CN112629874B - A test device for the perception ability of intelligent networked vehicle traffic signs - Google Patents

Abstract

The present invention relates to the technical field of Internet of Vehicles, and specifically discloses an intelligent Internet-connected automobile traffic sign perception ability test device, which includes: a test control subsystem, a display control subsystem, a V2X communication subsystem, and a radar and vision fusion perception subsystem , the test control subsystem is used to receive the tested vehicle information fed back by the radar and vision fusion perception subsystem and the V2X communication subsystem, and control the call and execution of test cases according to the tested vehicle information; the display control subsystem is used to control the The display control command of the subsystem executes the display operation of the traffic sign graphics and text in the test case; the V2X communication subsystem is used to receive the V2X information sent by the vehicle under test, and extract the information of the vehicle under test from the V2X information; radar and vision fusion The perception subsystem is used to estimate the motion state of the vehicle under test. The intelligent network-connected vehicle traffic sign perception ability test device provided by the present invention can efficiently realize the detection of road traffic signs.

Description

A device for testing the traffic sign perception ability of intelligent connected vehicles

Technical Field

The present invention relates to the technical field of vehicle networking, and in particular to a device for testing the traffic sign perception ability of an intelligent networked vehicle.

Background Art

Intelligent Connected Vehicle (ICV) is a new generation of intelligent vehicles that is the result of the integration of autonomous driving technology and vehicle networking technology. The technical vision of safety, comfort and energy saving has become a common consensus in my country's automotive industry. The testing research work and the development of related testing methods and special testing equipment are one of the hot spots in current technology pursuit.

Although the autonomous driving capabilities and the wireless communication functions of the IoVs are different, the basic functional requirements of the industry and academia are consistent. The most important point is that the intelligent connected vehicles should be able to identify roadside traffic signs through vision or IoV information, and then drive and control the vehicle through automatic control or human-machine collaboration to ensure that it meets the requirements for traffic sign setting. With the continuous improvement of autonomous driving functions, intelligent connected vehicles should also have the ability to identify the authenticity of roadside road signs in combination with IoV wireless communication information security technology to prevent malicious deception by relying solely on image vision equipment.

At present, there are three common methods for testing the testing capability of intelligent connected vehicles, namely software simulation testing, hardware-in-the-loop simulation testing and actual road testing.

Software simulation testing usually uses a computer to build a virtual test environment. Common available software includes Matlab (RoadRunner Toolbox) software, PreScan software, ROS (Rviz Toolkit) software, etc. By setting up various virtual roadside signs in the test software environment, the recognition software logic is tested. Obviously, the advantages of software testing are high test efficiency and good reproducibility, but the software environment cannot fully reproduce the real world and cannot accurately model the hardware being tested. For example, factors such as light intensity and sign brightness are difficult to model and simulate, and the wireless communication channel environment of the Internet of Vehicles is difficult to reproduce. Therefore, there is a large deviation between the software simulation test results and the actual performance.

The hardware-in-the-loop test method usually incorporates the complete hardware system related to roadside traffic sign recognition and perception into the test loop in a laboratory environment, and uses equipment such as mirror systems and six-degree-of-freedom driving simulators to simulate the vehicle driving environment. Its advantage is that both software and hardware products related to traffic sign perception are included in the test loop, which greatly improves the degree of authenticity compared to software simulation testing, and the test conclusions are closer to the actual performance. However, except for the wireless communication environment of the Internet of Vehicles, it cannot be accurately reproduced in the hardware-in-the-loop test system. Therefore, it is only suitable for intelligent connected vehicle testing that focuses on advanced autonomous driving functions, but it is difficult to apply to intelligent connected vehicle testing that focuses on lower-level autonomous driving functions and other issues that require consideration of human-machine interface performance issues.

Actual road testing is generally regarded as the test method that best reflects the traffic sign recognition and perception capabilities of the tested vehicle. Usually, a single or multiple traffic sign signs are set up on the side of the designated test road, and the tested vehicle repeatedly drives on this test section to complete the test. This method can test multiple tested vehicles at the same time. In order to meet the needs of intelligent connected vehicle traffic sign perception testing, traditional traffic signs can be replaced with intelligent traffic sign signs with vehicle networking communication functions. Based on the actual application of wireless communication, it is impossible to densely deploy such traffic signs under realistic conditions, so its test efficiency is low. And because the test cases can only be replaced by replacing traffic signs in this type of test, and their signs and text content cannot be changed, the test case coverage is limited. In addition, since fixed roadside traffic signs have certain psychological expectations for drivers participating in the test, it will indirectly affect the test results.

Summary of the invention

The present invention provides a device for testing the traffic sign perception ability of an intelligent networked vehicle, which solves the problem in the related art that it is impossible to efficiently test roadside traffic signs.

As one aspect of the present invention, a traffic sign perception capability test device for an intelligent connected vehicle is provided, which includes: a test control subsystem, a display control subsystem, a V2X communication subsystem, and a radar and vision fusion perception subsystem, wherein the display control subsystem, the V2X communication subsystem, and the radar and vision fusion perception subsystem are all communicatively connected to the test control subsystem;

The test control subsystem is used to receive the tested vehicle information fed back by the radar and visual fusion perception subsystem and the V2X communication subsystem, and control the calling and execution of the test case according to the tested vehicle information;

The display control subsystem is used to receive the test case sent by the test control subsystem, and execute the display operation of the traffic sign graphics and text in the test case according to the display control instruction of the test control subsystem;

The V2X communication subsystem is used to receive V2X information sent by the tested vehicle and extract the tested vehicle information in the V2X information;

The radar and vision fusion perception subsystem is used to estimate the motion state of the vehicle under test.

Furthermore, the test control subsystem includes a test control computer, the test control computer includes a test control module and a test case database, the test control module is connected to the test case database,

The test case database is used to store multiple test cases, and the test cases are used to test traffic sign perception ability;

The test control module can control the start, end and pause of the test, and can control the calling and execution of the test case according to the received information of the tested vehicle.

Furthermore, the test control computer also includes a first Ethernet communication module, which is used to achieve communication connections with the display control subsystem, the V2X communication subsystem, and the radar and visual fusion perception subsystem respectively.

Furthermore, the test control subsystem also includes a display, which is communicatively connected to the test control computer, and is used to display the test control software graphical interface and execution status information of the test cases in the test control computer.

Further, the display control subsystem includes: a graphic control module, a text control module and a display screen, the graphic control module and the text control module are both communicatively connected to the display screen, and the graphic control module and the text control module are both communicatively connected to the test control subsystem;

The graphic control module is used to control the display screen of the display control instruction to display the traffic sign graphic in the test case;

The text control module is used to control the display screen to display the text content and position information in the test case.

Furthermore, the display control subsystem also includes a power supply and brightness control module, which is respectively communicated with the test control subsystem and the display screen, and is used to adjust the brightness of the display screen according to the brightness control value in the display control instruction.

Furthermore, the display control subsystem also includes a second Ethernet communication module, and the second Ethernet communication module is used to realize the communication connection between the graphic control module, the text control module and the power and brightness control module and the test control subsystem.

Furthermore, the radar and visual fusion perception subsystem includes: a fusion perception module, a millimeter wave radar module and a visual camera module, the millimeter wave radar module and the visual camera module are both communicatively connected to the fusion perception module, and the fusion perception module is communicatively connected to the test control subsystem.

The millimeter wave radar module is used to obtain the motion state information of the vehicle under test;

The visual camera module is used to obtain image information of the vehicle under test;

The fusion perception module is used to combine and perform statistical filtering on the measurement information of the millimeter wave radar module and the visual camera module to estimate the motion state of the measured vehicle.

Furthermore, the radar and vision fusion perception subsystem also includes a third Ethernet communication module, the fusion perception module is communicatively connected to the third Ethernet communication module, and the third Ethernet communication module is used to realize the communication connection between the fusion perception module and the test control subsystem.

Further, the V2X communication subsystem includes a fourth Ethernet communication module, a V2X communication module and a V2X antenna, the fourth Ethernet communication module is communicatively connected to the V2X communication module, and the V2X antenna is connected to the V2X communication module;

The fourth Ethernet communication module is used to receive the RSI information or RSM information sent by the test port control subsystem, and feed back the vehicle information of the tested vehicle to the test control subsystem;

The V2X communication module and the V2X antenna are used to receive the BSM information of the vehicle under test.

The intelligent networked vehicle traffic sign perception capability test device provided by the present invention utilizes a test control subsystem, a display control subsystem, a V2X communication subsystem, and a radar and vision fusion perception subsystem to form an intelligent networked vehicle traffic sign perception capability test device. The test control subsystem controls the test case to be automatically implemented, and the traffic sign perception capability of the intelligent networked vehicle on the test road is tested, thereby improving the test efficiency of the capability test.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present invention, but do not constitute a limitation of the present invention.

FIG1 is a structural block diagram of a device for testing the traffic sign perception capability of an intelligent connected vehicle provided by the present invention.

DETAILED DESCRIPTION

It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is only a part of the embodiment of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work should fall within the scope of protection of the present invention.

It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so as to describe the embodiments of the present invention described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

It should be noted that, in the present invention, V2X: Vehicle to X, vehicle wireless communication technology.

RSI: Road Side Information; RSM: Road Safety Message; BSM: Basic Safety Message.

In this embodiment, a traffic sign perception capability test device for an intelligent networked vehicle is provided. FIG1 is a structural block diagram of the traffic sign perception capability test device for an intelligent networked vehicle provided according to an embodiment of the present invention. As shown in FIG1 , the device comprises: a test control subsystem, a display control subsystem, a V2X communication subsystem, and a radar and vision fusion perception subsystem. The display control subsystem, the V2X communication subsystem, and the radar and vision fusion perception subsystem are all communicatively connected with the test control subsystem.

The test control subsystem is used to receive the tested vehicle information fed back by the radar and visual fusion perception subsystem and the V2X communication subsystem, and control the calling and execution of the test case according to the tested vehicle information;

The display control subsystem is used to receive the test case sent by the test control subsystem, and execute the display operation of the traffic sign graphics and text in the test case according to the display control instruction of the test control subsystem;

The V2X communication subsystem is used to receive V2X information sent by the tested vehicle and extract the tested vehicle information in the V2X information;

The radar and vision fusion perception subsystem is used to estimate the motion state of the vehicle under test.

The intelligent networked vehicle traffic sign perception capability test device provided by the embodiment of the present invention utilizes a test control subsystem, a display control subsystem, a V2X communication subsystem, and a radar and vision fusion perception subsystem to form an intelligent networked vehicle traffic sign perception capability test device. The test control subsystem controls the test case to be automatically implemented, and the traffic sign perception capability of the intelligent networked vehicle on the test road is tested, thereby improving the test efficiency of the capability test.

As shown in FIG1 , the display control subsystem, the V2X communication subsystem, and the radar and vision fusion perception subsystem are all communicatively connected to the test control subsystem via a router.

Specifically, the test control subsystem includes a test control computer, the test control computer includes a test control module and a test case database, the test control module is connected to the test case database,

The test case database is used to store multiple test cases, and the test cases are used to test traffic sign perception ability;

The test control module can control the start, end and pause of the test, and can control the calling and execution of the test case according to the received information of the tested vehicle.

Further specifically, the test control computer also includes a first Ethernet communication module, which is used to achieve communication connections with the display control subsystem, the V2X communication subsystem, and the radar and visual fusion perception subsystem respectively.

In some implementations, the test control subsystem further includes a display, which is communicatively connected to the test control computer, and is used to display a test control software graphical interface and execution status information of test cases in the test control computer.

It should be understood that the test control subsystem runs test control software, through which the tester can select test cases for the tested vehicle and observe the test execution status, and control the start, pause and termination of the test. In addition, during the test, the subsystem can automatically call the test cases prepared in the initial stage according to the tested vehicle type information (vehicle type, license plate number, position, speed, acceleration, angular velocity information, etc.) fed back by the V2X communication subsystem and the radar and visual fusion perception subsystem, and send the corresponding display control instructions (logo graphics, text content, text position and brightness control value) to the display control subsystem. In addition, it also sends the corresponding application layer coding information (RSI information and RSM information specified in T/CSAE53-2017 "Cooperative Intelligent Transportation System Vehicle Communication System Application Layer and Application Data Interaction Standard") to the V2X communication subsystem. At the same time, the sending time and the applied test cases are recorded for later comparison and analysis.

It should be noted that the test case database stores several traffic sign perception capability test cases, each of which is composed of annotation graphics, display text, text display position, display brightness value, and V2X application layer information (RSI information or RSM information) that comply with the GB5768.2-2009 "Road Traffic Signs and Markings" standard.

Specifically, the display control subsystem includes: a graphic control module, a text control module and a display screen, the graphic control module and the text control module are both connected to the display screen for communication, and the graphic control module and the text control module are both connected to the test control subsystem for communication;

The graphic control module is used to control the display screen of the display control instruction to display the traffic sign graphic in the test case;

The text control module is used to control the display screen to display the text content and position information in the test case.

Further specifically, the display control subsystem also includes a power supply and brightness control module, which is respectively communicated with the test control subsystem and the display screen, and is used to adjust the brightness of the display screen according to the brightness control value in the display control instruction.

In some implementations, the display control subsystem further includes a second Ethernet communication module, and the second Ethernet communication module is used to implement communication connection between the graphic control module, the text control module, and the power and brightness control module and the test control subsystem.

It should be understood that the display control subsystem can display specific traffic sign graphics and text according to the test case requirements, and can also change the graphic signs and text display positions and adjust the display brightness according to the test control subsystem control instructions.

Specifically, the radar and visual fusion perception subsystem includes: a fusion perception module, a millimeter wave radar module and a visual camera module, the millimeter wave radar module and the visual camera module are both communicatively connected to the fusion perception module, and the fusion perception module is communicatively connected to the test control subsystem.

The millimeter wave radar module is used to obtain the motion state information of the vehicle under test;

The visual camera module is used to obtain image information of the vehicle under test;

The fusion perception module is used to combine and perform statistical filtering on the measurement information of the millimeter wave radar module and the visual camera module to estimate the motion state of the measured vehicle.

Further specifically, the radar and vision fusion perception subsystem also includes a third Ethernet communication module, the fusion perception module is communicatively connected to the third Ethernet communication module, and the third Ethernet communication module is used to realize the communication connection between the fusion perception module and the test control subsystem.

It should be understood that the radar and vision fusion perception subsystem measures the vehicle under test through its millimeter wave radar module and visual camera module, and extracts the position, speed, relative azimuth, relative pitch angle and video image information of the vehicle under test respectively. The fusion perception module inside uses a statistical filtering algorithm to estimate the vehicle's motion state (vehicle's position and speed), and sends it to the test control subsystem for automatic call decision of the test case.

Specifically, the V2X communication subsystem includes a fourth Ethernet communication module, a V2X communication module and a V2X antenna, the fourth Ethernet communication module is communicatively connected to the V2X communication module, and the V2X antenna is connected to the V2X communication module;

The fourth Ethernet communication module is used to receive the RSI information or RSM information sent by the test port control subsystem, and feed back the vehicle information of the tested vehicle to the test control subsystem;

The V2X communication module and the V2X antenna are used to receive the BSM information of the vehicle under test.

In an embodiment of the present invention, the V2X communication subsystem can receive application layer coding information from the test control subsystem, and complete the framing operation through the DSMP protocol entity to form a complete LTE-V2X PC5 air interface data frame to broadcast and send to the vehicle under test; in addition, it also receives BSM information sent by the vehicle under test, extracts the vehicle under test information (license plate number, position, speed, acceleration, angular velocity, steering wheel angle, gear status, brake pedal status) from it, and sends it to the test control subsystem for automatic call decision of the test case.

In summary, the intelligent connected vehicle traffic sign perception ability testing device provided by the embodiment of the present invention, aimed at the actual road test of the traffic sign perception ability of the intelligent connected vehicle, uses radar and visual perception technology to automatically identify the type of vehicle under test and extract the motion state information of the test vehicle for use in test case call decision-making, and realizes the traffic sign perception ability test of a single vehicle and multiple vehicles under test passing in sequence by automatically changing the electronic display content and the vehicle network broadcast information content, thereby improving the test efficiency; at the same time, the present invention can automatically implement the safety performance test of the conflict between "signs and signboards and vehicle network broadcast message content", and expands the coverage of traffic sign perception ability test cases; in addition, since the test driver cannot predict the roadside sign and signboard information, the method will not have a psychological expectation effect on him, thereby improving the authenticity of the test scene and ensuring the practical value of the test conclusion.

The implementation process of the present invention is described below by taking the most typical vehicle-road cooperative system function application, the in-vehicle sign display function, as an example.

(1) Test scenario description and test preparation phase

The in-vehicle sign display function is a common function in the vehicle-road cooperative system. It means that when the vehicle under test approaches the roadside traffic sign, it can perceive the content of the roadside traffic sign through image recognition or wireless communication of the Internet of Vehicles, and prompt the driver through graphics or voice.

In the test preparation phase, the millimeter wave radar module and camera module calibration work is first completed, and the outputs of the two sensors are converted into the same coordinate system, which is defined as the sensor measurement coordinate system (S system). Its coordinate axis points to the same local geographic coordinate system, that is, the coordinate _{axis OsXs} points to the local geographic east, the coordinate _{axis OsYs} points to the local geographic north, and _the coordinate axis _OsZs points to the local geographic sky. The origin of the coordinate system is positioned by satellite to obtain the longitude, latitude, and altitude of the origin of the coordinate system.

During the test preparation stage, the tester selects test cases for the vehicle under test through the test software, such as "speed limit below 60km/h", "speed limit above 40km/h", and "pull over". During the test, the driver drives the vehicle repeatedly on the test section, and the order of test case calls is independently decided by the test control subsystem.

(2) Vehicle motion perception stage

After the test begins, the driver controls the vehicle on the designated test road.

The V2X communication subsystem and the radar and vision fusion perception subsystem perceive the driving status information of the vehicle under test on the test road. Assuming that the road vehicle mainly moves in a straight line with uniform acceleration within the perception range, the position, velocity, and acceleration of the vehicle are selected to form a state vector and expressed in the S system.

The corresponding discrete state equation is

Noise term

T为离散采样时间。in

T is the discrete sampling time.

The corresponding millimeter-wave radar and visual camera can obtain the fused vehicle speed and position measurement data, thereby establishing a discrete measurement equation Z = Cx _k + v _k , where C = [1 1 0 1 1 0].

Therefore, the common discrete statistical filtering algorithm can be used to estimate the motion of the vehicle target, thereby improving the measurement accuracy of the millimeter wave radar and visual camera. The type and license plate number of the vehicle are identified and extracted through the SDD algorithm.

At the same time, the BSM information sent by the vehicle is processed by the V2X communication module, from which the vehicle status information (license plate number, position, speed, acceleration, angular velocity, steering wheel angle, gear status, brake pedal status) can be extracted and sent together with the aforementioned information to the test control subsystem for automatic call decision of the test case.

(3) Automatic testing phase

After receiving the vehicle target information from the V2X communication subsystem and the radar and visual fusion perception subsystem, the test control subsystem compares it with the stored test setting information to obtain the test case settings for the vehicle under test. Combined with the current vehicle driving status, the test case is automatically called. If the current vehicle driving speed is 70km/h, the system can automatically call the "speed limit below 60km/h" test case, that is, the display control subsystem and the V2X communication subsystem send the corresponding image (including brightness information) instructions and the RSI message code (UPER code) containing the speed limit below 60km information.

After receiving the command information, the display subsystem and the V2X communication subsystem complete the image logo display and RSI information broadcast respectively. The test control subsystem records the test case call time t _s (UTC time) and the test case content.

The vehicle under test records and stores the roadside traffic sign after sensing it. The recorded data include sensing time _tf (UTC time), sign type, etc.

After the tested vehicle leaves the test area, the testing device continues to test other tested vehicles that newly enter the test area.

(4) Test analysis phase

After the actual road test is completed, the data from the test device is compared and analyzed with the recorded data of the tested vehicle to clarify the accuracy of the tested vehicle's perception of the roadside signs and signboards. At the same time, indicators such as perception time and perception distance can be calculated. On this basis, other quantitative indicators can be calculated.

It is to be understood that the above embodiments are merely exemplary embodiments used to illustrate the principles of the present invention, but the present invention is not limited thereto. For those of ordinary skill in the art, various modifications and improvements can be made without departing from the spirit and essence of the present invention, and these modifications and improvements are also considered to be within the scope of protection of the present invention.

Claims (9)

1. A test device for the perception ability of intelligent networked automobile traffic signs, comprising: a test control subsystem, a display control subsystem, a V2X communication subsystem, and a radar and vision fusion perception subsystem, the display control subsystem , the V2X communication subsystem and the radar and visual fusion perception subsystem are all connected to the test control subsystem in communication; The test control subsystem is used to receive the tested vehicle information fed back by the radar and visual fusion perception subsystem and the V2X communication subsystem, and control the invocation and execution of test cases according to the tested vehicle information; The display control subsystem is used to receive the test case sent by the test control subsystem, and execute the display operation of the traffic sign graphics and text in the test case according to the display control instruction of the test control subsystem; The V2X communication subsystem is used to receive the V2X information sent by the tested vehicle, and extract the tested vehicle information in the V2X information; The radar and vision fusion perception subsystem is used to estimate the motion state of the vehicle under test; The display control subsystem includes: a graphics control module, a text control module and a display screen, the graphics control module and the text control module are both connected to the display screen, and the graphics control module and the text control module are connected to the display screen The test control subsystem communication connection; The graphics control module is used to control the display control instruction to display the traffic sign graphics in the test case on the display screen; The text control module is used for controlling the display control instruction to display the text content and location information in the test case on the display screen. 2. The intelligent network-connected vehicle traffic sign perception ability testing device according to claim 1, wherein the test control subsystem includes a test control computer, and the test control computer includes a test control module and a test case database, so The test control module is connected with the test case database, The test case database is used to store a plurality of test cases, and the test case is used to test traffic sign awareness; The test control module can control the start, termination and suspension of the test, and can control the invocation and execution of the test case according to the received vehicle information under test. 3. The intelligent network-connected vehicle traffic sign perception ability test device according to claim 2, wherein the test control computer also includes a first Ethernet communication module, and the first Ethernet communication module is used to realize the respective The communication connection with the display control subsystem, the V2X communication subsystem, and the radar and visual fusion perception subsystem. 4. The intelligent network-connected vehicle traffic sign perception ability test device according to claim 2, wherein the test control subsystem further comprises a display, and the display is connected to the test control computer in communication, and the display uses It is used to display the graphical interface of the test control software in the test control computer and the execution state information of the test cases. 5. The intelligent network-connected vehicle traffic sign perception ability testing device according to claim 1, wherein the display control subsystem further includes a power supply and brightness control module, and the power supply and brightness control module are respectively connected with the test The control subsystem and the display screen are connected in communication, and the power supply and the brightness control module are used to adjust the brightness of the display screen according to the brightness control value in the display control instruction. 6. The intelligent network-connected vehicle traffic sign perception ability testing device according to claim 5, wherein the display control subsystem further includes a second Ethernet communication module, and the second Ethernet communication module is used to realize The graphic control module, text control module, power supply and brightness control module are connected with the communication of the test control subsystem. 7. The intelligent networked vehicle traffic sign perception ability test device according to claim 1, wherein the radar and vision fusion perception subsystem comprises: a fusion perception module, a millimeter wave radar module and a visual camera module, the Both the millimeter-wave radar module and the visual camera module are connected in communication with the fusion perception module, and the fusion perception module is connected in communication with the test control subsystem, The millimeter-wave radar module is used to obtain motion state information of the vehicle under test; The visual camera module is used to obtain the image information of the vehicle under test; The fusion sensing module is used to combine the measurement information of the millimeter wave radar module and the visual camera module and perform statistical filtering to estimate the motion state of the measured vehicle. 8. The intelligent network-connected vehicle traffic sign perception capability test device according to claim 7, wherein the radar and vision fusion perception subsystem also includes a third Ethernet communication module, and the fusion perception module is connected to the The third Ethernet communication module is connected in communication, and the third Ethernet communication module is used to realize the communication connection between the fusion sensing module and the test control subsystem. 9. The intelligent network-connected vehicle traffic sign perception capability test device according to claim 1, wherein the V2X communication subsystem includes a fourth Ethernet communication module, a V2X communication module and a V2X antenna, and the fourth Ethernet The network communication module is connected to the V2X communication module, and the V2X antenna is connected to the V2X communication module; The fourth Ethernet communication module is used to receive RSI information or RSM information sent by the test port control subsystem, and feed back the vehicle information of the tested vehicle to the test control subsystem; The V2X communication module and the V2X antenna are used to receive BSM information of the vehicle under test.

Images