CN108458880A - The unmanned controlled scrnario testing method of vehicle - Google Patents
The unmanned controlled scrnario testing method of vehicle Download PDFInfo
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- CN108458880A CN108458880A CN201810081475.6A CN201810081475A CN108458880A CN 108458880 A CN108458880 A CN 108458880A CN 201810081475 A CN201810081475 A CN 201810081475A CN 108458880 A CN108458880 A CN 108458880A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
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Abstract
A kind of controlled scrnario testing method of unmanned vehicle, is related to automobile technical field, and the solution is to the high technical problems of existing test method risk.This method chooses multiple controllable mobile objects, and it includes the region of real roads as test zone to choose one, then automatic driving vehicle is placed in the real roads in test zone and is travelled, and each controllable mobile object is placed in test zone and simulates traffic participant, setting up dynamic traffic test scene using the real roads in each controllable mobile object and test zone tests the driving behavior of automatic driving vehicle.Method provided by the invention, test risk is very low, can comprehensively be tested vehicle.
Description
Technical field
The present invention relates to the technologies of automobile, more particularly to a kind of skill of the unmanned controlled scrnario testing method of vehicle
Art.
Background technology
Existing automatic driving vehicle test method is all to take unmanned sample car real vehicle place or actual road test, with
Realize the verification to automatic driving vehicle various functions and algorithm.Real vehicle on-the-ground test have significant limitation, vehicle certain
A little functions can not test, and the risk with the actual road test by true traffic participant is higher, it may occur that traffic accident.
It is also difficult to ensure the repeatability of each scene, difficulty is increased to test.
Invention content
Defect present in for the above-mentioned prior art, technical problem to be solved by the invention is to provide a kind of test wind
The danger controlled scrnario testing method of unmanned vehicle that is low, and vehicle being tested comprehensively.
In order to solve the above-mentioned technical problem, a kind of unmanned controlled scrnario testing method of vehicle provided by the present invention,
It is characterized in that：
Choose multiple controllable mobile objects, and choose one include real roads region as test zone, it is described
Real roads selected by test zone are provided with road mark, traffic marking；
Automatic driving vehicle is placed in the real roads in test zone and is travelled, and each controllable mobile object is placed in
Traffic participant is simulated in test zone, is set up using the real roads in each controllable mobile object and test zone dynamic
The traffic test scene of state tests the driving behavior of automatic driving vehicle.
Further, controllable mobile object is the software stage property being mounted on controlled motion tablet.
Further, when testing the driving behavior of automatic driving vehicle, by controlling each controllable movement
Object carrys out structure in automatic driving vehicle movement locus within the vision and into the time of automatic driving vehicle field range
Build various traffic test scenes.
Further, be further equipped with scene management control system, each controllable mobile object to wirelessly communicate or
The current motion state of the movement object is sent to scene management control system, scene pipe by wired communication mode in real time
Control system is managed according to the state of all mobile objects, the movement for controlling each mobile object is uniformly coordinated, realizes traffic
The simulation of test scene.
Further, after test according to the traffic test scene analog record of scene management control system and nobody
The running data of vehicle is driven, the result of decision and practical implementing result of the automatic driving vehicle under various traffic scenes are analyzed,
To assess the driving behavior of automatic driving vehicle.
The controlled scrnario testing method of unmanned vehicle provided by the invention is simulated true using controllable mobile object
Real traffic participant builds dynamic traffic test scene with real roads using mobile object and is driven to automatic driving vehicle
The behavior of sailing is tested, and it is very low to test risk, can comprehensively be tested vehicle.
Specific implementation mode
Technical scheme of the present invention is described in further detail below in conjunction with specific embodiment, but the present embodiment and is not had to
In the limitation present invention, every similar structure using the present invention and its similar variation should all be included in protection scope of the present invention, this
Pause mark in invention indicates the relationship of sum.
A kind of unmanned controlled scrnario testing method of vehicle that the embodiment of the present invention is provided, it is characterised in that：
Choose multiple controllable mobile objects, and choose one include real roads region as test zone, it is described
Real roads selected by test zone are provided with road mark, traffic marking；
Automatic driving vehicle is placed in the real roads in test zone and is travelled, and each controllable mobile object is placed in
Traffic participant is simulated in test zone, is set up using the real roads in each controllable mobile object and test zone dynamic
The traffic test scene of state tests the driving behavior of automatic driving vehicle.
In the embodiment of the present invention, controllable mobile object is the software stage property being mounted on controlled motion tablet, described
Software stage property includes humanoid software stage property, vehicle shape software stage property etc..
It is each controllable by controlling when testing the driving behavior of automatic driving vehicle in the embodiment of the present invention
Mobile object automatic driving vehicle movement locus within the vision and enter automatic driving vehicle field range when
Between, to build various traffic test scenes；Each controllable mobile object is moved according to unified scene requirement；It tested
Cheng Zhongke carries out quantitative extension to the mobile object for participating in traffic test, to realize the traffic checkout area of certain density
The mobile object for participating in traffic test can also be distributed in the different location point of road, form a variety of fields of roadside by scape
Scape is realized.
In the embodiment of the present invention, it is further equipped with scene management control system, the scene management control system is existing skill
Art, scheduling and driving path planning, different test scene of the scene management control system for traffic participant need difference
Traffic participant, in a testing experiment, each traffic participant has itself preset highway route design, scene management
Control system can be with all test scenes of the comprehensive management in test site, and control traffic participant is pre- before test occurs
First it is moved to specified position；Control traffic participant returns to the original state before test after testing is complete, is next
Secondary test is prepared.
Each controllable mobile object is in real time worked as the movement object with wireless communication or wired communication mode
Preceding motion state is sent to scene management control system, and scene management control system moves the state of object according to entirety,
It is uniformly coordinated the movement for controlling each mobile object, realizes the simulation of traffic test scene.
It can be simulated and be remembered according to the traffic test scene of scene management control system in the embodiment of the present invention, after test
The running data of record and automatic driving vehicle, the result of decision and reality of the analysis automatic driving vehicle under various traffic scenes
Implementing result, to assess the driving behavior of automatic driving vehicle, driving behavior appraisal procedure is the prior art.
In the embodiment of the present invention, occupant can also be allowed to enter automatic driving vehicle in test process, occupant can be to vehicle
Driving behavior in different traffic scenes is experienced and is evaluated, and experiences driving of the angle to automatic driving vehicle from people
Action optimization provides support.
In the embodiment of the present invention, the traffic test scene of establishment refers to the various typical cases tested for automatic driving vehicle
Traffic scene, these traffic scenes should cover as far as possible automatic driving vehicle real road traveling in possibility feelings
Condition, such as：
Situation 1：Automatic driving vehicle along road driving, road surface without other vehicles, road have straight way, different radii bend,
In the presence of bend, up and down ramp, descending bend, bicycle road and the multilane etc. blocked, for testing whether vehicle can not have
Along road driving in the case of noisy.
Situation 2：Automatic driving vehicle traveling is at different traffic branch roads, crossroad left-hand rotation right-hand rotation, 3 crossing rotary islands, 4 crossings
Rotary island, 5 crossing rotary islands, track are divided into two branch roads, two branch roads remittances to road, viaduct, a under-traverse tunnel etc., for testing
Whether vehicle can select correct path, and accurately drive into corresponding branch road.
Situation 3：Automatic driving vehicle travels on the road of certain vehicle flowrate, the smaller highway of vehicle flowrate, wagon flow
The different urban streets of the great city overhead road of larger highway, vehicle flowrate, vehicle flowrate are measured, test vehicle is not
Can be open to traffic under traffic conditions stablize traveling.
Situation 4：For automatic driving vehicle traveling in complicated combination area of city and country's road, there are pedestrian, bicycle, storage battery in road surface
The traffic conditions of the complexity such as vehicle, motorcycle, tricycle, automobile, test vehicle is in Complex multi-target, if can be accurate
Selection feasible path, if various obstacles can be avoided, pass through traffic block area.
Situation 5：For automatic driving vehicle traveling in backroad, road width is smaller, does not have clearly road mark line, vehicle
Not strictly traveling be bounded on each side road exist seize opposing lane situation, both sides of the road trees are blocked, road edge is weedy
Obscure boundary is clear, pedestrian or larger animal is uncertain appears on road or cross road, and test vehicle is believed in imperfect road
Stabilization driveability in the case of breath.
Situation 6：Automatic driving vehicle enters Parking, and ground single layer parking lot, ground multi-layer parking lot, underground are more
Layer parking lot, vertical parking stall, tilting parking stall, have whether occupying device parking stall, test vehicle can be found at parallel parking stall
Available parking places, and accurately moor into parking stall and be driven out to parking stall.
Claims (5)
1. a kind of controlled scrnario testing method of unmanned vehicle, it is characterised in that：
Choose multiple controllable mobile objects, and choose one include real roads region as test zone, it is described
Real roads selected by test zone are provided with road mark, traffic marking；
Automatic driving vehicle is placed in the real roads in test zone and is travelled, and each controllable mobile object is placed in
Traffic participant is simulated in test zone, is set up using the real roads in each controllable mobile object and test zone dynamic
The traffic test scene of state tests the driving behavior of automatic driving vehicle.
2. the controlled scrnario testing method of unmanned vehicle according to claim 1, it is characterised in that：Controllable mobile mesh
It is the software stage property being mounted on controlled motion tablet to mark object.
3. the controlled scrnario testing method of unmanned vehicle according to claim 1, it is characterised in that：To unmanned
When the driving behavior of vehicle is tested, by control each controllable mobile object automatic driving vehicle within sweep of the eye
Movement locus and enter automatic driving vehicle field range time, to build various traffic test scenes.
4. the controlled scrnario testing method of unmanned vehicle according to claim 1, it is characterised in that：It is further equipped with scene
Management control system, each controllable mobile object is with wireless communication or wired communication mode, in real time by the movement mesh
The current motion state of mark object is sent to scene management control system, and scene management control system is according to all mobile objects
State is uniformly coordinated the movement for controlling each mobile object, realizes the simulation of traffic test scene.
5. the controlled scrnario testing method of unmanned vehicle according to claim 4, it is characterised in that：Root after test
According to the traffic test scene analog record of scene management control system and the running data of automatic driving vehicle, analyzes nobody and drive
Sail the result of decision and practical implementing result of the vehicle under various traffic scenes, to the driving behavior of automatic driving vehicle into
Row assessment.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810081475.6A CN108458880A (en) | 2018-01-29 | 2018-01-29 | The unmanned controlled scrnario testing method of vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810081475.6A CN108458880A (en) | 2018-01-29 | 2018-01-29 | The unmanned controlled scrnario testing method of vehicle |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109632339A (en) * | 2018-12-28 | 2019-04-16 | 同济大学 | A kind of automatic driving vehicle traffic coordinating real steering vectors system and method |
| CN109765060A (en) * | 2018-12-29 | 2019-05-17 | 同济大学 | A kind of automatic driving vehicle traffic coordinating virtual test system and method |
| CN110455552A (en) * | 2019-08-08 | 2019-11-15 | 上海测迅汽车科技有限公司 | Compound scene test method in a kind of intelligent vehicle room |
| CN111179585A (en) * | 2018-11-09 | 2020-05-19 | 上海汽车集团股份有限公司 | Site testing method and device for automatic driving vehicle |
| CN111415513A (en) * | 2020-03-26 | 2020-07-14 | 公安部交通管理科学研究所 | Method, device and system for testing driving safety of automatic driving automobile |
| CN111811833A (en) * | 2020-07-08 | 2020-10-23 | 上海汽车集团股份有限公司 | Real vehicle test system of intelligent driving vehicle |
| CN111816022A (en) * | 2020-02-07 | 2020-10-23 | 北京嘀嘀无限科技发展有限公司 | Simulation method and device for simulation scene, storage medium and electronic equipment |
| CN111880511A (en) * | 2020-07-03 | 2020-11-03 | 长安大学 | System and method for testing parking capacity of unmanned vehicle |
| CN112444402A (en) * | 2019-08-30 | 2021-03-05 | 大连民族大学 | Method for testing unmanned automobile by moving target on road surface |
| CN112444403A (en) * | 2019-08-30 | 2021-03-05 | 大连民族大学 | Method for testing unmanned automobile by moving target |
| CN112444401A (en) * | 2019-08-30 | 2021-03-05 | 大连民族大学 | Unmanned vehicle testing device with controllable road surface moving target |
| CN112525551A (en) * | 2020-12-10 | 2021-03-19 | 北京百度网讯科技有限公司 | Drive test method, device, equipment and storage medium for automatic driving vehicle |
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| CN106153352A (en) * | 2016-07-04 | 2016-11-23 | 江苏大学 | A kind of automatic driving vehicle test and verification platform and method of testing thereof |
| CN106769085A (en) * | 2016-12-14 | 2017-05-31 | 特路（北京）科技有限公司 | Automatic driving vehicle avoids the method for testing and checkout area of dynamic barrier ability |
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| CN105956268A (en) * | 2016-04-29 | 2016-09-21 | 百度在线网络技术（北京）有限公司 | Construction method and device applied to test scene of pilotless automobile |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111179585A (en) * | 2018-11-09 | 2020-05-19 | 上海汽车集团股份有限公司 | Site testing method and device for automatic driving vehicle |
| CN109632339A (en) * | 2018-12-28 | 2019-04-16 | 同济大学 | A kind of automatic driving vehicle traffic coordinating real steering vectors system and method |
| CN109765060A (en) * | 2018-12-29 | 2019-05-17 | 同济大学 | A kind of automatic driving vehicle traffic coordinating virtual test system and method |
| CN110455552A (en) * | 2019-08-08 | 2019-11-15 | 上海测迅汽车科技有限公司 | Compound scene test method in a kind of intelligent vehicle room |
| CN112444401A (en) * | 2019-08-30 | 2021-03-05 | 大连民族大学 | Unmanned vehicle testing device with controllable road surface moving target |
| CN112444403B (en) * | 2019-08-30 | 2022-08-30 | 大连民族大学 | Method for testing unmanned automobile by moving target |
| CN112444402B (en) * | 2019-08-30 | 2022-05-13 | 大连民族大学 | Method for testing unmanned vehicle by moving target on road surface |
| CN112444402A (en) * | 2019-08-30 | 2021-03-05 | 大连民族大学 | Method for testing unmanned automobile by moving target on road surface |
| CN112444403A (en) * | 2019-08-30 | 2021-03-05 | 大连民族大学 | Method for testing unmanned automobile by moving target |
| CN111816022A (en) * | 2020-02-07 | 2020-10-23 | 北京嘀嘀无限科技发展有限公司 | Simulation method and device for simulation scene, storage medium and electronic equipment |
| CN111415513A (en) * | 2020-03-26 | 2020-07-14 | 公安部交通管理科学研究所 | Method, device and system for testing driving safety of automatic driving automobile |
| CN111415513B (en) * | 2020-03-26 | 2022-02-08 | 公安部交通管理科学研究所 | Method, device and system for testing driving safety of automatic driving automobile |
| CN111880511A (en) * | 2020-07-03 | 2020-11-03 | 长安大学 | System and method for testing parking capacity of unmanned vehicle |
| CN111811833A (en) * | 2020-07-08 | 2020-10-23 | 上海汽车集团股份有限公司 | Real vehicle test system of intelligent driving vehicle |
| CN112525551A (en) * | 2020-12-10 | 2021-03-19 | 北京百度网讯科技有限公司 | Drive test method, device, equipment and storage medium for automatic driving vehicle |
| CN112525551B (en) * | 2020-12-10 | 2023-08-29 | 北京百度网讯科技有限公司 | Drive test method, device, equipment and storage medium for automatic driving vehicle |
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Application publication date: 20180828 |