CN113820144A - Test method, device, system and equipment for automatically driving vehicle - Google Patents
Test method, device, system and equipment for automatically driving vehicle Download PDFInfo
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Abstract
The application discloses a method, a device, a system and equipment for testing an automatic driving vehicle, wherein the method comprises the following steps: acquiring first running data of a target vehicle based on a driving simulator, wherein the target vehicle is a traffic participating vehicle generating interference information on a vehicle to be tested in a traffic flow of a test scene; controlling the target vehicle to run based on the driving instruction corresponding to the first running data information; acquiring the running attitude of a target vehicle in the running process; determining second driving data of the vehicle to be detected according to the running posture of the target vehicle; controlling the vehicle to be tested to run based on the driving instruction corresponding to the second running data; acquiring running data of a vehicle to be tested in the running process; testing an automatic driving controller corresponding to the vehicle to be tested based on the running data of the vehicle to be tested; the simulation system and the simulation method can simulate the working condition of an actual road, so that a simulation scene is more intelligent and personified, and a simulation test is more real.
Description
Technical Field
The present application relates to the field of automatic driving technologies, and in particular, to a method, an apparatus, a system, and a device for testing an automatic driving vehicle.
Background
In recent years, the smart driving industry has been vigorously developed, and smart driving products proposed by companies have been gradually upgraded from the previous driving assistance at the L0, L1, and L2 levels to automatic driving at the L3 level or more, and the driving right of a vehicle is gradually handed over to a system by a person due to high-level automatic driving, so that the confidence of the smart driving products must be very high. According to international empirical calculation, at least 170 hundred million kilometers of driving is required for completing the verification of the automatic driving system, which is impossible in real life, so that the test pyramid theory is proposed that ninety percent of tests are required to be completed in a virtual environment, nine percent of tests are required to be completed in field tests, and the last one percent of verification is required to be actually operated in an open road, so that it can be seen that the simulation test has a great weight in the automatic driving test.
Most of the test scenes of the current simulation test have a plurality of sources, one is a standard scene extracted according to the regulation standard, and the scene is often simpler and is not enough for testing the strain capacity of the automatic driving system; one type is that data of actual road real test is extracted and standard is restored to be a scene which can be used by simulation test, the acquisition and transformation of the scene need to take a lot of time and manpower, and the closed loop of the scene has certain difficulty; the other type is generated by generalization according to the existing scene, and has huge quantity and long test time.
The high-level automatic driving function is not a single slicing function any more, but a continuously completed point-to-point test task in a rich scene; however, the reality and the rationality of the simulation test scene are questioned, and how to enable the test scene to be closer to the actual road in the simulation test is a difficult problem to be solved by the simulation test.
Disclosure of Invention
In order to solve the technical problems, the application discloses a method for testing an automatic driving vehicle, the driving data of a target vehicle is obtained through a driving simulator, the target vehicle is driven based on the driving data output by the driving simulator, the vehicle to be tested is interfered, and the reaction capacity and the intelligent degree of the vehicle to be tested are tested.
In order to achieve the above object, the present application provides a method for testing an autonomous vehicle, the method comprising:
acquiring first running data of a target vehicle based on a driving simulator, wherein the target vehicle is a traffic participating vehicle generating interference information on a vehicle to be tested in a traffic flow of a test scene;
controlling the target vehicle to run based on a driving instruction corresponding to the first running data information;
acquiring the running attitude of the target vehicle in the running process;
determining second driving data of the vehicle to be detected according to the running posture of the target vehicle;
controlling the vehicle to be tested to run based on the driving instruction corresponding to the second running data;
acquiring the running data of the vehicle to be tested in the running process;
and testing the automatic driving controller corresponding to the vehicle to be tested based on the running data of the vehicle to be tested.
In some embodiments, the obtaining first driving data of the target vehicle based on the driving simulator further comprises:
responding to the operation behavior of a user, and acquiring action information of the driving simulator;
and calculating the action information of the driving simulator based on a first preset model to obtain first running data of the target vehicle.
In some embodiments, the determining the second driving data of the vehicle to be tested according to the operation posture of the target vehicle includes:
planning target driving data of the vehicle to be tested according to the running attitude of the target vehicle;
and calculating the target running data based on a second preset model to obtain second running data of the vehicle to be tested.
In some embodiments, the testing the corresponding automatic driving controller of the vehicle to be tested based on the operation data of the vehicle to be tested includes:
analyzing and processing the running data of the vehicle to be tested and the running attitude of the target vehicle, and determining the relative position relationship between the vehicle to be tested and the target vehicle;
and testing the automatic driving controller corresponding to the vehicle to be tested based on the relative position relation.
In some embodiments, further comprising:
acquiring the motion postures of all vehicles in the traffic flow of a test scene in real time, wherein all vehicles in the traffic flow comprise target vehicles, vehicles to be tested and other traffic participating vehicles;
and visually displaying the motion postures of the vehicles.
In some embodiments, the controlling the target vehicle to travel based on the driving instruction corresponding to the first travel data information further includes:
acquiring data information corresponding to the running posture of the target vehicle;
and feeding back the data information to a six-degree-of-freedom platform where the driving simulator is located, so that the driving simulator displays a corresponding action posture based on the data information, wherein the action posture is the same as the running posture of the target vehicle.
The present application further provides a testing device for an autonomous vehicle, the device comprising:
the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring first running data of a target vehicle based on a driving simulator, and the target vehicle is a traffic participating vehicle which generates interference information on a vehicle to be detected in traffic flow of a test scene;
the first control module is used for controlling the target vehicle to run based on a driving instruction corresponding to the first running data information;
the second acquisition module is used for acquiring the running attitude of the target vehicle in the running process;
the determining module is used for determining second running data of the vehicle to be tested according to the running posture of the target vehicle;
the second control module is used for controlling the vehicle to be tested to run based on the driving instruction corresponding to the second running data;
the third acquisition module is used for acquiring the running data of the vehicle to be detected in the running process;
and the test module is used for testing the automatic driving controller corresponding to the vehicle to be tested based on the running data of the vehicle to be tested.
The application also provides a test system of the automatic driving vehicle, which comprises a driving simulator device, a real-time, a simulation test platform, an automatic driving controller and a control module; the real-time machine is respectively in communication connection with the driving simulator device, the simulation test platform and the automatic driving controller; the control module is respectively in communication connection with the simulation test platform and the automatic driving controller;
the real-time machine is used for acquiring first running data of a target vehicle based on the driving simulator device, and the target vehicle is a traffic participating vehicle which generates interference information on a vehicle to be tested in traffic flow of a test scene;
the real-time is used for sending first running data to the simulation test platform;
the simulation test platform is used for controlling the target vehicle to run based on the driving instruction corresponding to the first running data information, acquiring the running posture of the target vehicle in the running process, and sending the running posture of the target vehicle to the automatic driving controller;
the automatic driving controller is used for determining second driving data of the vehicle to be tested according to the running posture of the target vehicle and sending the second driving data to the simulation test platform through the real-time machine;
the simulation test platform is further used for controlling the vehicle to be tested to run based on the driving instruction corresponding to the second running data;
the control module is used for acquiring the running data of the vehicle to be tested in the running process; and testing the automatic driving controller corresponding to the vehicle to be tested based on the running data of the vehicle to be tested.
The application also provides a test device of the automatic driving vehicle, which comprises a processor and a memory, wherein at least one instruction or at least one program is stored in the memory, and the at least one instruction or the at least one program is loaded and executed by the processor to realize the test method of the automatic driving vehicle.
The present application also provides a computer-readable storage medium having at least one instruction or at least one program stored therein, the at least one instruction or the at least one program being loaded by a processor and executing the method for testing an autonomous vehicle as described above.
The embodiment of the application has the following beneficial effects:
according to the test method of the automatic driving vehicle, the driving data of the target vehicle acquired through the driving simulator enables the target vehicle to run based on the driving data output by the driving simulator, so that the vehicle to be tested which needs to be tested is interfered, and further the reaction capacity and the intelligent degree of the vehicle to be tested are tested.
Drawings
In order to more clearly illustrate the method, device, apparatus and storage medium for testing an autonomous vehicle according to the present application, the following briefly describes the drawings required for the embodiments, it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained by those skilled in the art without inventive effort.
FIG. 1 is a schematic structural diagram of a test system for an autonomous vehicle according to an embodiment of the present disclosure;
FIG. 2 is a schematic structural diagram of a preferred test system for an autonomous vehicle according to an embodiment of the present disclosure;
FIG. 3 is a schematic flow chart illustrating a method for testing an autonomous vehicle according to an embodiment of the present disclosure;
FIG. 4 is a schematic structural diagram of a testing device for an autonomous vehicle according to an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of a test device for an autonomous vehicle according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, 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 application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or server 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.
Referring to fig. 1, fig. 1 shows a system that can be used to implement an embodiment of the present invention, and as shown in fig. 1, the system includes a driving simulator device 1, a real-time machine 2, a simulation test platform 3, an automatic driving controller 4, and a control module 5; the real-time machine 2 is respectively in communication connection with the driving simulator device 1, the simulation test platform 3 and the automatic driving controller 4; the control module 5 and the simulation test platform 3;
specifically, the real-time 2 is respectively in communication connection with the driving simulator device 1, the simulation test platform 3 and the automatic driving controller 4 through the ethernet;
specifically, fig. 2 is a schematic structural diagram illustrating a preferred test system for an autonomous vehicle according to an embodiment of the present disclosure;
the driving simulator device 1, the real-time machine 2 and the simulation test platform 3 are in communication connection through the switch;
in the embodiment of the present application, the automatic driving controller 4 may be an automatic driving controller for controlling a vehicle to be tested;
the simulation test platform 3 can be a graphic workstation;
in the embodiment of the present application, the real-time 2 is used to obtain the first driving data of the target vehicle based on the driving simulator device, the target vehicle is a traffic participating vehicle generating interference information to the vehicle to be tested in the traffic flow of the test scene,
the real-time 2 is used for sending the first running data to the simulation test platform;
the simulation test platform 3 is used for controlling the target vehicle to run based on the driving instruction corresponding to the first running data information, acquiring the running posture of the target vehicle in the running process, and sending the running posture of the target vehicle to the automatic driving controller;
the automatic driving controller 4 is used for determining second driving data of the vehicle to be tested according to the running posture of the target vehicle and sending the second driving data to the simulation test platform through the real-time machine;
the simulation test platform 3 is also used for controlling the vehicle to be tested to run based on the driving instruction corresponding to the second running data;
the control module 5 is used for acquiring the running data of the vehicle to be tested in the running process; and testing the automatic driving controller corresponding to the vehicle to be tested based on the running data of the vehicle to be tested.
In the embodiment of the present application, the simulation test platform 3 may include scene simulation software, which may include, for example, a traffic participating vehicle, a vehicle to be tested, a sensor device, and a scene rendering module;
the sensor device is used for detecting the running attitude of the target vehicle in the running process; and sending the operating posture of the target vehicle to the automatic driving controller.
Specifically, the sensor device may include a camera, a millimeter wave radar, an ultrasonic radar, or the like;
in the embodiment of the application, the real-time machine can comprise a vehicle dynamic model and an I/O model;
the vehicle dynamics model can comprise a traffic vehicle model and a vehicle model to be tested; the traffic vehicle model is in communication connection with the driving simulator device; the vehicle model to be tested is in communication connection with the I/O model; the I/O model is in communication connection with the automatic driving controller;
the driving simulator device comprises a driving simulator and a six-degree-of-freedom platform;
the traffic vehicle model in real time acquires first driving data of a target vehicle from an action information center output by a driving simulator;
the driving simulator can output corresponding action information based on user operation; that is, in the simulation test environment of the present application, the traveling of the target vehicle is simply operated by the user.
In the embodiment of the application, the driving simulator device further comprises a display device, so that information acquired by a scene rendering module in the simulation test platform can be displayed on the display device in an animation mode.
In particular, the display device may be a projection circular screen.
The control module 5 may include a display screen, a memory device and a processor connected by a data bus. The display screen is used for displaying an operation interface or interacting with a user and the like, and the display screen can be a touch screen of a car machine, a mobile phone, a tablet computer and the like. The storage device is used for storing program codes, data and data of the shooting device, and the storage device may be a memory of the control module 5, and may also be a storage device such as a smart media card (smart media card), a secure digital card (secure digital card), and a flash memory card (flash card). The processor may be a single core or multi-core processor.
The test method of the automatic driving vehicle can be applied to intelligent driving data input of the interfering vehicle of the vehicle to be tested when the automatic driving vehicle simulation scene is tested, so that the simulation scene is more intelligent and personified, and the simulation test is more real.
Referring to fig. 3, which is a schematic flow chart illustrating a method for testing an autonomous vehicle according to an embodiment of the present application, the present specification provides the method steps according to the embodiment or the flow chart, but is based on the conventional method; or the inventive process may include additional or fewer steps. The sequence of steps recited in the embodiments is only one of many steps performed and is not intended to represent the only order in which the steps may be performed, and the method of testing an autonomous vehicle may be performed in the order of the steps shown in the embodiments or the figures. Specifically, as shown in fig. 3, the method includes:
s301, acquiring first running data of a target vehicle based on a driving simulator, wherein the target vehicle is a traffic participating vehicle generating interference information on a vehicle to be tested in a traffic flow of a test scene;
it should be noted that, in the embodiment of the present application, the traffic flow of the test scenario includes a vehicle to be tested and a plurality of traffic participating vehicles; the target vehicle is one of the traffic participating vehicles which has the largest interference on the vehicle to be detected;
the target vehicle is used for generating interference information for the test vehicle so as to test the reaction capability of the test vehicle.
Obtaining first driving data of the target vehicle based on the driving simulator may previously comprise the steps of:
responding to the operation behavior of a user, and acquiring action information of the driving simulator;
in the embodiment of the application, the operation behavior of the user may be an operation behavior of the user on the driving simulator, such as operations of stepping on a brake, twisting a steering wheel or stepping on an accelerator;
the action information of the driving simulator can comprise actions such as braking, lane changing, accelerating and the like;
specifically, in the application, a user can operate the driving simulator and perform operations such as braking, lane switching, acceleration and the like; so that the driving simulator outputs corresponding driving data.
And calculating the action information of the driving simulator based on the first preset model to obtain first running data of the target vehicle.
In the embodiment of the present application, the first preset model may be a traffic vehicle model;
specifically, the action information (such as braking, lane changing, acceleration and the like) of the driving simulator is input into a first preset model, the action information is analyzed, data is calculated and processed through the first preset model to obtain the driving data of the vehicle, and the driving data can be accelerated or decelerated at a preset acceleration and subjected to lane changing and other data at a preset steering wheel corner;
the driving data output by the first preset model are used as first driving data of the target vehicle, and the driving instruction corresponding to the first driving data is sent to the simulation test platform where the target vehicle is located, so that the simulation test platform controls the target vehicle to drive based on the driving instruction corresponding to the first driving data information.
S303, controlling the target vehicle to run based on the driving instruction corresponding to the first running data information;
in the embodiment of the application, when a test platform of a test scene where a target vehicle is located receives a driving instruction corresponding to first driving data of the target vehicle, the target vehicle is controlled to drive based on the driving instruction corresponding to the first driving data information;
specifically, the driving instruction may include driving instructions such as acceleration, lane change, braking, and the like;
specifically, the lane change may be performed at a preset steering wheel angle by accelerating or decelerating at a preset acceleration.
S305, acquiring the running attitude of the target vehicle in the running process;
in the embodiment of the application, the running posture of the target vehicle can be acquired in real time in the running process of the target vehicle;
the running postures of the vehicle can comprise an acceleration running posture, a turning and turning posture, a deceleration running posture and the like;
in the embodiment of the present application, the control target vehicle travels based on the driving instruction corresponding to the first travel data information, and then further includes:
acquiring data information corresponding to the running attitude of the target vehicle;
in the embodiment of the application, the data information corresponding to the running posture of the target vehicle can be obtained through the traffic vehicle model;
and feeding back the data information to a six-degree-of-freedom platform where the driving simulator is located, so that the driving simulator displays a corresponding action posture based on the data information, wherein the action posture is the same as the running posture of the target vehicle.
In the embodiment of the application, the running attitude of a target vehicle is fed back to a six-degree-of-freedom platform in a driver simulation system through a traffic vehicle model in a data form, so that a driving simulator arranged on the six-degree-of-freedom platform displays a corresponding action attitude based on data information; the motion attitude of the six-degree-of-freedom platform is the same as the running attitude of the target vehicle; thereby enabling the user (driver) on the driving simulator to experience the same driving feeling as the target vehicle in real time.
S307, determining second running data of the vehicle to be tested according to the running posture of the target vehicle;
in the embodiment of the application, the running plan of the vehicle to be tested can be made in real time according to the running posture of the target vehicle, so that dangerous behaviors such as collision between the vehicle to be tested and the target vehicle are avoided;
specifically, determining the second driving data of the vehicle to be tested according to the operation posture of the target vehicle may include:
planning target driving data of the vehicle to be tested according to the running attitude of the target vehicle;
specifically, the upcoming driving plan of the vehicle to be tested can be planned according to the running posture of the target vehicle, so that target driving data of the vehicle to be tested are obtained;
for example, when the target vehicle is switched from the adjacent lane of the vehicle to be tested to the front of the same lane of the vehicle to be tested, the vehicle to be tested can perform deceleration running and the like according to the running speed of the target vehicle;
namely, the target running data can be running planning data made by the vehicle to be tested according to the running posture of the target vehicle;
the target driving data can comprise action data of braking, lane changing, accelerating and the like of the vehicle;
and calculating the target driving data based on a second preset model to obtain second driving data of the vehicle to be detected.
In the embodiment of the present application, the second preset model may include a data format conversion model and a vehicle model to be tested;
the data format conversion model can be an I/O (input/output) model and is used for converting the data format of the target driving data into a data format which can be identified by the vehicle model to be detected;
in a preferred embodiment, when the vehicle to be tested is an Ego vehicle, the second preset model may be an Ego vehicle model;
specifically, target driving data (such as action data of braking, lane changing, acceleration and the like) is input into a vehicle model to be tested, and the action data is analyzed, calculated and processed through the vehicle model to be tested to obtain driving data of the vehicle, wherein the driving data can be accelerated or decelerated at a preset acceleration and data such as lane changing and the like are carried out at a preset steering wheel angle;
the driving data output by the vehicle model to be tested is used as second driving data of the vehicle to be tested, and the driving instruction corresponding to the second driving data is sent to the simulation test platform where the target vehicle is located, so that the simulation test platform controls the vehicle to be tested to drive based on the driving instruction corresponding to the second driving data information.
Specifically, in a preferred embodiment of the present application, when the vehicle to be tested has good performance, the vehicle to be tested runs based on the second running data, so that the interference information generated by the target vehicle can be avoided;
s309, controlling the vehicle to be tested to run based on the driving instruction corresponding to the second running data;
in the embodiment of the application, when a test platform of a test scene where a vehicle to be tested is located receives a driving instruction corresponding to second driving data of the vehicle to be tested, the vehicle to be tested is controlled to drive based on the driving instruction corresponding to the second driving data information;
specifically, the driving instruction may include driving instructions such as acceleration, lane change, braking, and the like;
specifically, the lane change may be performed at a preset steering wheel angle by accelerating or decelerating at a preset acceleration.
S311, acquiring the running data of the vehicle to be detected in the running process;
in the embodiment of the application, the running posture of the vehicle to be tested can be obtained in real time in the running process of the vehicle to be tested;
the running postures of the vehicle can comprise an acceleration running posture, a turning and turning posture, a deceleration running posture and the like;
and S313, testing the automatic driving controller corresponding to the vehicle to be tested based on the running data of the vehicle to be tested.
In the embodiment of the application, the running data of the vehicle to be tested can include running attitude and position information of the vehicle to be tested;
based on the operation data of the vehicle to be tested, testing the automatic driving controller corresponding to the vehicle to be tested may include the steps of:
analyzing and processing the running data of the vehicle to be tested and the running attitude of the target vehicle, and determining the relative position relationship between the vehicle to be tested and the target vehicle;
in the embodiment of the application, the running attitude and the position information of the vehicle to be tested are determined based on the running data of the vehicle to be tested;
based on the running posture of the vehicle to be detected and the running posture of the target vehicle, judging whether the vehicle to be detected can timely react when generating interference factors on the vehicle to be detected in the running process of the target vehicle, namely, the vehicle to be detected changes the running posture of the vehicle to be detected in real time according to the running posture of the target vehicle;
specifically, the position of the vehicle in a certain attitude can be monitored in real time according to the running attitude of the target vehicle, and the position information of the target vehicle can be obtained;
specifically, the relative position relationship between the vehicle to be detected and the target vehicle can be determined according to the position information of the vehicle to be detected and the position information of the target vehicle which are monitored in real time;
and testing the corresponding automatic driving controller of the vehicle to be tested based on the relative position relation.
In the embodiment of the application, the relative position relationship can represent the reaction capability of the vehicle to be detected to the interference information; i.e., the processing power of the autopilot controller corresponding to the vehicle under test.
Specifically, if the relative position relationship between the vehicle to be tested and the target vehicle is crossed or overlapped at the same time, that is, the vehicle to be tested and the target vehicle have a collision condition, the collision vehicle and the collided vehicle in the collision process need to be judged;
if the vehicle to be detected collides with the upper target vehicle, judging that the processing capacity of the automatic driving controller corresponding to the vehicle to be detected is poor and the improvement is needed;
and if the target vehicle collides with the vehicle to be detected, judging that the processing capacity of the automatic driving controller corresponding to the vehicle to be detected is better.
In a specific embodiment of the present application, the method may further include the following steps:
acquiring the motion postures of all vehicles in the traffic flow of a test scene in real time, wherein all vehicles in the traffic flow comprise target vehicles, vehicles to be tested and other traffic participating vehicles;
the target vehicle is one of the traffic participating vehicles;
the traffic participant vehicle comprises at least two.
The action of the traffic participation vehicle outside the target vehicle uses the trigger module of the simulation software;
specifically, the sensor device may be used to detect the motion attitude of each vehicle in the traffic flow of the test scene;
and visually displaying the motion postures of the vehicles.
Specifically, the obtained motion postures of the vehicles can be visually displayed through a display device;
specifically, the motion gestures of each vehicle can be rendered through a scene rendering module, and then displayed on a display device in the form of animation;
for example, the image may be projected directly onto the display device in the form of an animation.
As can be seen from the embodiments of the method, the device, the system and the equipment for testing the autonomous vehicles provided by the application, in the embodiments of the application, the first driving data of the target vehicle is acquired based on the driving simulator, and the target vehicle is a traffic participating vehicle generating interference information on the vehicle to be tested in the traffic flow of the test scene; controlling the target vehicle to run based on the driving instruction corresponding to the first running data information; acquiring the running attitude of a target vehicle in the running process; determining second driving data of the vehicle to be detected according to the running posture of the target vehicle; controlling the vehicle to be tested to run based on the driving instruction corresponding to the second running data; acquiring running data of a vehicle to be tested in the running process; testing an automatic driving controller corresponding to the vehicle to be tested based on the running data of the vehicle to be tested; by utilizing the technical scheme provided by the embodiment of the specification, the driving data of the target vehicle acquired by the driving simulator enables the target vehicle to run based on the driving data output by the driving simulator, so that the vehicle to be tested which needs to be tested is interfered, and further the reaction capacity and the intelligent degree of the vehicle to be tested are tested.
The embodiment of the present application further provides a testing apparatus for an autonomous vehicle, as shown in fig. 4, which is a schematic structural diagram of the testing apparatus for an autonomous vehicle provided in the embodiment of the present application; specifically, the device comprises:
a first obtaining module 410, configured to obtain first driving data of a target vehicle based on a driving simulator, where the target vehicle is a traffic participating vehicle that generates interference information for a vehicle to be tested in a traffic flow of a test scene;
the first control module 420 is used for controlling the target vehicle to run based on the driving instruction corresponding to the first running data information;
the second obtaining module 430 is used for obtaining the running posture of the target vehicle in the running process;
the determining module 440 is configured to determine second driving data of the vehicle to be detected according to the operation posture of the target vehicle;
the second control module 450 is used for controlling the vehicle to be tested to run based on the driving instruction corresponding to the second running data;
the third obtaining module 460 is configured to obtain operation data of the vehicle to be detected in the driving process;
and the test module 470 is configured to test the automatic driving controller corresponding to the vehicle to be tested based on the operation data of the vehicle to be tested.
In the embodiment of the present application, the method further includes:
the fourth acquisition module is used for responding to the operation behavior of the user and acquiring the action information of the driving simulator;
and calculating the action information of the driving simulator based on the first preset model to obtain first running data of the target vehicle.
In an embodiment of the present application, the determining module 440 includes:
the planning unit is used for planning target running data of the vehicle to be tested according to the running posture of the target vehicle;
and the determining unit is used for calculating and processing the target driving data based on the second preset model to obtain second driving data of the vehicle to be detected.
In the embodiment of the present application, the test module 470 includes:
the determining unit is used for analyzing and processing the running data of the vehicle to be tested and the running posture of the target vehicle and determining the relative position relationship between the vehicle to be tested and the target vehicle;
and the test unit is used for testing the automatic driving controller corresponding to the vehicle to be tested based on the relative position relation.
In the embodiment of the present application, the method further includes:
the fifth acquisition module is used for acquiring the motion postures of all vehicles in the traffic flow of the test scene in real time, wherein all vehicles in the traffic flow comprise target vehicles, vehicles to be tested and other traffic participating vehicles;
and the display module is used for visually displaying the motion postures of the vehicles.
In the embodiment of the present application, the method further includes:
the sixth acquisition module is used for acquiring data information corresponding to the running posture of the target vehicle;
and the feedback module is used for feeding back the data information to the six-degree-of-freedom platform where the driving simulator is located, so that the driving simulator displays a corresponding action posture based on the data information, and the action posture is the same as the running posture of the target vehicle.
The embodiment of the application provides a test device of an automatic driving vehicle, which comprises a processor and a memory, wherein at least one instruction or at least one program is stored in the memory, and the at least one instruction or the at least one program is loaded and executed by the processor to realize the test method of the automatic driving vehicle according to the embodiment of the method.
The memory may be used to store software programs and modules, and the processor may execute various functional applications and data processing by operating the software programs and modules stored in the memory. The memory can mainly comprise a program storage area and a data storage area, wherein the program storage area can store an operating system, application programs needed by functions and the like; the storage data area may store data created according to use of the device, and the like. Further, the memory may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device. Accordingly, the memory may also include a memory controller to provide the processor access to the memory.
Fig. 5 is a schematic structural diagram of a test device of an autonomous vehicle according to an embodiment of the present disclosure, where an internal configuration of the test device of the autonomous vehicle may include, but is not limited to: the processor, the network interface and the memory in the test equipment of the autonomous vehicle may be connected by a bus or other means, and the bus connection is taken as an example in fig. 5 shown in the embodiment of the present specification.
The processor (or CPU) is a computing core and a control core of the test equipment of the autonomous vehicle. The network interface may optionally include a standard wired interface, a wireless interface (e.g., WI-FI, mobile communication interface, etc.). The Memory (Memory) is a Memory device in the test equipment of the autonomous vehicle for storing programs and data. It is understood that the memory herein may be a high-speed RAM storage device, or may be a non-volatile storage device (non-volatile memory), such as at least one magnetic disk storage device; optionally, at least one memory device located remotely from the processor. The memory provides storage space that stores the operating system of the test equipment of the autonomous vehicle, which may include, but is not limited to: windows system (an operating system), Linux (an operating system), etc., which are not limited in this application; also, one or more instructions, which may be one or more computer programs (including program code), are stored in the memory space and are adapted to be loaded and executed by the processor. In the embodiment of the present application, the processor loads and executes one or more instructions stored in the memory to implement the method for testing an autonomous vehicle provided in the embodiment of the method.
Embodiments of the present application also provide a computer-readable storage medium that may be disposed in a testing device of an autonomous vehicle to store at least one instruction, at least one program, a set of codes, or a set of instructions related to implementing a testing method of an autonomous vehicle in method embodiments, where the at least one instruction, the at least one program, the set of codes, or the set of instructions may be loaded and executed by a processor of an electronic device to implement the testing method of an autonomous vehicle provided in the method embodiments.
Optionally, in this embodiment, the storage medium may include, but is not limited to: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
It should be noted that: the sequence of the embodiments of the present application is only for description, and does not represent the advantages and disadvantages of the embodiments. And specific embodiments thereof have been described above. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
According to an aspect of the application, a computer program product or computer program is provided, comprising computer instructions, the computer instructions being stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions to cause the computer device to perform the method provided in the various alternative implementations described above.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, as for the device and server embodiments, since they are substantially similar to the method embodiments, the description is simple, and the relevant points can be referred to the partial description of the method embodiments.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The above disclosure is only one preferred embodiment of the present application, and certainly does not limit the scope of the present application, which is therefore intended to cover all modifications and equivalents of the claims.
Claims (10)
1. A method for testing an autonomous vehicle, the method comprising:
acquiring first running data of a target vehicle based on a driving simulator, wherein the target vehicle is a traffic participating vehicle generating interference information on a vehicle to be tested in a traffic flow of a test scene;
controlling the target vehicle to run based on a driving instruction corresponding to the first running data information;
acquiring the running attitude of the target vehicle in the running process;
determining second driving data of the vehicle to be detected according to the running posture of the target vehicle;
controlling the vehicle to be tested to run based on the driving instruction corresponding to the second running data;
acquiring the running data of the vehicle to be tested in the running process;
and testing the automatic driving controller corresponding to the vehicle to be tested based on the running data of the vehicle to be tested.
2. The method for testing an autonomous vehicle as claimed in claim 1, wherein the obtaining of the first driving data of the target vehicle based on the driving simulator is preceded by:
responding to the operation behavior of a user, and acquiring action information of the driving simulator;
and calculating the action information of the driving simulator based on a first preset model to obtain first running data of the target vehicle.
3. The method for testing an autonomous vehicle as claimed in claim 1, wherein the determining the second driving data of the vehicle to be tested according to the operating posture of the target vehicle comprises:
planning target driving data of the vehicle to be tested according to the running attitude of the target vehicle;
and calculating the target running data based on a second preset model to obtain second running data of the vehicle to be tested.
4. The method for testing the autonomous-capable vehicle of claim 1, wherein the step of testing the autonomous-capable controller corresponding to the vehicle to be tested based on the operation data of the vehicle to be tested comprises:
analyzing and processing the running data of the vehicle to be tested and the running attitude of the target vehicle, and determining the relative position relationship between the vehicle to be tested and the target vehicle;
and testing the automatic driving controller corresponding to the vehicle to be tested based on the relative position relation.
5. The method for testing an autonomous vehicle as claimed in claim 1, further comprising:
acquiring the motion postures of all vehicles in the traffic flow of a test scene in real time, wherein all vehicles in the traffic flow comprise target vehicles, vehicles to be tested and other traffic participating vehicles;
and visually displaying the motion postures of the vehicles.
6. The method for testing an autonomous vehicle according to claim 1, wherein the controlling the target vehicle to travel based on the driving instruction corresponding to the first travel data information further includes:
acquiring data information corresponding to the running posture of the target vehicle;
and feeding back the data information to a six-degree-of-freedom platform where the driving simulator is located, so that the driving simulator displays a corresponding action posture based on the data information, wherein the action posture is the same as the running posture of the target vehicle.
7. A test apparatus for an autonomous vehicle, the apparatus comprising:
the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring first running data of a target vehicle based on a driving simulator, and the target vehicle is a traffic participating vehicle which generates interference information on a vehicle to be detected in traffic flow of a test scene;
the first control module is used for controlling the target vehicle to run based on a driving instruction corresponding to the first running data information;
the second acquisition module is used for acquiring the running attitude of the target vehicle in the running process;
the determining module is used for determining second running data of the vehicle to be tested according to the running posture of the target vehicle;
the second control module is used for controlling the vehicle to be tested to run based on the driving instruction corresponding to the second running data;
the third acquisition module is used for acquiring the running data of the vehicle to be detected in the running process;
and the test module is used for testing the automatic driving controller corresponding to the vehicle to be tested based on the running data of the vehicle to be tested.
8. A test system of an automatic driving vehicle is characterized by comprising a driving simulator device, a real-time, a simulation test platform, an automatic driving controller and a control module; the real-time machine is respectively in communication connection with the driving simulator device, the simulation test platform and the automatic driving controller; the control module is respectively in communication connection with the simulation test platform and the automatic driving controller;
the real-time machine is used for acquiring first running data of a target vehicle based on the driving simulator device, and the target vehicle is a traffic participating vehicle which generates interference information on a vehicle to be tested in traffic flow of a test scene;
the real-time is used for sending first running data to the simulation test platform;
the simulation test platform is used for controlling the target vehicle to run based on the driving instruction corresponding to the first running data information, acquiring the running posture of the target vehicle in the running process, and sending the running posture of the target vehicle to the automatic driving controller;
the automatic driving controller is used for determining second driving data of the vehicle to be tested according to the running posture of the target vehicle and sending the second driving data to the simulation test platform through the real-time machine;
the simulation test platform is further used for controlling the vehicle to be tested to run based on the driving instruction corresponding to the second running data;
the control module is used for acquiring the running data of the vehicle to be tested in the running process; and testing the automatic driving controller corresponding to the vehicle to be tested based on the running data of the vehicle to be tested.
9. A test apparatus for an autonomous vehicle, the apparatus comprising a processor and a memory, the memory having stored therein at least one instruction or at least one program, the at least one instruction or the at least one program being loaded and executed by the processor to implement the test method for an autonomous vehicle of any of claims 1 to 6.
10. A computer-readable storage medium, wherein at least one instruction or at least one program is stored in the storage medium, the at least one instruction or the at least one program being loaded by a processor and executing the method for testing an autonomous vehicle of any of claims 1 to 6.
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