CN111323238A - Method, device, equipment and storage medium for testing vehicle - Google Patents
Method, device, equipment and storage medium for testing vehicle Download PDFInfo
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- CN111323238A CN111323238A CN202010071661.9A CN202010071661A CN111323238A CN 111323238 A CN111323238 A CN 111323238A CN 202010071661 A CN202010071661 A CN 202010071661A CN 111323238 A CN111323238 A CN 111323238A
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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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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract
According to example embodiments of the present disclosure, methods, apparatuses, devices and computer-readable storage media for testing a vehicle are provided, relating to the field of automated driving. The method of testing a vehicle includes monitoring a test condition associated with a test task for a vehicle under test during performance of the test task. The test status includes at least one of: the status of the vehicle under test, the status of the safety protection system for the vehicle under test, and the status of the test equipment providing the test environment associated with the test task. The method also includes determining whether to abort the testing task based on the testing status. The method further includes, in accordance with a determination that the test task is aborted, performing a test operation corresponding to the test state. In this manner, improved continuity and consistency of automatic driving tests may be facilitated.
Description
Technical Field
Embodiments of the present disclosure relate generally to the field of autonomous driving, and more particularly, to methods, apparatuses, devices, and computer-readable storage media for testing vehicles.
Background
Two tasks need to be completed when testing autonomous vehicles in a test field. One is to construct a test scenario, for example, a test person operating a mobile dummy, to construct a pedestrian crossing a road scenario. And secondly, the safety of the test process is guaranteed. Design defects of software and hardware or system errors are inevitable in the automatic driving research and development test process, and the vehicle can be separated from a lane or even a collision accident can happen. Currently, it is common to arrange a "driver" (also referred to as a security officer) at the driver's seat of an autonomous vehicle. The safety personnel do not operate the vehicle at all in the automatic driving process of the vehicle, but need to observe the surrounding situation all the time, brake and brake if necessary, prevent the accident from happening or reduce the loss when the accident happens.
Disclosure of Invention
According to an example embodiment of the present disclosure, a solution for testing a vehicle is provided.
In a first aspect of the present disclosure, a method for testing a vehicle is provided. The method comprises monitoring a test state associated with a test task during execution of the test task for a vehicle under test, the test state comprising at least one of: the status of the vehicle under test, the status of the safety protection system for the vehicle under test, and the status of the test equipment providing the test environment associated with the test task. The method also includes determining whether to abort the testing task based on the testing status. The method further includes, in accordance with a determination that the test task is aborted, performing a test operation corresponding to the test state.
In a second aspect of the present disclosure, an apparatus for testing a vehicle is provided. The apparatus comprises a test condition monitoring module configured to monitor a test condition associated with a test task during execution of the test task for a vehicle under test, the test condition comprising at least one of: the status of the vehicle under test, the status of the safety protection system for the vehicle under test, and the status of the test equipment providing the test environment associated with the test task. The apparatus also includes a task suspension determination module configured to determine whether to suspend the test task based on the test status. The apparatus further includes a test operation execution module configured to execute a test operation corresponding to the test status in accordance with a determination that the test task is aborted.
In a third aspect of the disclosure, an electronic device is provided that includes one or more processors; and storage means for storing the one or more programs which, when executed by the one or more processors, cause the one or more processors to carry out the method according to the first aspect of the disclosure.
In a fourth aspect of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored which, when executed by a processor, implements a method according to the first aspect of the present disclosure.
It should be understood that the statements herein reciting aspects are not intended to limit the critical or essential features of the embodiments of the present disclosure, nor are they intended to limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.
Drawings
The above and other features, advantages and aspects of various embodiments of the present disclosure will become more apparent by referring to the following detailed description when taken in conjunction with the accompanying drawings. In the drawings, like or similar reference characters designate like or similar elements, and wherein:
FIG. 1 illustrates a schematic diagram of an example environment in which embodiments of the present disclosure can be implemented;
FIG. 2 illustrates a flow chart of a process of testing a vehicle according to some embodiments of the present disclosure;
FIG. 3 shows a schematic diagram illustrating an example implementation of vehicle testing, in accordance with some embodiments of the present disclosure;
FIG. 4 shows a schematic diagram illustrating a security system status check, in accordance with some embodiments of the present disclosure;
FIG. 5 shows a schematic diagram illustrating an initialization check according to some embodiments of the present disclosure;
FIG. 6 shows a schematic block diagram of an apparatus for testing a vehicle, according to some embodiments of the present disclosure; and
FIG. 7 illustrates a block diagram of a computing device capable of implementing various embodiments of the present disclosure.
Detailed Description
Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present disclosure are shown in the drawings, it is to be understood that the present disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein, but rather are provided for a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the disclosure are for illustration purposes only and are not intended to limit the scope of the disclosure.
In describing embodiments of the present disclosure, the terms "include" and its derivatives should be interpreted as being inclusive, i.e., "including but not limited to. The term "based on" should be understood as "based at least in part on". The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment". The terms "first," "second," and the like may refer to different or the same object. Other explicit and implicit definitions are also possible below.
As mentioned earlier, currently when performing automatic driving tests, the test scenario configuration is operated by the test personnel, and a security officer must also be arranged on the vehicle under test to make an emergency brake. Both of these tasks involve manual operations. The involvement of manual operations in the testing process poses some problems or risks.
First, the testing process takes up a lot of manpower, resulting in high manpower cost. Secondly, once an accident occurs, both the operators in the field and the security personnel in the car are at risk of injury. Furthermore, this conventional approach does not enable continuous testing. Because the safeners need to rest and change the duty, the tested vehicle cannot continuously run, and therefore the vehicle stability test to the maximum extent cannot be implemented. In addition, the arrangement of test scenarios by manually operating the test equipment does not achieve consistency of each test, which results in poor test consistency.
According to an embodiment of the present disclosure, a solution for testing a vehicle is presented. In this arrangement, the control system may coordinate between the vehicle under test, the test equipment providing the test environment, and the safety protection system for the vehicle under test. During execution of a test task for a vehicle under test, the control system monitors a test state associated with the test task, including monitoring a state of the vehicle under test, a state of the test equipment, and a state of the safety protection system. The control system further determines whether to abort the testing task based on the monitored testing status. In the case where the test task is suspended, the control system may perform a subsequent operation corresponding to the monitored test state. In other words, the control system may perform the respective subsequent operation based on the trigger factor for which the test task was suspended. In this way, the artifacts introduced by the testing process may be reduced.
In the scheme of the disclosure, the control system can enable the automatic test equipment to provide a test environment or construct a test environment, and the safety protection system can ensure the safety of the test. The coordination of the control system to the tested vehicle, the test equipment and the safety protection system can favorably realize automatic and unmanned automatic driving test. In this manner, improved continuity and consistency of automatic driving tests may be facilitated due to immunity to human factors.
Embodiments of the present disclosure will be described below in detail with reference to the accompanying drawings.
Fig. 1 illustrates a schematic diagram of an example environment 100 in which various embodiments of the present disclosure can be implemented. Fig. 1 illustrates a schematic diagram of an example environment 100 in which various embodiments of the present disclosure can be implemented. The example environment 100 includes a vehicle under test 101, a safety protection system 103, test equipment 104, and a control system 102. The vehicle 101 under test may be any vehicle that performs automated driving tests within the test site 130. The control system 102 may be a central control system of the test site 130 or a part thereof, or may be a central control system for testing a scene configuration or a part thereof. The control system 102 may be implemented at least in part by a computing device or unit having computing capabilities.
The test equipment 104 may include a variety of equipment that may provide or build a test environment related to a test task. For example, the testing device 104 may include a device that performs static actions to provide a testing environment, e.g., a device that statically simulates a road obstruction (such as a trash can, a railing, a cone). The test equipment 104 may also include equipment that performs dynamic actions to provide a test environment, such as equipment that simulates pedestrians, remaining vehicles, animals, and so forth. Although only one test device 104 is shown, it should be understood that environment 100 may also include a plurality of such test devices. The test device 104 may be a fully automated device.
The control system 102 sends test scenario instructions to the test device 104, such instructions may, for example, specify actions to be performed by the test device 104 to provide a test environment. The test equipment 104 can complete the construction of a dynamic or static scene along the way the vehicle 101 under test travels according to the instructions. For example, if the test device 104 is a device for simulating a pedestrian, the test scenario instructions may indicate which direction the test device 104 is traveling at what speed in a specified area of the test site 130. During testing, the test device 104 sends device information to the control system 102, which may include the position, speed, orientation, status, etc. of the test device 104.
The control system 102 may transmit information of a destination, a test instruction, and the like to the vehicle 101 to be tested, thereby causing the vehicle 101 to be tested to enter an autonomous driving state and travel toward the destination. At the start of the test, the control system 102 may also place the safety protection system 103 in a monitoring state to monitor whether control of the vehicle under test 101 needs to be taken over from the autonomous driving system of the vehicle under test 101, e.g. whether braking of the vehicle under test 101 is required.
The safety protection system 103 may include a field protection system 110 (also may be referred to as a field protection system 110) and a vehicle protection system 120 (also may be referred to as a vehicle protection system 120). At least a portion of the field protection system 110 may be implemented in a suitable location of the test field 130, such as a central control room, or may be implemented in the cloud. The field protection system 110 may be implemented at least in part by a computing device or unit having computing capabilities. In some embodiments, field protection system 110 may also include sensing equipment, such as roadside sensors disposed within test field 130.
The on-board protection system 120 is deployed on the vehicle 101 under test. In-vehicle protection system 120 may be implemented at least in part by a computing device or unit having computing capabilities. In some embodiments, the in-vehicle protection system 120 may further include a sensing device, such as a crash sensor disposed outside the body of the vehicle under test. The on-board protection system 120 may also include other components, such as a positioning device, a power supply unit, and a vehicle braking device. The on-board protection system 120 may be at least partially independent of the autonomous driving system of the vehicle under test 101. In some embodiments, the on-board protection system 120 may be completely independent of the autonomous driving system of the vehicle 101 under test. In such an embodiment, the safety of the test procedure can be ensured more reliably.
The control system 102 may send information (such as location, velocity) about the test equipment 104 to the security system 103, for example to the field protection system 110. The field protection system 110 and the in-vehicle protection system 120 may communicate. For example, the in-vehicle protection system 120 may send information of the vehicle 101 under test to the field protection system 110. The field protection system 110 may send instructions to the on-board protection system 120, such as instructions to take over for the vehicle 101 under test.
As one example, the yard protection system 110 receives test equipment information from the control system 102, information of the vehicle 101 under test (which may be from the control system 102 or from the on-board safety protection system 120), and sensor information within the test yard 130, and determines the likelihood of the vehicle 101 under test being at risk, including the risk of collision, the risk of deviating from a lane, the risk of exiting a predetermined area, and the like, based on these information. When there is a higher risk (e.g., the estimated time to collision is less than the threshold time), the field protection system 110 sends a braking indication to the on-board protection system 120 to brake the vehicle 101 under test. The on-board protection system 120 brakes the vehicle 101 in time, for example, to cause the vehicle 101 to exit the autonomous driving state.
In the example environment 100, through the combination of the control system 102 and the automated test equipment 104, test scenarios for various test tasks may be constructed; the safety protection system 103 including the field protection system 110 and the vehicle protection system 120 can ensure the safety of the test process. The vehicle-mounted protection system 120 takes over the tested vehicle 101 when necessary to prevent a collision accident or brake the tested vehicle 101 in time after the collision. In order to further strengthen the safety protection, the transformation that can carry out the test place.
Figure 1 schematically shows a sand buffer 133, a buffer material 132 and a fence 131 arranged at the periphery of a test area 134. A sand buffer zone 133 is arranged around the test zone 134, and sand, ceramsite and other materials with a certain depth are filled in the sand buffer zone, so that the speed reduction and buffering can be performed on the out-of-control vehicle when the safety protection system 103 fails. A buffer material 132, such as high-density sponge, rubber tires, etc., is disposed around the sand buffer 133 to buffer impact. A fence 131 is provided at the outermost layer to prevent the vehicle from rushing out of the test site 130.
It should be understood that the test site 130 shown in fig. 1 is illustrative only and not intended to be limiting. The solution for testing vehicles according to the present disclosure may involve any suitable test site without requiring that the test site be constructed as shown in fig. 1. Furthermore, it is not required that such a test site be a closed site.
In order to more clearly understand the scheme of testing a vehicle provided by the embodiments of the present disclosure, embodiments of the present disclosure will be further described with reference to fig. 2. FIG. 2 shows a flow diagram of a process 200 of testing a vehicle according to an embodiment of the present disclosure. Process 200 may be implemented at control system 102 of fig. 1. For ease of discussion, process 200 will be described in conjunction with FIG. 3 in addition to FIG. 1. Fig. 3 shows a schematic diagram 300 illustrating an example implementation of vehicle testing, in accordance with some embodiments of the present disclosure.
At block 210, the control system 102 monitors a test condition associated with the test task during execution of the test task for the vehicle under test 101. The test status may include at least one of: the state of the vehicle under test 101, the state of the safety protection system 103 for the vehicle under test 101, and the state of the test equipment 104 providing a test environment related to the test task. For example, referring to FIG. 3, after passing an initialization check 301 (described in detail below with reference to FIG. 5), the control system 102 may begin executing a test 302. In the example of FIG. 3, test 302 includes a set of test tasks 310-1, 310-2 … … 310-N, which may be collectively referred to herein as test tasks 310 or individually as test tasks 310. It should be understood that test 302 may also include only one test task.
During execution of the test task 310 in the test 302, the control system 102 may monitor a test status associated with the test task. For example, the control system 102 may monitor the status of the safety protection system 103, the status of the vehicle 101 under test, and the status of one or more test devices 104. Monitoring of the test condition may be performed, for example, by the safety protection system 103, the vehicle under test 101, and the test equipment 104 reporting their own status (normal or faulty) to the control system 102; whether the safety protection system 103, the vehicle under test 101, and the test equipment 104 regularly (e.g., periodically) transmit data, such as position, speed, status, etc., to the control system 102. During the execution of the test task, the safety protection system 103 may check its own status in real time. When the safety protection system 103 fails, a fault status may be reported to the control system 102. Alternatively or additionally, safety shield system 103 may also determine that an abnormal or fault condition has occurred based on a data transfer timeout. How the state of safety shield system 103 is determined will be described below with reference to fig. 4.
With continued reference to fig. 2. At block 220, the control system 102 determines whether to abort the test task 310 based on the monitored test status. If at least one of the safety shield system 103 or the test equipment 104 is monitored as being in a fault state, the control system 102 may determine to abort the test task 310. If the vehicle under test 101 is monitored to be in a non-autonomous braking state, such as the vehicle under test 101 being braked by the safety protection system 103, the control system 102 may determine to abort the test task 310. In the event that it is determined to abort the test task 310, the control system 102 may abort the test task 310, or in other words the test 302, by the action of keeping the vehicle under test 101 braked and causing the test device 104 to stop providing the test environment.
This is described in detail below with reference to fig. 3. At block 303, control system 102 determines the status of safety protection system 103. If it is determined that safety shield system 103 is in a fault condition, such as monitoring for a data transmission anomaly of safety shield system 103 or receiving a fault notification from safety shield system 103, then proceeding to block 306, control system 102 aborts test 302 at block 306. Similarly, at block 305, the control system 102 determines the status of the test device 104. If it is determined that the test device 104 is in a failed state, such as monitoring for a data transmission anomaly of the test device 104 or receiving a failure notification from the test device 104, then proceeding to block 306, the control system 102 aborts the test 302 at block 306.
At block 304, the control system 102 determines the state of the vehicle 101 under test. If it is determined that the vehicle 101 under test is in a non-autonomous braking state, proceeding to block 306, the control system 102 aborts the test 302 at block 306. The non-autonomous braking state of the vehicle 101 under test may refer to a state in which the vehicle 101 under test is braked by other factors than its own autonomous driving system. For example, when the vehicle 101 is braked by collision with an obstacle, the vehicle 101 is in an involuntary braking state.
In the case where the safety protection system 103 determines that the vehicle 101 has a high safety risk and brakes the vehicle 101, the vehicle 101 is in a non-autonomous braking state. For example, the field protection system 110 determines that the vehicle 101 under test has a higher safety risk, and may send a message to the control system 102 that the vehicle 101 under test is to be braked while sending an indication to the on-board protection system 120 that the vehicle 101 under test is to be braked. Based on this message, the control system 102 may determine that the vehicle under test 101 is in a state of being braked by the safety protection system, thereby aborting the test. Alternatively or additionally, the control system 102 may also determine the status of the vehicle under test 101 based on messages from the vehicle under test 101.
As shown in FIG. 3, if the test 302 is completed (block 308), the control system will also abort the test. At block 306, aborting the test or test task may include keeping the vehicle under test 101 braked and stopping actions performed by the test equipment 104 to provide a test environment or build a test scenario. For example, at block 306, the test device 104 simulating a pedestrian stops making the act of traversing the road. In such an embodiment, the vehicle under test 101 and the test equipment 104 are first stopped based on the test status. In this way, the safety of the test can be further ensured.
With continued reference to fig. 2. If it is determined at block 220 that the test task is to be aborted, process 200 proceeds to block 230. In block 230, the control system 102 performs a test operation corresponding to the monitored test condition in accordance with a determination that the test task is aborted. In other words, the control system 102 may perform the corresponding follow-up operation according to the trigger factor (e.g., the failure state of the safety protection system 103, the non-autonomous braking of the vehicle 101 under test, etc.) in which the test task is suspended.
If the suspension of the test task is caused by the safety protection system 103 or the test equipment 104 being in a failed state, the control system 102 may resume execution of the suspended test task upon determining that the safety protection system 103 or the test equipment 104 is recovering from the failed state. If the suspension of the test task is caused by the vehicle under test 101 being in a non-autonomous braking state, the control system 102 may identify that the vehicle under test 101 failed the test task. If there are other test tasks for the vehicle under test 101 that have not yet been performed, the control system 102 may begin the performance of the other test tasks.
One such example is described below with reference to fig. 3. After the test or test task is terminated, the control system 102 confirms the test status at block 307. If the test status indicates a failure of the safety shield system 103 or the test equipment 104, the control system 102 may re-perform the initialization check 301 after determining troubleshooting or recovery at block 311. Troubleshooting or recovery may refer to repairing the failed safety system or test equipment or replacing the failed system or equipment with a new system or equipment. After passing the initialization check 301, the control system 102 resumes execution of the aborted test task 310. For example, in the event that the test task 310-2 is suspended, the control system 102 resumes execution of the test task 310-2 and the test task 310-1 needs to be repeated.
If it is determined at block 307 that the test status indicates that the vehicle under test 104 is in a non-autonomous braking state, e.g., that the vehicle under test 104 is braked by the safety protection system 103, the control system 102 may identify or record that the vehicle under test 104 failed the aborted test task, e.g., test task 310-2. The control system 102 may begin execution of the next test task. For example, in the event test task 310-2 is suspended, control system 102 begins execution of test task 310-3. At block 308, the control system 102 resets the vehicle under test 101, for example, instructing the vehicle under test 101 to travel to the starting location for the next test task. If it is determined at block 307 that the test status indicates that the test has been completed, the control system 102 waits for the loading of a new test task at block 309.
A process of testing a vehicle according to some embodiments of the present disclosure is described above with reference to fig. 1-3. The control system is used for coordinating the tested vehicle, the testing equipment and the safety protection system, so that the automation of the testing process can be realized. In this way, an automatic driving test with continuity and test consistency can be achieved.
As mentioned above with reference to fig. 3, the safety protection system 103 may report a fault status to the control system 102, the checking of the safety protection system status being described below with reference to fig. 4. Figure 4 shows a schematic diagram 400 illustrating a security system status check according to some embodiments of the present disclosure. In the example of fig. 4, the on-board protection system 120 periodically sends a travel message to the field protection system 110 during the execution of the test task, such as the location, speed, orientation, status, etc. of the vehicle 101 under test. After successfully receiving the driving message, the field protection system 110 sends an acknowledgement ACK to the on-board protection system 120 that the driving message is received.
As shown in fig. 4, the yard guard system communication 401 at the yard guard system 110 includes the reception of a travel message and the transmission of an ACK, and the in-vehicle guard system communication 404 at the in-vehicle guard system 120 includes the transmission of a travel message and the reception of an ACK. At the field protection system 110, a status check of the field protection system 110 and a message timeout check 402 on travel information are performed. If a message timeout occurs or the status check indicates a failure, then control system communications 403 are performed, including the field protection system 110 sending a message to the control system 102 that the safety protection system 103 is potentially failing or failing. At the in-vehicle protection system 120, a status check of the in-vehicle protection system 120 and a message timeout check 405 for ACK are performed. If a message timeout occurs or the status check indicates a fault, the on-board protection system 120 may directly brake the vehicle 101 under test to ensure the safety of the test. Both message timeouts and conditions where status checks indicate a failure may trigger the test abort at block 306. It should be appreciated that although the security protection system is shown in fig. 4 as determining its own state based on a state check and a message timeout check, in some embodiments only one of the state check and the message timeout check may be included.
With continued reference to fig. 3. In some embodiments, an initialization check 301 is first performed prior to execution of the test 302. For example, control system 102 may obtain initialization check results related to a set of test tasks 310-1, 310-2 … … 310-N that includes test task 310. If the results of the initialization checks indicate that the vehicle 101 under test, the test device 104, and the safety protection system 103 are in a normal state, respectively, execution of the set of test tasks 310-1, 310-2 … … 310-N, i.e., the test 302, may be started. In some embodiments, obtaining the initialization check result includes determining at least one of the following for the vehicle under test 101, the test device 104, and the safety protection system 103: an initial state, endurance available to the set of test tasks 310-1, 310-2 … … 310-N, or functionality associated with execution of the set of test tasks 310-1, 310-2 … … 310-N.
The initialization check is explained in detail below with reference to fig. 5, fig. 5 shows a schematic diagram 500 illustrating the initialization check according to some embodiments of the present disclosure. After the initial standby 501, a static check will first be made, including an initial status check 510 and a endurance check 520. The initial state check 510 includes a check 511 of the initial state of the vehicle 101 under test, a check 512 of the initial state of the test device 104, and a check 513 of the state of the safety protection system 103. Where it is desired to utilize sensing equipment (e.g., roadside sensors) at a test site, initial status check 510 may also include a check 514 of the status of the sensing equipment.
The endurance check 520 may include a endurance check 521 for the vehicle 101 under test and a endurance check 522 for the test equipment 104. The endurance check 520 is used to determine whether the current endurance of the inspected object can meet the requirements of the test 302. The endurance check 520 may also include checks of other objects related to the execution of the test 302. For example, if the safety system 103 or a portion thereof uses a separate power supply unit, the endurance check 520 may also include an endurance check of the safety system 103 or a portion thereof.
The initial state check 510 and the endurance check 520 may be implemented in any suitable manner. As an example, an inspected object such as the vehicle under test 101, the test equipment 104, etc. may actively send the relevant status and range capabilities to the control system 102 after self-inspection. As another example, the control system 102 may send a request for an initial state and/or range to the inspected object. The control system 102 may aggregate the status check results and the range check results. At block 502, the control system 102 determines whether the inspection result indicates that the object under inspection is in a normal state based on the static inspection. If in the normal state, the control system 102 may proceed to a function check 530, which includes a check of the actions or trigger functions of the objects related to the execution of the test task.
The brake device action check 531 may be used to check whether the brake devices of the safety protection system 103 are capable of performing an action of braking the vehicle 101 under test. The braking device (such as a brake actuator) may be mounted on the vehicle 101 under test as part of the on-board protection system 120, and may press a brake pedal of the vehicle 101 under test in response to a control signal, thereby braking the vehicle 101 under test. The measured vehicle action check 532 may be used to determine whether the measured vehicle 101 is capable of traveling. For example, the control system 102 may issue a command to the vehicle 101 to travel a certain distance to check the behavior of the vehicle. The test device action check 533 may be used to determine whether the test device 104 is capable of performing an action for providing a test environment, such as determining whether a test device for simulating a pedestrian is capable of making a pass-through action.
The collision risk trigger function check 534, the lane departure risk trigger function check 535 and the exit boundary risk trigger function check 536 relate to the functions of the safety protection system 103. The collision risk trigger function check 534 may be used to check whether the safety protection system 103 is able to brake the vehicle 101 under test in case the vehicle 101 under test is at risk of collision. The lane departure risk trigger function check 535 may be used to check whether the safety protection system 103 is able to brake the vehicle 101 under test in case the vehicle 101 under test is at risk of a lane departure. The exit boundary risk trigger function check 536 may be used to check whether the safety protection system 103 is able to brake the vehicle 101 under test in the event that the vehicle 101 under test is at risk of exiting a predetermined area of the test site. The collision sensor trigger function check 537 may be used to check whether the safety protection system 103 (e.g. an on-board safety protection system) is able to brake the vehicle 101 under test in case of a collision of the vehicle 101 under test.
The above-described action check and trigger function check may be performed by the control system 102 issuing corresponding instructions or constructing a relevant scene. As one example, the collision risk trigger function check 534 may be performed by instructing the test device 104 to move into proximity with the vehicle 101 under test. Failure of either functional check may cause the check to terminate 505. After troubleshooting at block 506, the control system 102 returns to the initial standby state 501. After function check 530 is complete, control system 102 validates the check result at block 503. If the inspection results indicate that the individual inspected objects are in a normal state, control system 102 may load a test task, such as test tasks 310-1, 310-2 … … 310-N, at block 504.
In such an embodiment, the security of the test procedure may be further ensured by checking before the test task is executed.
Fig. 6 shows a schematic block diagram of an apparatus 600 for testing a vehicle according to some embodiments of the present disclosure. The apparatus 600 may be included in the control system 102 of fig. 1 or implemented as the control system 102. As shown in fig. 6, the apparatus 600 includes a test condition monitoring module 610 configured to monitor a test condition associated with a test task for a vehicle under test during execution of the test task. The test status includes at least one of: the status of the vehicle under test, the status of the safety protection system for the vehicle under test, and the status of the test equipment providing the test environment associated with the test task. The apparatus 600 further includes a task abort determination module 620 configured to determine whether to abort the test task based on the test status. The apparatus 600 further includes a test operation execution module 630 configured to execute a test operation corresponding to the test status in accordance with a determination that the test task is aborted.
In some embodiments, the task suspension determination module 620 includes: a task abort determination module configured to determine to abort the test task in response to monitoring that at least one of the safety protection system or the test device is in a failure state, and wherein the test operation execution module 630 comprises: a first task execution module configured to resume execution of the test task upon determining that at least one of the safety protection system or the test equipment recovered from the failure state.
In some embodiments, the task suspension determination module 620 includes: a task abort determination module configured to determine to abort the tested task in response to monitoring that the vehicle under test is in a state of being braked by the safety protection system, and wherein the test operation execution module 630 comprises: and the test result identification module is configured to identify that the tested vehicle fails the test task.
In some embodiments, the apparatus 600 further comprises: a follow-up task determination module configured to determine whether there are additional test tasks for the vehicle under test that have not yet been performed; and a second task execution module configured to initiate execution of the further test task in dependence on the determination that the further test task exists.
In some embodiments, the apparatus 600 further comprises: a test task suspending module configured to suspend the test task by an action of keeping the vehicle under test braked and stopping the test device from providing the test environment.
In some embodiments, the apparatus 600 further comprises: an inspection result acquisition module configured to acquire an initialization inspection result related to a set of test tasks including the test tasks; and the test task starting module is configured to respond to the initialization check result to indicate that the tested vehicle, the test equipment and the safety protection system are respectively in a normal state, and start execution of a group of test tasks.
In some embodiments, obtaining the initialization check result comprises: determining at least one of the following for the vehicle under test, the test equipment and the safety protection system: an initial state, a cruising power available for a set of test tasks, or a function associated with execution of a set of test tasks.
Fig. 7 illustrates a schematic block diagram of an example device 700 that may be used to implement embodiments of the present disclosure. The device 700 may be used to implement at least a portion of the control system 102 of fig. 1. As shown, device 700 includes a Central Processing Unit (CPU)701 that may perform various appropriate actions and processes in accordance with computer program instructions stored in a Read Only Memory (ROM)702 or computer program instructions loaded from a storage unit 708 into a Random Access Memory (RAM) 703. In the RAM703, various programs and data required for the operation of the device 700 can also be stored. The CPU 701, the ROM 702, and the RAM703 are connected to each other via a bus 704. An input/output (I/O) interface 705 is also connected to bus 704.
Various components in the device 700 are connected to the I/O interface 705, including: an input unit 706 such as a keyboard, a mouse, or the like; an output unit 707 such as various types of displays, speakers, and the like; a storage unit 708 such as a magnetic disk, optical disk, or the like; and a communication unit 709 such as a network card, modem, wireless communication transceiver, etc. The communication unit 709 allows the device 700 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
The functions described herein above may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: a Field Programmable Gate Array (FPGA), an Application Specific Integrated Circuit (ASIC), an Application Specific Standard Product (ASSP), a system on a chip (SOC), a load programmable logic device (CPLD), and the like.
Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
Further, while operations are depicted in a particular order, this should be understood as requiring that such operations be performed in the particular order shown or in sequential order, or that all illustrated operations be performed, to achieve desirable results. Under certain circumstances, multitasking and parallel processing may be advantageous. Likewise, while several specific implementation details are included in the above discussion, these should not be construed as limitations on the scope of the disclosure. Certain features that are described in the context of separate embodiments can also be implemented in combination in a single implementation. Conversely, various features that are described in the context of a single implementation can also be implemented in multiple implementations separately or in any suitable subcombination.
Although the subject matter has been described in language specific to structural features and/or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are disclosed as example forms of implementing the claims.
Claims (16)
1. A method of testing a vehicle, comprising:
monitoring, during execution of a test task for a vehicle under test, a test condition associated with the test task, the test condition including at least one of: the state of the vehicle under test, the state of a safety protection system for the vehicle under test, and the state of test equipment providing a test environment related to the test task;
determining whether to abort the test task based on the test status; and
in accordance with a determination that the test task is aborted, a test operation corresponding to the test state is performed.
2. The method of claim 1, wherein determining whether to abort the test task comprises:
in response to monitoring at least one of the safety shield system or the test equipment in a fault state, determining to abort the test task, and
wherein performing the test operation comprises:
resuming execution of the test task in accordance with a determination that the at least one of the safety shield system or the test equipment is recovering from the failed state.
3. The method of claim 1, wherein determining whether to abort the test task comprises:
in response to monitoring that the vehicle under test is in a state of being braked by the safety protection system, determining to abort the task under test, and
wherein performing the test operation comprises:
and identifying that the tested vehicle fails the test task.
4. The method of claim 3, further comprising:
determining whether there are additional test tasks for the vehicle under test that have not yet been performed; and
in accordance with a determination that the additional test task exists, initiating execution of the additional test task.
5. The method of claim 2 or 3, further comprising:
the test task is aborted by the act of causing the vehicle under test to remain braked and causing the test equipment to cease providing the test environment.
6. The method of claim 1, further comprising:
obtaining an initialization check result related to a set of test tasks including the test task; and
and starting execution of the set of test tasks in response to the initialization check result indicating that the vehicle to be tested, the test equipment and the safety protection system are in normal states respectively.
7. The method of claim 6, wherein obtaining the initialization check result comprises: determining, for the vehicle under test, the test equipment, and the safety protection system, at least one of:
in the initial state of the process,
endurance available for the set of test tasks, or
A function associated with execution of the set of test tasks.
8. An apparatus for testing a vehicle, comprising:
a test condition monitoring module configured to monitor a test condition associated with a test task for a vehicle under test during execution of the test task, the test condition including at least one of: the state of the vehicle under test, the state of a safety protection system for the vehicle under test, and the state of test equipment providing a test environment related to the test task;
a task suspension determination module configured to determine whether to suspend the test task based on the test status; and
a test operation execution module configured to execute a test operation corresponding to the test state in accordance with a determination that the test task is aborted.
9. The apparatus of claim 8, wherein the task suspension determination module comprises:
a task abort determination module configured to determine to abort the test task in response to monitoring at least one of the safety shield system or the test device to be in a failure state, and
wherein the test operation execution module includes:
a first task execution module configured to resume execution of the test task in accordance with a determination that the at least one of the safety protection system or the test equipment recovered from the failed state.
10. The apparatus of claim 8, wherein the task suspension determination module comprises:
a task suspension determination module configured to determine to suspend the tested task in response to monitoring that the vehicle under test is in a state of being braked by the safety protection system, and
wherein the test operation execution module includes:
a test result identification module configured to identify that the vehicle under test fails the test task.
11. The apparatus of claim 10, further comprising:
a follow-up task determination module configured to determine whether there are additional test tasks for the vehicle under test that have not yet been performed; and
a second task execution module configured to begin execution of the additional test task in accordance with a determination that the additional test task exists.
12. The apparatus of claim 9 or 10, further comprising:
a test task suspending module configured to suspend the test task by the action of causing the vehicle under test to remain braked and causing the test equipment to stop providing the test environment.
13. The apparatus of claim 8, further comprising:
an inspection result acquisition module configured to acquire an initialization inspection result related to a set of test tasks including the test task; and
a test task starting module configured to start execution of the set of test tasks in response to the initialization check result indicating that the vehicle under test, the test device, and the safety protection system are in a normal state, respectively.
14. The apparatus of claim 13, wherein obtaining the initialization check result comprises: determining, for the vehicle under test, the test equipment, and the safety protection system, at least one of:
in the initial state of the process,
endurance available for the set of test tasks, or
A function associated with execution of the set of test tasks.
15. An electronic device, the device comprising:
one or more processors; and
storage means for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to carry out the method according to any one of claims 1-7.
16. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-7.
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