阅读说明：本技术 一种自动泊车系统的性能测试方法及装置 (Performance test method and device of automatic parking system ) 是由 张志康 余传辉 于 2019-10-16 设计创作，主要内容包括：本发明实施例涉及自动驾驶技术领域,公开了一种自动泊车系统的性能测试方法及装置。该方法包括：从预设的泊车环境库中确定与测试需求匹配的至少两个目标泊车环境；控制测试车辆应用设置于测试车辆内的自动泊车系统依次在各个目标泊车环境下进行自动泊车,获得泊车结果；根据泊车结果,得到自动泊车系统的性能测试结果。实施本发明实施例,能够提高自动泊车系统的性能测试效率。(The embodiment of the invention relates to the technical field of automatic driving, and discloses a performance testing method and device of an automatic parking system. The method comprises the following steps: determining at least two target parking environments matched with the test requirements from a preset parking environment library; controlling the test vehicle to automatically park in sequence under each target parking environment by using an automatic parking system arranged in the test vehicle to obtain a parking result; and obtaining a performance test result of the automatic parking system according to the parking result. By implementing the embodiment of the invention, the performance testing efficiency of the automatic parking system can be improved.)

1. A method for testing the performance of an automatic parking system, comprising:

determining at least two target parking environments matched with the test requirements from a preset parking environment library;

controlling a test vehicle to automatically park in sequence under each target parking environment by using the automatic parking system arranged in the test vehicle to obtain a parking result;

and obtaining a performance test result of the automatic parking system according to the parking result.

2. The method of claim 1, wherein the at least two target parking environments are arranged in a specified order; the control test vehicle sequentially carries out automatic parking in each target parking environment by using the automatic parking system arranged in the test vehicle to obtain parking results, and the control test vehicle control method comprises the following steps:

sequentially taking each target parking environment as a parking environment to be parked according to the designated sequence;

controlling a test vehicle to run to the parking environment at a preset speed;

when the test vehicle is detected to run to a target position, controlling the test vehicle to apply the automatic parking system arranged in the test vehicle to judge whether the vehicle body control state of the test vehicle meets a preset condition; the distance between the target position and the parking environment to be parked meets a preset distance range;

if the vehicle body control state meets the preset condition, controlling the test vehicle to apply the automatic parking system to perform parking space detection in the parking environment to be parked, and obtaining a parking space which can be parked;

controlling the test vehicle to carry out path planning on the parking positions by applying the automatic parking system to obtain parking paths;

controlling the test vehicle to park the test vehicle into the parking place according to the parking path by using the automatic parking system;

acquiring the parking space detection success rate of the parking space detection process as a parking space detection result;

acquiring the parking success rate, the times of kneading the garage and the time length used for parking of the test vehicle into the parking space as the indexes of the automatic parking process;

judging whether the parking position of the test vehicle which is successfully parked in the parking space has parking deviation or not, and obtaining a judgment result as an automatic parking result;

and obtaining a parking result of the automatic parking system for automatic parking in the parking waiting environment according to the parking space detection result, the automatic parking process index and the automatic parking result.

3. The method as claimed in claim 2, wherein said determining whether the parking position of the test vehicle successfully parked in the parking space has a parking deviation phenomenon, and obtaining the determination result as an automatic parking result comprises:

judging whether the parking place has a parking place frame line or not;

if the parking space frame line does not exist, judging whether the parking position of the test vehicle which is successfully parked in the parking space belongs to the middle position of the obstacles on the two sides of the parking space or not, and obtaining a judgment result as an automatic parking result;

if the parking space frame line exists and the distance between the obstacles on the two sides of the parking space is greater than a preset distance threshold value, judging whether the parking position where the test vehicle successfully parks in the parking space belongs to the middle position of the parking space frame line or not, and obtaining a judgment result as an automatic parking result;

if the parking space frame line exists and the distance between the obstacles on the two sides of the parking space is not larger than the preset distance threshold value, judging whether the parking position where the test vehicle successfully parks in the parking space belongs to the centered position of the obstacles on the two sides or not, and obtaining a judgment result as an automatic parking result.

4. The method of claim 2, wherein said controlling said test vehicle to park said test vehicle into said parkable space in accordance with said parking path using said automated parking system comprises:

the test vehicle is controlled to use the automatic parking system to receive detection signals sent by a panoramic parking image system and an ultrasonic sensing device arranged on the test vehicle in real time;

controlling the test vehicle to apply the automatic parking system to judge whether a first obstacle exists in the parking path or not according to the detection signal;

if yes, controlling the test vehicle to use the automatic parking system to control the test vehicle to park; controlling the test vehicle to use the automatic parking system to perform path planning again to obtain a new parking path;

controlling the test vehicle to park the test vehicle into the parking place according to the new parking path by applying the automatic parking system;

and repeatedly executing the step of controlling the test vehicle to apply the automatic parking system to judge whether a first obstacle exists in the parking path according to the detection signal until parking in the parking space is finished.

5. The method of claim 4, wherein the controlling the test vehicle to perform parking space detection in the parking environment using the automatic parking system to obtain a parking space comprises:

when the fact that the illumination intensity reaches a preset intensity threshold value is detected, controlling the test vehicle to use the automatic parking system to identify the parking space frame angular points under the parking environment to be parked by using the panoramic parking image system, and obtaining coordinates of the parking space frame angular points;

controlling the test vehicle to apply the automatic parking system to detect a second obstacle in a parking space range formed by the parking space frame corner points and on the periphery of the parking space range through the ultrasonic sensing device, and obtaining the coordinates of a barrier line segment; and controlling the test vehicle to apply the automatic parking system to perform fusion processing on the coordinates of the parking space frame corner points and the coordinates of the obstacle line segments to obtain the parking spaces.

6. The method of any one of claims 1 to 5, wherein prior to determining at least two target parking environments matching the test requirements from a library of preset parking environments, the method further comprises:

displaying a plurality of test symbols on a display screen, wherein each test symbol is added with a hyperlink linked to different required contents;

receiving a selection instruction of a user for any target test symbol in the plurality of test symbols;

and reading a target hyperlink carried by the target test symbol, and obtaining the required content linked by the target hyperlink as the test requirement.

7. The method of claim 6, wherein determining at least two target parking environments from a library of preset parking environments that match the test requirements comprises:

extracting key information from the test requirements;

determining a target parking place type corresponding to the key information based on a preset corresponding relation;

and selecting at least two target parking environments belonging to the target parking space type from a preset parking environment library.

8. A performance testing apparatus of an automatic parking system, comprising:

the determining unit is used for determining at least two target parking environments matched with the test requirements from a preset parking environment library;

the control unit is used for controlling a test vehicle to automatically park in sequence under each target parking environment by applying the automatic parking system arranged in the test vehicle so as to obtain a parking result;

and the test unit is used for obtaining a performance test result of the automatic parking system according to the parking result.

9. The apparatus of claim 8, wherein the at least two target parking environments are arranged in a specified order; the control unit includes:

the first control subunit is used for sequentially taking each target parking environment as a parking environment to be parked according to the specified sequence; controlling the test vehicle to run to the parking environment at a preset speed;

the second control subunit is used for controlling the test vehicle to apply the automatic parking system arranged in the test vehicle to judge whether the vehicle body control state of the test vehicle meets a preset condition or not when the test vehicle is detected to run to a target position; the distance between the target position and the parking environment to be parked meets a preset distance range;

the third control subunit is used for controlling the test vehicle to apply the automatic parking system to perform parking space detection in the environment to be parked when the vehicle body control state meets the preset condition, so as to obtain a parking space capable of being parked;

the fourth control subunit is used for controlling the test vehicle to carry out path planning on the parking positions by applying the automatic parking system so as to obtain parking paths;

the fifth control subunit is used for controlling the test vehicle to park the test vehicle into the parking place according to the parking path by applying the automatic parking system;

the first acquisition subunit is used for acquiring the parking space detection success rate of the parking space detection process as a parking space detection result;

the second obtaining subunit is used for obtaining the parking success rate of the test vehicle in the parking space available process, the times of kneading the garage for parking and the time length used for parking as the indexes of the automatic parking process;

the third acquisition subunit is used for judging whether the parking position of the test vehicle which is successfully parked in the parking space has parking deviation or not, and acquiring a judgment result as an automatic parking result;

and the fourth obtaining subunit is configured to obtain, according to the parking space detection result, the automatic parking process index, and the automatic parking result, a parking result of the automatic parking system performing automatic parking in the environment to be parked.

10. The apparatus of claim 9, wherein the third obtaining subunit comprises:

the judging module is used for judging whether the parking place has a parking place frame line or not;

the first obtaining module is used for judging whether the parking position of the test vehicle which is successfully parked in the parking space belongs to the middle position of the obstacles on two sides of the parking space or not when the judging module judges that the parking space frame line does not exist in the parking space, and obtaining a judging result as an automatic parking result;

the second obtaining module is used for judging whether the parking position of the test vehicle which is successfully parked in the parking space belongs to the central position of the parking space frame line or not when the judging module judges that the parking space frame line exists in the parking space and the distance between the obstacles on the two sides of the parking space is greater than a preset distance threshold value, and obtaining a judging result as an automatic parking result;

and the third obtaining module is used for judging whether the parking position of the test vehicle which is successfully parked in the parking space belongs to the centered position of the two side obstacles or not when the judging module judges that the parking space has the parking space frame line and the distance between the two side obstacles of the parking space is not more than the preset distance threshold value, and obtaining a judging result as an automatic parking result.

Technical Field

The invention relates to the technical field of automatic driving, in particular to a performance testing method and device of an automatic parking system.

Background

With the rapid development of the auto-driven vehicles, auto-parking systems (also called parking assist systems) are being paid more and more attention by vehicle developers, and the auto-driven vehicles are provided with the auto-parking systems, and can be used for finding parking spaces and controlling the vehicles to automatically park in. Generally speaking, the parking environment of an autonomous vehicle mainly depends on the influence of factors such as a parking space line, a side obstacle, a side parked vehicle, a rear limiting device and the like, so that the parking environment is more complex and has larger randomness.

In order to ensure the performance of the automatic parking system, the automatic parking system needs to be tested in a common or specific parking environment before the automatic parking system is put into use. At present, aiming at the test of a certain common or specific parking environment, the test needs to be repeated for dozens of times under the parking environment to obtain a more accurate result, the time consumption is long, and the test result is single. If a plurality of different common or specific parking environments are to be tested, each parking environment needs to be tested repeatedly for tens of times, which takes tens of days or even months. In addition, the driver needs to go to a parking lot in real life to find different parking environments for testing, which wastes excessive manpower and material resources.

Therefore, the performance test efficiency of the automatic parking system in the prior art is too low.

Disclosure of Invention

Aiming at the defects, the embodiment of the invention discloses a performance testing method and a performance testing device for an automatic parking system, which can improve the performance testing efficiency of the automatic parking system.

The first aspect of the embodiment of the invention discloses a performance testing method for an automatic parking system, which comprises the following steps:

determining at least two target parking environments matched with the test requirements from a preset parking environment library;

controlling a test vehicle to automatically park in sequence under each target parking environment by using the automatic parking system arranged in the test vehicle to obtain a parking result;

and obtaining a performance test result of the automatic parking system according to the parking result.

As an alternative implementation, in the first aspect of the embodiment of the present invention, the at least two target parking environments are arranged in a specified order; the control test vehicle sequentially carries out automatic parking in each target parking environment by using the automatic parking system arranged in the test vehicle to obtain parking results, and the control test vehicle control method comprises the following steps:

sequentially taking each target parking environment as a parking environment to be parked according to the designated sequence;

controlling a test vehicle to run to the parking environment at a preset speed;

when the test vehicle is detected to run to a target position, controlling the test vehicle to apply the automatic parking system arranged in the test vehicle to judge whether the vehicle body control state of the test vehicle meets a preset condition; the distance between the target position and the parking environment to be parked meets a preset distance range;

if the vehicle body control state meets the preset condition, controlling the test vehicle to apply the automatic parking system to perform parking space detection in the parking environment to be parked, and obtaining a parking space which can be parked;

controlling the test vehicle to carry out path planning on the parking positions by applying the automatic parking system to obtain parking paths;

controlling the test vehicle to park the test vehicle into the parking place according to the parking path by using the automatic parking system;

acquiring the parking space detection success rate of the parking space detection process as a parking space detection result;

acquiring the parking success rate, the times of kneading the garage and the time length used for parking of the test vehicle into the parking space as the indexes of the automatic parking process;

judging whether the parking position of the test vehicle which is successfully parked in the parking space has parking deviation or not, and obtaining a judgment result as an automatic parking result;

and obtaining a parking result of the automatic parking system for automatic parking in the parking waiting environment according to the parking space detection result, the automatic parking process index and the automatic parking result.

As an optional implementation manner, in the first aspect of the embodiment of the present invention, the determining whether there is a parking deviation phenomenon at a parking position where the test vehicle successfully parks in the parking space, and obtaining a determination result as an automatic parking result includes:

judging whether the parking place has a parking place frame line or not;

if the parking space frame line does not exist, judging whether the parking position of the test vehicle which is successfully parked in the parking space belongs to the middle position of the obstacles on the two sides of the parking space or not, and obtaining a judgment result as an automatic parking result;

if the parking space frame line exists and the distance between the obstacles on the two sides of the parking space is greater than a preset distance threshold value, judging whether the parking position where the test vehicle successfully parks in the parking space belongs to the middle position of the parking space frame line or not, and obtaining a judgment result as an automatic parking result;

if the parking space frame line exists and the distance between the obstacles on the two sides of the parking space is not larger than the preset distance threshold value, judging whether the parking position where the test vehicle successfully parks in the parking space belongs to the centered position of the obstacles on the two sides or not, and obtaining a judgment result as an automatic parking result.

As an optional implementation manner, in the first aspect of the embodiment of the present invention, the controlling the test vehicle to park the test vehicle into the parkable space according to the parking path by using the automatic parking system includes:

the test vehicle is controlled to use the automatic parking system to receive detection signals sent by a panoramic parking image system and an ultrasonic sensing device arranged on the test vehicle in real time;

controlling the test vehicle to apply the automatic parking system to judge whether a first obstacle exists in the parking path or not according to the detection signal;

if yes, controlling the test vehicle to use the automatic parking system to control the test vehicle to park; controlling the test vehicle to use the automatic parking system to perform path planning again to obtain a new parking path;

controlling the test vehicle to park the test vehicle into the parking place according to the new parking path by applying the automatic parking system;

and repeatedly executing the step of controlling the test vehicle to apply the automatic parking system to judge whether a first obstacle exists in the parking path according to the detection signal until parking in the parking space is finished.

As an optional implementation manner, in a first aspect of an embodiment of the present invention, the controlling the test vehicle to perform parking space detection in the environment to be parked by using the automatic parking system to obtain a parking space includes:

when the fact that the illumination intensity reaches a preset intensity threshold value is detected, controlling the test vehicle to use the automatic parking system to identify the parking space frame angular points under the parking environment to be parked by using the panoramic parking image system, and obtaining coordinates of the parking space frame angular points;

controlling the test vehicle to apply the automatic parking system to detect a second obstacle in a parking space range formed by the parking space frame corner points and on the periphery of the parking space range through the ultrasonic sensing device, and obtaining the coordinates of a barrier line segment; and controlling the test vehicle to apply the automatic parking system to perform fusion processing on the coordinates of the parking space frame corner points and the coordinates of the obstacle line segments to obtain the parking spaces.

As an alternative implementation manner, in the first aspect of the embodiment of the present invention, before determining at least two target parking environments matching the test requirement from the preset parking environment library, the method further includes:

displaying a plurality of test symbols on a display screen, wherein each test symbol is added with a hyperlink linked to different required contents;

receiving a selection instruction of a user for any target test symbol in the plurality of test symbols;

and reading a target hyperlink carried by the target test symbol, and obtaining the required content linked by the target hyperlink as the test requirement.

As an alternative implementation manner, in the first aspect of the embodiment of the present invention, the determining at least two target parking environments matching the test requirement from a preset parking environment library includes:

extracting key information from the test requirements;

determining a target parking place type corresponding to the key information based on a preset corresponding relation;

and selecting at least two target parking environments belonging to the target parking space type from a preset parking environment library.

A second aspect of the embodiments of the present invention discloses a performance testing apparatus for an automatic parking system, including:

the determining unit is used for determining at least two target parking environments matched with the test requirements from a preset parking environment library;

the control unit is used for controlling a test vehicle to automatically park in sequence under each target parking environment by applying the automatic parking system arranged in the test vehicle so as to obtain a parking result;

and the test unit is used for obtaining a performance test result of the automatic parking system according to the parking result.

As an alternative implementation, in the second aspect of the embodiment of the present invention, the at least two target parking environments are arranged in a specified order; the control unit includes:

the first control subunit is used for sequentially taking each target parking environment as a parking environment to be parked according to the specified sequence; controlling the test vehicle to run to the parking environment at a preset speed;

the second control subunit is used for controlling the test vehicle to apply the automatic parking system arranged in the test vehicle to judge whether the vehicle body control state of the test vehicle meets a preset condition or not when the test vehicle is detected to run to a target position; the distance between the target position and the parking environment to be parked meets a preset distance range;

the third control subunit is used for controlling the test vehicle to apply the automatic parking system to perform parking space detection in the environment to be parked when the vehicle body control state meets the preset condition, so as to obtain a parking space capable of being parked;

the fourth control subunit is used for controlling the test vehicle to carry out path planning on the parking positions by applying the automatic parking system so as to obtain parking paths;

the fifth control subunit is used for controlling the test vehicle to park the test vehicle into the parking place according to the parking path by applying the automatic parking system;

the first acquisition subunit is used for acquiring the parking space detection success rate of the parking space detection process as a parking space detection result;

the second obtaining subunit is used for obtaining the parking success rate of the test vehicle in the parking space available process, the times of kneading the garage for parking and the time length used for parking as the indexes of the automatic parking process;

the third acquisition subunit is used for judging whether the parking position of the test vehicle which is successfully parked in the parking space has parking deviation or not, and acquiring a judgment result as an automatic parking result;

and the fourth obtaining subunit is configured to obtain, according to the parking space detection result, the automatic parking process index, and the automatic parking result, a parking result of the automatic parking system performing automatic parking in the environment to be parked.

As an optional implementation manner, in the second aspect of the embodiment of the present invention, the third obtaining subunit includes:

the judging module is used for judging whether the parking place has a parking place frame line or not;

the first obtaining module is used for judging whether the parking position of the test vehicle which is successfully parked in the parking space belongs to the middle position of the obstacles on two sides of the parking space or not when the judging module judges that the parking space frame line does not exist in the parking space, and obtaining a judging result as an automatic parking result;

the second obtaining module is used for judging whether the parking position of the test vehicle which is successfully parked in the parking space belongs to the central position of the parking space frame line or not when the judging module judges that the parking space frame line exists in the parking space and the distance between the obstacles on the two sides of the parking space is greater than a preset distance threshold value, and obtaining a judging result as an automatic parking result;

and the third obtaining module is used for judging whether the parking position of the test vehicle which is successfully parked in the parking space belongs to the centered position of the two side obstacles or not when the judging module judges that the parking space has the parking space frame line and the distance between the two side obstacles of the parking space is not more than the preset distance threshold value, and obtaining a judging result as an automatic parking result.

As an optional implementation manner, in the second aspect of the embodiment of the present invention, the fifth control subunit includes:

the first control module is used for controlling the test vehicle to use the automatic parking system to receive detection signals sent by a panoramic parking image system and an ultrasonic sensing device which are arranged on the test vehicle in real time;

the second control module is used for controlling the test vehicle to apply the automatic parking system to judge whether a first obstacle exists in the parking path or not according to the detection signal;

the third control module is used for controlling the test vehicle to apply the automatic parking system to control the test vehicle to park when the first obstacle exists in the parking path; controlling the test vehicle to use the automatic parking system to perform path planning again to obtain a new parking path;

the fourth control module is used for controlling the test vehicle to park the test vehicle into the parking space according to the new parking path by using the automatic parking system; and triggering the second control module to repeatedly execute the operation of controlling the test vehicle to apply the automatic parking system to judge whether a first obstacle exists in the parking path according to the detection signal until the parking in the parking space is finished.

As an alternative implementation, in the second aspect of the embodiment of the present invention, the third control subunit includes:

a fifth control module, configured to, when the vehicle body control state meets the preset condition, if it is detected that the illumination intensity reaches a preset intensity threshold, control the test vehicle to apply the automatic parking system to identify a parking space frame corner point in the parking environment to be parked by using the panoramic parking image system, and obtain a coordinate of the parking space frame corner point;

the sixth control module is used for controlling the test vehicle to apply the automatic parking system to detect a second obstacle in a parking space range formed by the parking space frame corner points and on the periphery of the parking space range through the ultrasonic sensing device, and obtaining the coordinates of a barrier line segment;

and the seventh control module is used for controlling the test vehicle to apply the automatic parking system to perform fusion processing on the coordinates of the parking space corner points and the coordinates of the obstacle line segments so as to obtain the parking space.

As an optional implementation manner, in the second aspect of the embodiment of the present invention, the apparatus further includes:

the display unit is used for displaying a plurality of test symbols on a display screen before the determining unit determines at least two target parking environments matched with the test requirements from a preset parking environment library, wherein each test symbol is added with a hyperlink linked to different requirement contents;

the receiving unit is used for receiving a selection instruction of a user for any target test symbol in the plurality of test symbols;

and the reading unit is used for reading the target hyperlink carried by the target test symbol and acquiring the required content linked by the target hyperlink as the test requirement.

As an optional implementation manner, in the second aspect of the embodiment of the present invention, the determining unit includes:

the extraction subunit is used for extracting key information from the test requirement;

the determining subunit is used for determining the target parking place type corresponding to the key information based on a preset corresponding relation;

and the selecting subunit is used for selecting at least two target parking environments belonging to the target parking stall type from a preset parking environment library.

A third aspect of the embodiments of the present invention discloses a performance testing apparatus for an automatic parking system, including:

a memory storing executable program code;

a processor coupled with the memory;

the processor calls the executable program code stored in the memory to execute the performance testing method of the automatic parking system disclosed by the first aspect of the embodiment of the invention.

A fourth aspect of the embodiments of the present invention discloses a computer-readable storage medium storing a computer program, wherein the computer program causes a computer to execute the performance testing method for an automatic parking system disclosed in the first aspect of the embodiments of the present invention. The computer readable storage medium includes a ROM/RAM, a magnetic or optical disk, or the like.

A fifth aspect of embodiments of the present invention discloses a computer program product, which, when run on a computer, causes the computer to perform some or all of the steps of any one of the methods of the first aspect.

A sixth aspect of the present embodiment discloses an application publishing platform, where the application publishing platform is configured to publish a computer program product, where the computer program product is configured to, when running on a computer, cause the computer to perform part or all of the steps of any one of the methods in the first aspect.

Compared with the prior art, the embodiment of the invention has the following beneficial effects:

in the embodiment of the invention, at least two target parking environments matched with the test requirements are determined from the preset parking environment library, the test vehicle is controlled to automatically park in each target parking environment by using the built-in automatic parking system to obtain the parking result, and finally the performance test result of the automatic parking system is obtained according to the parking result. Meanwhile, the target parking environment is determined according to the test requirement, the performance test can be performed on the automatic parking system in a targeted manner, and the practicability of the performance test method is enhanced.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic flow chart of a performance testing method of an automatic parking system according to an embodiment of the invention;

FIG. 2 is a flow chart illustrating another method for testing the performance of the automatic parking system according to the embodiment of the invention;

fig. 3 is a schematic structural diagram of a performance testing device of an automatic parking system according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a performance testing device of another automatic parking system according to an embodiment of the disclosure;

fig. 5 is a schematic structural diagram of a performance testing apparatus of another automatic parking system according to an embodiment of the present invention;

FIG. 6 is a diagram illustrating an exemplary vertical parking space type parking environment according to an embodiment of the present invention;

FIG. 7 is a diagram illustrating an example of a parallel parking space type parking environment according to an embodiment of the present invention;

fig. 8 is an exemplary illustration of a parking environment of a type close to a wall space according to an embodiment of the disclosure.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that the terms "first", "second", "third", "fourth", and the like in the description and the claims of the present invention are used for distinguishing different objects, and are not used for describing a specific order. The terms "comprises," "comprising," and any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

In the embodiments of the present invention, the terms "upper", "lower", "left", "right", "front", "rear", "center", "vertical", "horizontal", "lateral", "longitudinal", "central", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the invention and its embodiments and are not intended to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation. Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meanings of these terms in the present invention can be understood by those skilled in the art as appropriate. Furthermore, the terms "mounted," "disposed," "installed," "connected," and "connected" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meanings of the above terms in the present invention can be understood by those of ordinary skill in the art according to specific situations.

The embodiment of the invention discloses a performance testing method and device of an automatic parking system, which can improve the performance testing efficiency of the automatic parking system.

The method provided by the embodiment of the invention is suitable for a performance testing device of an automatic parking system, and the performance testing device of the automatic parking system can be an electronic unit arranged on a test vehicle, and can also be a performance testing device of the automatic parking system having a network connection relationship with the test vehicle, such as a notebook computer, a computer or a computer service device. The operating system of the performance testing device of the automatic parking system includes, but is not limited to, an Android operating system, an IOS operating system, a Symbian operating system, a Black Berry operating system, a windows phone8 operating system, and the like, which is not limited in the embodiment of the present invention. The execution subject of the embodiment of the present invention is described in detail with reference to the accompanying drawings by taking a performance test device (hereinafter, referred to as "test device") of an automatic parking system as an example, and it should be understood that the present invention should not be construed as being limited thereto.