果差异。具体的对比显示方法，比如可以利用不同的颜色区分显示不同的行驶轨迹。Specifically, the standard driving track and the test driving track can be displayed on the preset map in comparison, so as to intuitively show the difference in the perception effect between the perception device to be tested and the standard perception device. For example, different colors can be used to distinguish and display different driving tracks.
另外，在设备测试系统中包括干扰车辆时，还可以根据多份候选行驶数据生成多条候选行驶轨迹，在一个单独的界面对比显示多条候选行驶轨迹。In addition, when an interfering vehicle is included in the equipment test system, multiple candidate driving trajectories can be generated based on multiple candidate driving data, and the multiple candidate driving trajectories can be compared and displayed in a separate interface.
进一步地，在预设地图上对比显示标准行驶轨迹和测试行驶轨迹时，还可以在显示界面上显示通过计算标准行驶数据和测试行驶数据所得的待测感知设备的各项检测误差值，参考图7，例如可以显示位置误差值、最大位置误差值、最小位置误差值、航向角误差值、最大航向角误差值、最小航向角误差值等。Furthermore, when the standard driving trajectory and the test driving trajectory are displayed in comparison on the preset map, the various detection error values of the perception device to be tested obtained by calculating the standard driving data and the test driving data can also be displayed on the display interface. Referring to Figure 7, for example, the position error value, maximum position error value, minimum position error value, heading angle error value, maximum heading angle error value, minimum heading angle error value, etc. can be displayed.
应该理解的是，虽然图4的流程图中的各个步骤按照箭头的指示依次显示，但是这些步骤并不是必然按照箭头指示的顺序依次执行。除非本文中有明确的说明，这些步骤的执行并没有严格的顺序限制，这些步骤可以以其它的顺序执行。而且，图4中的至少一部分步骤可以包括多个子步骤或者多个阶段，这些子步骤或者阶段并不必然是在同一时刻执行完成，而是可以在不同的时刻执行，这些子步骤或者阶段的执行顺序也不必然是依次进行，而是可以与其它步骤或者其它步骤的子步骤或者阶段的至少一部分轮流或者交替地执行。It should be understood that, although the various steps in the flowchart of Fig. 4 are shown in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in Fig. 4 may include a plurality of sub-steps or a plurality of stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these sub-steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with at least a part of other steps or sub-steps or stages of other steps.
本发明实施例中，设计了一种依赖设备测试系统进行设备测试的方法，该设备测试系统中包括安装在路侧单元RSU上的待测感知设备和安装在测试车辆上的标准感知设备，测试车辆具有车载单元OBU，在测试时，可以从车载单元获取标准行驶数据和测试行驶数据，标准行驶数据为标准感知设备检测测试车辆得到的行驶数据，测试行驶数据为待测感知设备检测测试车辆得到的行驶数据，标准行驶数据由车载单元从标准感知设备获取，测试行驶数据由车载单元通过路侧单元从待测感知设备获取；根据标准行驶数据在预设地图上生成标准行驶轨迹，并根据测试行驶数据在预设地图上生成测试行驶轨迹；在预设地图上对比显示标准行驶轨迹和测试行驶轨迹。即本发明实施例中，可以利用设计的设备测试系统在测试车辆行驶的过程中，检测测试车辆以获取行驶数据，对行驶数据进行处理得到测试结果，即动态采点测试，测试所需的数据可直接从车载单元获取，因而无需激光测距仪静态采点，实施起来更加简便、安全；且动态采点获取的数据可以避免大的波动，对动态采点获取的数据进行处理得到的测试结果会更加准确；另外，绘制标准行驶轨迹和测试行驶轨迹并对比展示，可以直观地展示测试结果，方便测试。进一步地，由于待测感知设备检测的数据和标准感知设备检测的数据是用不同的坐标系表示的，本发明实施例中，通过数据转换可以将二者转换成用相同坐标系表示的数据，方便了各个阶段的数据处理。此外，通过确定路侧单元和车载单元之间的系统时间差，根据系统时间差对待测感知设备和标准感知设备采集的数据对齐，方便了测试过程，进一步提高了测试结果的准确度。In an embodiment of the present invention, a method for performing equipment testing relying on an equipment testing system is designed. The equipment testing system includes a sensing device to be tested installed on a roadside unit RSU and a standard sensing device installed on a test vehicle. The test vehicle has an on-board unit OBU. During testing, standard driving data and test driving data can be obtained from the on-board unit. The standard driving data is driving data obtained by detecting the test vehicle with the standard sensing device, and the test driving data is driving data obtained by detecting the test vehicle with the sensing device to be tested. The standard driving data is obtained by the on-board unit from the standard sensing device, and the test driving data is obtained by the on-board unit from the sensing device to be tested through the roadside unit. A standard driving trajectory is generated on a preset map according to the standard driving data, and a test driving trajectory is generated on the preset map according to the test driving data. The standard driving trajectory and the test driving trajectory are displayed comparatively on the preset map. That is, in the embodiment of the present invention, the designed equipment test system can be used to detect the test vehicle during the driving process of the test vehicle to obtain driving data, and the driving data can be processed to obtain the test results, that is, dynamic point sampling test. The data required for the test can be directly obtained from the vehicle-mounted unit, so there is no need for static point sampling with a laser rangefinder, which is easier and safer to implement; and the data obtained by dynamic point sampling can avoid large fluctuations, and the test results obtained by processing the data obtained by dynamic point sampling will be more accurate; in addition, the standard driving trajectory and the test driving trajectory are drawn and compared and displayed, which can intuitively display the test results and facilitate testing. Further, since the data detected by the sensing device to be tested and the data detected by the standard sensing device are represented by different coordinate systems, in the embodiment of the present invention, the two can be converted into data represented by the same coordinate system through data conversion, which facilitates data processing at each stage. In addition, by determining the system time difference between the roadside unit and the vehicle-mounted unit, the data collected by the sensing device to be tested and the standard sensing device are aligned according to the system time difference, which facilitates the test process and further improves the accuracy of the test results.
图8是本发明实施例提供的设备测试装置的一个结构图，设备测试装置应用于设备测试系统，设备测试系统中包括安装在路侧单元RSU上的待测感知设备和安装在测试车辆上的标准感知设备，测试车辆具有车载单元OBU。该装置适用于执行本发明实施例提供的设备测试方法。如图8所示，该装置具体可以包括：FIG8 is a structural diagram of a device testing apparatus provided in an embodiment of the present invention. The device testing apparatus is applied to a device testing system. The device testing system includes a sensing device to be tested installed on a roadside unit RSU and a standard sensing device installed on a test vehicle. The test vehicle has an on-board unit OBU. The apparatus is suitable for executing the device testing method provided in an embodiment of the present invention. As shown in FIG8 , the apparatus may specifically include:
获取模块401，用于从所述车载单元获取标准行驶数据和测试行驶数据，所述标准行驶数据为所述标准感知设备检测所述测试车辆得到的行驶数据，所述测试行驶数据为所述待测感知设备检测所述测试车辆得到的行驶数据，所述标准行驶数据由所述车载单元从所述标准感知设备获取，所述测试行驶数据由所述车载单元通过所述路侧单元从所述待测感知设备获取；The acquisition module 401 is used to acquire standard driving data and test driving data from the vehicle-mounted unit, wherein the standard driving data is driving data obtained by the standard sensing device detecting the test vehicle, and the test driving data is driving data obtained by the sensing device to be tested detecting the test vehicle, the standard driving data is acquired by the vehicle-mounted unit from the standard sensing device, and the test driving data is acquired by the vehicle-mounted unit from the sensing device to be tested through the roadside unit;
生成模块402，用于根据所述标准行驶数据在预设地图上生成标准行驶轨迹，并根据所述测试行驶数据在所述预设地图上生成测试行驶轨迹；A generating module 402, configured to generate a standard driving track on a preset map according to the standard driving data, and to generate a test driving track on the preset map according to the test driving data;
显示模块403，用于在所述预设地图上对比显示所述标准行驶轨迹和所述测试行驶轨迹。The display module 403 is used to compare and display the standard driving track and the test driving track on the preset map.
进一步的，所述装置还包括：Furthermore, the device also includes:
对齐模块，用于获取所述路侧单元和所述车载单元之间的系统时间差；根据所述系统时间差将所述测试行驶数据与所述标准行驶数据对齐，并在对齐之后，触发生成模块402执行根据所述标准行驶数据在预设地图上生成标准行驶轨迹，并根据所述测试行驶数据在所述预设地图上生成测试行驶轨迹的步骤。An alignment module is used to obtain the system time difference between the roadside unit and the vehicle-mounted unit; align the test driving data with the standard driving data according to the system time difference, and after the alignment, trigger the generation module 402 to execute the steps of generating a standard driving trajectory on a preset map according to the standard driving data, and generating a test driving trajectory on the preset map according to the test driving data.
进一步的，所述对齐模块获取所述路侧单元和所述车载单元之间的系统时间差，包括：Furthermore, the alignment module obtains the system time difference between the roadside unit and the vehicle-mounted unit, including:
从所述路侧单元和所述车载单元中确定出主机和从机；Determine a master unit and a slave unit from the roadside unit and the vehicle-mounted unit;
控制所述主机向所述从机发送测试数据，并记录所述主机的数据发送时间和所述从机的数据接收时间；Control the host to send test data to the slave, and record the data sending time of the host and the data receiving time of the slave;
控制所述从机在接收到所述测试数据之后，向所述主机返发所述测试数据，并记录所述主机的数据接收时间；Controlling the slave to send the test data back to the host after receiving the test data, and recording the data receiving time of the host;
根据记录的所述主机的数据发送时间、数据接收时间和所述从机的数据接收时间计算所述系统时间差。The system time difference is calculated according to the recorded data sending time, data receiving time of the host and the data receiving time of the slave.
进一步的，所述设备测试系统中还包括干扰车辆，所述获取模块401从所述车载单元获取测试行驶数据，包括：Furthermore, the device test system further includes an interference vehicle, and the acquisition module 401 acquires the test driving data from the vehicle-mounted unit, including:
从所述车载单元获取多份候选行驶数据，所述多份候选行驶数据中包括所述待测感知设备检测所述测试车辆得到的行驶数据和所述待测感知设备检测所述干扰车辆得到的行驶数据，所述车载单元通过所述路侧单元从所述待测感知设备获取所述多份候选行驶数据，所述多份候选行驶数据中的每份候选行驶数据对应一辆车；Acquire multiple sets of candidate driving data from the vehicle-mounted unit, the multiple sets of candidate driving data include driving data obtained by the sensing device to be tested detecting the test vehicle and driving data obtained by the sensing device to be tested detecting the interference vehicle, the vehicle-mounted unit acquires the multiple sets of candidate driving data from the sensing device to be tested through the roadside unit, each set of candidate driving data in the multiple sets of candidate driving data corresponds to one vehicle;
从所述多份候选行驶数据中确定出所述测试行驶数据。The test driving data is determined from the plurality of candidate driving data.
进一步，所述多份候选行驶数据为平面坐标系表示的数据，所述标准行驶数据为大地坐标系表示的数据，所述获取模块401从所述多份候选行驶数据中确定出所述测试行驶数据，包括：Further, the plurality of candidate driving data are data represented by a plane coordinate system, and the standard driving data are data represented by a geodetic coordinate system. The acquisition module 401 determines the test driving data from the plurality of candidate driving data, including:
将所述每份候选行驶数据转换成所述大地坐标系表示的数据；Convert each candidate driving data into data represented by the geodetic coordinate system;
转换之后，根据所述系统时间差将所述每份候选行驶数据与所述标准行驶数据对齐；After the conversion, aligning each candidate driving data with the standard driving data according to the system time difference;
对齐之后，计算所述每份候选行驶数据与所述标准行驶数据的误差，得到多个误差值；After alignment, calculating the error between each candidate driving data and the standard driving data to obtain a plurality of error values;
将所述多个误差值中的最小者对应的候选行驶数据确定为所述测试行驶数据。The candidate driving data corresponding to the smallest of the plurality of error values is determined as the test driving data.
进一步的，所述装置还包括：Furthermore, the device also includes:
误差计算模块，用于将所述标准行驶数据和所述测试行驶数据均转换为所述平面坐标系表示的数据；转换之后，根据所述标准行驶数据和所述测试行驶数据计算所述待测感知设备的各项检测误差。The error calculation module is used to convert the standard driving data and the test driving data into data represented by the plane coordinate system; after the conversion, various detection errors of the sensing device to be tested are calculated according to the standard driving data and the test driving data.
本领域的技术人员可以清楚地了解到，为描述的方便和简洁，仅以上述各功能模块的划分进行举例说明，实际应用中，可以根据需要而将上述功能分配由不同的功能模块完成，即将装置的内部结构划分成不同的功能模块，以完成以上描述的全部或者部分功能。上述描述功能模块的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example for illustration. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the functional modules described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.
本发明实施例所提供的设备测试装置可执行本发明任意实施例所提供的设备测试方法，具备执行方法相应的功能模块和有益效果。本实施例中未详尽描述的内容可以参考本发明任意方法实施例中的描述。The device testing apparatus provided in the embodiment of the present invention can execute the device testing method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method. For the contents not described in detail in this embodiment, reference can be made to the description in any method embodiment of the present invention.
参考图9，其示出了适于用来实现本发明实施例的电子设备的计算机系统500的结构示意图。图9示出的电子设备仅仅是一个示例，不应对本发明实施例的功能和使用范围带来任何限制。Referring to Fig. 9, a schematic diagram of the structure of a computer system 500 suitable for implementing an electronic device of an embodiment of the present invention is shown. The electronic device shown in Fig. 9 is only an example and should not bring any limitation to the functions and scope of use of the embodiment of the present invention.
如图9所示，计算机系统500包括中央处理单元(CPU)501，其可以根据存储在只读存储器(ROM)502中的程序或者从存储部分508加载到随机访问存储器(RAM)503中的程序而执行各种适当的动作和处理。在RAM 503中，还存储有系统500操作所需的各种程序和数据。CPU 501、ROM 502以及RAM 503通过总线504彼此相连。输入/输出(I/O)接口505也连接至总线504。As shown in FIG9 , the computer system 500 includes a central processing unit (CPU) 501, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 502 or a program loaded from a storage portion 508 into a random access memory (RAM) 503. Various programs and data required for the operation of the system 500 are also stored in the RAM 503. The CPU 501, the ROM 502, and the RAM 503 are connected to each other via a bus 504. An input/output (I/O) interface 505 is also connected to the bus 504.
以下部件连接至I/O接口505：包括键盘、鼠标等的输入部分506；包括诸如阴极射线管(CRT)、液晶显示器(LCD)等以及扬声器等的输出部分507；包括硬盘等的存储部分508；以及包括诸如LAN卡、调制解调器等的网络接口卡的通信部分509。通信部分509经由诸如因特网的网络执行通信处理。驱动器510也根据需要连接至I/O接口505。可拆卸介质511，诸如磁盘、光盘、磁光盘、半导体存储器等等，根据需要安装在驱动器510上，以便于从其上读出的计算机程序根据需要被安装入存储部分508。The following components are connected to the I/O interface 505: an input section 506 including a keyboard, a mouse, etc.; an output section 507 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 508 including a hard disk, etc.; and a communication section 509 including a network interface card such as a LAN card, a modem, etc. The communication section 509 performs communication processing via a network such as the Internet. A drive 510 is also connected to the I/O interface 505 as needed. A removable medium 511, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 510 as needed, so that a computer program read therefrom is installed into the storage section 508 as needed.
特别地，根据本发明公开的实施例，上文参考流程图描述的过程可以被实现为计算机软件程序。例如，本发明公开的实施例包括一种计算机程序产品，其包括承载在计算机可读介质上的计算机程序，该计算机程序包含用于执行流程图所示的方法的程序代码。在这样的实施例中，该计算机程序可以通过通信部分509从网络上被下载和安装，和/或从可拆卸介质511被安装。在该计算机程序被中央处理单元(CPU)501执行时，执行本发明的系统中限定的上述功能。In particular, according to the embodiments disclosed in the present invention, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present invention include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 509, and/or installed from the removable medium 511. When the computer program is executed by the central processing unit (CPU) 501, the above-mentioned functions defined in the system of the present invention are executed.
需要说明的是，本发明所示的计算机可读介质可以是计算机可读信号介质或者计算机可读存储介质或者是上述两者的任意组合。计算机可读存储介质例如可以是——但不限于——电、磁、光、电磁、红外线、或半导体的系统、装置或器件，或者任意以上的组合。计算机可读存储介质的更具体的例子可以包括但不限于：具有一个或多个导线的电连接、便携式计算机磁盘、硬盘、随机访问存储器(RAM)、只读存储器(ROM)、可擦式可编程只读存储器(EPROM或闪存)、光纤、便携式紧凑磁盘只读存储器(CD-ROM)、光存储器件、磁存储器件、或者上述的任意合适的组合。在本发明中，计算机可读存储介质可以是任何包含或存储程序的有形介质，该程序可以被指令执行系统、装置或者器件使用或者与其结合使用。而在本发明中，计算机可读的信号介质可以包括在基带中或者作为载波一部分传播的数据信号，其中承载了计算机可读的程序代码。这种传播的数据信号可以采用多种形式，包括但不限于电磁信号、光信号或上述的任意合适的组合。计算机可读的信号介质还可以是计算机可读存储介质以外的任何计算机可读介质，该计算机可读介质可以发送、传播或者传输用于由指令执行系统、装置或者器件使用或者与其结合使用的程序。计算机可读介质上包含的程序代码可以用任何适当的介质传输，包括但不限于：无线、电线、光缆、RF等等，或者上述的任意合适的组合。It should be noted that the computer-readable medium shown in the present invention may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present invention, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device. In the present invention, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. This propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.
附图中的流程图和框图，图示了按照本发明各种实施例的系统、方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序段、或代码的一部分，上述模块、程序段、或代码的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。也应当注意，在有些作为替换的实现中，方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如，两个接连地表示的方框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这依所涉及的功能而定。也要注意的是，框图或流程图中的每个方框、以及框图或流程图中的方框的组合，可以用执行规定的功能或操作的专用的基于硬件的系统来实现，或者可以用专用硬件与计算机指令的组合来实现。The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present invention. In this regard, each box in the flow chart or block diagram can represent a module, a program segment, or a part of a code, and the above-mentioned module, program segment, or a part of a code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flow chart, and the combination of the boxes in the block diagram or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.
描述于本发明实施例中所涉及到的模块和/或单元可以通过软件的方式实现，也可以通过硬件的方式来实现。所描述的模块和/或单元也可以设置在处理器中，例如，可以描述为：一种处理器包括获取模块、生成模块和显示模块。其中，这些模块的名称在某种情况下并不构成对该模块本身的限定。The modules and/or units involved in the embodiments of the present invention may be implemented in software or hardware. The modules and/or units described may also be arranged in a processor. For example, they may be described as follows: a processor includes an acquisition module, a generation module, and a display module. The names of these modules do not, in some cases, constitute limitations on the modules themselves.
本发明实施例还提供一种计算机可读存储介质，其上存储有计算机程序，所述程序被处理器执行时实现上述任一实施例提供的设备测试方法，所述设备测试方法应用于设备测试系统，所述设备测试系统中包括安装在路侧单元RSU上的待测感知设备和安装在测试车辆上的标准感知设备，所述测试车辆具有车载单元OBU，所述设备测试方法具体如下：An embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon. When the program is executed by a processor, the device testing method provided in any of the above embodiments is implemented. The device testing method is applied to a device testing system. The device testing system includes a sensing device to be tested installed on a roadside unit RSU and a standard sensing device installed on a test vehicle. The test vehicle has an on-board unit OBU. The device testing method is specifically as follows:
从所述车载单元获取标准行驶数据和测试行驶数据，所述标准行驶数据为所述标准感知设备检测所述测试车辆得到的行驶数据，所述测试行驶数据为所述待测感知设备检测所述测试车辆得到的行驶数据，所述标准行驶数据由所述车载单元从所述标准感知设备获取，所述测试行驶数据由所述车载单元通过所述路侧单元从所述待测感知设备获取；Acquire standard driving data and test driving data from the vehicle-mounted unit, the standard driving data being driving data obtained by the standard sensing device detecting the test vehicle, and the test driving data being driving data obtained by the sensing device to be tested detecting the test vehicle, the standard driving data being acquired by the vehicle-mounted unit from the standard sensing device, and the test driving data being acquired by the vehicle-mounted unit from the sensing device to be tested via the roadside unit;
根据所述标准行驶数据在预设地图上生成标准行驶轨迹，并根据所述测试行驶数据在所述预设地图上生成测试行驶轨迹；Generating a standard driving track on a preset map according to the standard driving data, and generating a test driving track on the preset map according to the test driving data;
在所述预设地图上对比显示所述标准行驶轨迹和所述测试行驶轨迹。The standard driving trajectory and the test driving trajectory are displayed comparatively on the preset map.
当然,本发明实施例所提供的一种包含计算机可执行指令的存储介质,其计算机可执行指令不限于如上所述的方法操作,还可以执行本发明任意实施例所提供的设备测试方法中的相关操作。Of course, the computer executable instructions of a storage medium containing computer executable instructions provided by an embodiment of the present invention are not limited to the method operations described above, and can also execute related operations in the device testing method provided by any embodiment of the present invention.
通过以上关于实施方式的描述，所属领域的技术人员可以清楚地了解到，本发明可借助软件及必需的通用硬件来实现，当然也可以通过硬件实现，但很多情况下前者是更佳的实施方式。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品可以存储在计算机可读存储介质中，如计算机的软盘、只读存储器(Read-Only Memory,ROM)、随机存取存储器(RandomAccess Memory,RAM)、闪存(FLASH)、硬盘或光盘等，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本发明各个实施例所述的设备测试方法。Through the above description of the implementation method, the technicians in the relevant field can clearly understand that the present invention can be implemented by means of software and necessary general hardware, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory (FLASH), hard disk or optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform the device testing method described in each embodiment of the present invention.
值得注意的是，上述设备测试装置的实施例中，所包括的各个单元和模块只是按照功能逻辑进行划分的，但并不局限于上述的划分，只要能够实现相应的功能即可；另外，各功能单元的具体名称也只是为了便于相互区分，并不用于限制本发明的保护范围。It is worth noting that in the embodiment of the above-mentioned equipment testing device, the various units and modules included are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention.
注意，上述仅为本发明的较佳实施例及所运用技术原理。本领域技术人员会理解，本发明不限于这里所述的特定实施例，对本领域技术人员来说能够进行各种明显的变化、重新调整和替代而不会脱离本发明的保护范围。因此，虽然通过以上实施例对本发明进行了较为详细的说明，但是本发明不仅仅限于以上实施例，在不脱离本发明构思的情况下，还可以包括更多其他等效实施例，而本发明的范围由所附的权利要求范围决定。Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
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