CN105954048A - Method for testing normal driving of unmanned vehicle and device thereof - Google Patents
Method for testing normal driving of unmanned vehicle and device thereof Download PDFInfo
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- CN105954048A CN105954048A CN201610534299.8A CN201610534299A CN105954048A CN 105954048 A CN105954048 A CN 105954048A CN 201610534299 A CN201610534299 A CN 201610534299A CN 105954048 A CN105954048 A CN 105954048A
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- unmanned vehicle
- traffic mark
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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
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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Abstract
The embodiment of the invention discloses a method for testing normal operation of an unmanned vehicle and a device thereof. The method comprises the steps that operation data of the unmanned vehicle are acquired; scene data are acquired through test equipment carried on the unmanned vehicle so as to identify a current test scene; and whether the unmanned vehicle can normally operate under the current test scene is determined according to the operation data. The operation data of the unmanned vehicle are acquired, the scene data are acquired through the test equipment carried on the unmanned vehicle so as to identify the current test scene, and whether the unmanned vehicle can normally operate under the current test scene is determined according to the operation data so that the test scheme for the unmanned vehicle is provided.
Description
Technical field
The present embodiments relate to voice technology field, particularly relate to a kind of test the side that unmanned vehicle is properly functioning
Method and device.
Background technology
Unmanned vehicle is by vehicle-mounted sensor-based system perception road environment, and automatic planning travelling line also controls vehicle
Arrive the car of predeterminated target.It is to utilize onboard sensor to carry out perception vehicle-periphery, and according to perception institute
Road, vehicle location and the obstacle information obtained, controls turning to and speed of vehicle, thus enables the vehicle to
Enough reliably and securely travelings on road.
But, unmanned vehicle is different from conventional truck, and conventional truck driver is people, and unmanned vehicle is then electronics
Brain.Driver often occurs that in driving procedure various scene needs reply, public such as through campus etc.
During proximal site, need to slow down, beat and double dodge, quiet move ahead.Analogue can be encountered when unmanned vehicle also to know
Road this how to tackle, therefore, unmanned vehicle carry out properly functioning before, need it is tested, with ensure
It can be properly functioning, and there is presently no the testing scheme for unmanned vehicle.
Summary of the invention
The embodiment of the present invention provides a kind of and tests the method and device that unmanned vehicle is properly functioning, to test unmanned vehicle
Whether can be properly functioning.
First aspect, embodiments provides and a kind of tests the method that unmanned vehicle is properly functioning, including:
Obtain unmanned vehicle service data；
Contextual data is gathered, to identify present test field scape by carrying the test equipment on unmanned vehicle；
Determine whether described unmanned vehicle can be properly functioning under described present test field scape according to described service data.
Second aspect, the embodiment of the present invention additionally provides a kind of tests the device that unmanned vehicle is properly functioning, including:
Data acquisition module, is used for obtaining unmanned vehicle service data；
Scene Recognition module, for by carrying the test equipment collection contextual data on unmanned vehicle, to know
Other present test field scape；
According to described service data, testing results module, for determining that described unmanned vehicle is at described present test field
Whether can be properly functioning under scape.
The embodiment of the present invention is by obtaining unmanned vehicle service data, and is set by the test carried on unmanned vehicle
According to described service data, standby collection contextual data, to identify present test field scape, determines that described unmanned vehicle exists
Whether can be properly functioning under described present test field scape, it is provided that the testing scheme of a kind of unmanned vehicle.
Accompanying drawing explanation
Fig. 1 is a kind of flow chart testing the properly functioning method of unmanned vehicle in the embodiment of the present invention one；
Fig. 2 is a kind of flow chart testing the properly functioning method of unmanned vehicle in the embodiment of the present invention two；
Fig. 3 is a kind of flow chart testing the properly functioning method of unmanned vehicle in the embodiment of the present invention three；
Fig. 4 is a kind of flow chart testing the properly functioning method of unmanned vehicle in the embodiment of the present invention four；
Fig. 5 is a kind of structure chart testing the properly functioning device of unmanned vehicle in the embodiment of the present invention five.
Detailed description of the invention
The present invention is described in further detail with embodiment below in conjunction with the accompanying drawings.It is understood that this
Specific embodiment described by place is used only for explaining the present invention, rather than limitation of the invention.The most also need
It is noted that for the ease of describing, accompanying drawing illustrate only part related to the present invention and not all knot
Structure.
Embodiment one
A kind of flow chart testing the properly functioning method of unmanned vehicle that Fig. 1 provides for the embodiment of the present invention one,
The present embodiment is applicable to test the ruuning situation of unmanned vehicle, and the method can be by the embodiment of the present invention
The device testing unmanned vehicle properly functioning provided performs, and this device can be integrated in car-mounted terminal, such as figure
Shown in 1, specifically include:
S101, acquisition unmanned vehicle service data.
Wherein, described service data include but not limited under each road scene (such as, public place,
Highway, bridge, tunnel etc.) travel speed, or run into traffic mark (such as, forbid manufacture blow a whistle,
Motor vehicle signal lamp, lane signal lamp, directional signal light, various forbidden or token passing) time reaction.
S102, the test equipment passing through to carry on unmanned vehicle gather contextual data, to identify present test field
Scape.
Wherein, described test equipment includes but not limited to picture pick-up device and positioner (such as, GPS location
Instrument) etc..Described present test field scape can be simulated scenario, it is also possible to for real scene.
Concrete, the environment map of unmanned vehicle place environment can be gathered by carrying the picture pick-up device on unmanned vehicle
Picture；Described ambient image is carried out image recognition, determines described current survey according to the scene characteristic of image recognition
Examination hall scape.Or, determine described unmanned vehicle position by carrying the positioner on unmanned vehicle；Root
According to unmanned vehicle position and scene location map, determine the present test field scape residing for described unmanned vehicle.
S103, determine according to described service data whether described unmanned vehicle can be just under described present test field scape
Often run.
The present embodiment is by obtaining unmanned vehicle service data, and is adopted by the test equipment carried on unmanned vehicle
According to described service data, collection contextual data, to identify present test field scape, determines that described unmanned vehicle is described
Whether can be properly functioning under present test field scape, it is provided that the testing scheme of a kind of unmanned vehicle.
On the basis of above-described embodiment, gather contextual data by carrying the test equipment on unmanned vehicle,
To identify that present test field scape specifically can use the following two kinds method or both combinations:
First method: gather the environment of unmanned vehicle place environment by carrying the picture pick-up device on unmanned vehicle
Image；Described ambient image is carried out image recognition, according to the scene characteristic of image recognition determine described currently
Test scene.
Concrete, if recognized, described ambient image comprises residential building, supermarket or school etc., then say
Bright present test field scape is public place；If recognized, described ambient image comprises guideboard or high speed road
Road sign will etc., then explanation present test field scape is highway, etc..
Second method: determine described unmanned vehicle position by carrying the positioner on unmanned vehicle；
According to unmanned vehicle position and scene location map, determine the present test field scape residing for described unmanned vehicle.
Concrete, the geography information of the default test scene pre-set or real scene can be inputted extremely
In positioner, place it on unmanned vehicle, to record the movement locus of unmanned vehicle, according to movement locus
I.e. can determine that described unmanned vehicle position, thus according to unmanned vehicle position and scene location Orientation on map
The scene of periphery, if the scene of periphery comprises residential building, supermarket or school etc., the then current test of explanation
Scene is public place；If the scene of periphery comprises super expressway mark etc., then explanation present test field scape
For highway, etc..
On the basis of above-described embodiment, if present test field scape is public place, then Negotiation speed test
Instrument obtains the travel speed of unmanned vehicle, accordingly, determines that described unmanned vehicle is described according to described service data
Whether can properly functioning include under present test field scape:
Determine the travel speed of unmanned vehicle whether in the range of the pre-set velocity that described public place specifies, if so,
Then determine that described unmanned vehicle can be properly functioning, if not in described public place, it is determined that described unmanned vehicle is in institute
State public place to be not normally functioning.
Wherein, the legal travel speed of regulation during pre-set velocity scope is traffic method.
On the basis of above-described embodiment, gather contextual data by carrying the test equipment on unmanned vehicle,
To identify that present test field scape includes:
Contextual data is gathered by carrying the test equipment on unmanned vehicle；
According to the traffic mark in described contextual data identification scene, to determine described present test field scape.
Wherein, described test equipment can be picture pick-up device.
On the basis of above-described embodiment, determine that described unmanned vehicle is in described current survey according to described service data
Whether can properly functioning include under the scape of examination hall:
If the traffic mark recognized in described present test field scape occurs in unmanned vehicle sensing range, really
Whether fixed described unmanned vehicle can make respective reaction according to described traffic mark, if, it is determined that described unmanned
Car can be properly functioning, if not under described present test field scape, it is determined that described unmanned vehicle is in described current survey
It is not normally functioning under the scape of examination hall.
Concrete, mainly include following several scene:
The first: if the traffic mark recognized occurs in unmanned vehicle sensing range, determine described unmanned
Whether car can make respective reaction according to described traffic mark includes:
If described traffic mark is no tooting mark determine described unmanned vehicle whether can make following any one
Reaction: stop blowing a whistle, stop blowing a whistle and travel to place of safety, stop blowing a whistle after beat double sudden strain of a muscle and warn nearby vehicle
Until travelling to place of safety and speed is reduced to after stopping blowing a whistle the minimum speed that traffic law allows delaying
Go slowly and sail until driving to place of safety.
Further, after determining that described unmanned vehicle stops blowing a whistle, also include:
Occur in if described present test field scape recognizes the preset range of described unmanned vehicle pedestrian and/or
Vehicle；
Determine that described unmanned vehicle the most still performs to stop ring in the case of described pedestrian and/or vehicle occur
Flute operates.
Concrete, can detect, by decibel tester, the operation whether described unmanned vehicle performs to stop blowing a whistle.
The second: if the traffic mark recognized occurs in unmanned vehicle sensing range, determines described unmanned
Whether car can make respective reaction according to described traffic mark includes:
If described traffic mark is motor vehicle signal lamp, and when described motor vehicle signal lamp is green light, really
Whether fixed described unmanned vehicle passes through；Or
If described traffic mark is motor vehicle signal lamp, and described motor vehicle signal lamp be amber light bright time, really
Whether the described unmanned vehicle surely having passed past stop line continues to pass through；Or
If described traffic mark is motor vehicle signal lamp, and when described motor vehicle signal lamp is when red, really
Whether fixed described unmanned vehicle is closed to traffic.
The third: if the traffic mark recognized occurs in unmanned vehicle sensing range, determine described unmanned
Whether car can make respective reaction according to described traffic mark includes:
If described traffic mark is lane signal lamp, and described lane signal lamp be green arrow lamp bright time,
Determine whether described unmanned vehicle passes through by current lane direction indication；Or
If described traffic mark is lane signal lamp, and described lane signal lamp is red fork-shaped lamp or arrow
When head lamp is bright, determine whether described unmanned vehicle stops at current lane and pass through.
4th kind: if the traffic mark recognized occurs in unmanned vehicle sensing range, determine described unmanned
Whether car can make respective reaction according to described traffic mark includes:
If described traffic mark is the direction of arrow of directional signal light, and the described direction of arrow is to the left, really
Whether fixed described unmanned vehicle turns left；Or
If described traffic mark is the direction of arrow of directional signal light, and the described direction of arrow is upwards, really
Whether fixed described unmanned vehicle keeps straight on；Or
If described traffic mark is the direction of arrow of directional signal light, and the described direction of arrow is to the right, really
Whether fixed described unmanned vehicle turns right.
5th kind: if the traffic mark recognized occurs in unmanned vehicle sensing range, determine described unmanned
Whether car can make respective reaction according to described traffic mark includes:
If described default traffic mark be following any one: U-turn sign of forbidding manufacture, no leftturn sign,
Level crossing, crossing, bridge, sharp turn, abrupt slope, tunnel or be susceptible to danger section determine
Whether described unmanned vehicle turns around.
Above-described embodiment is by obtaining unmanned vehicle service data, and passes through to carry the test equipment on unmanned vehicle
Gather contextual data, to identify present test field scape, determine that described unmanned vehicle is in institute according to described service data
Whether present test field scape under can properly functioning, it is provided that the testing scheme of a kind of unmanned vehicle if stating.
Embodiment two
A kind of flow chart testing the properly functioning method of unmanned vehicle that Fig. 2 provides for the embodiment of the present invention two,
The present embodiment, on the basis of above-described embodiment, gathers scene number by carrying the test equipment on unmanned vehicle
According to, to identify present test field scape, gather unmanned vehicle preferably by the picture pick-up device carried on unmanned vehicle
The ambient image of place environment；Described ambient image is carried out image recognition, and the scene according to image recognition is special
Levy and determine described present test field scape.As in figure 2 it is shown, specifically include:
S201, acquisition unmanned vehicle service data.
S202, gather the ambient image of unmanned vehicle place environment by carrying picture pick-up device on unmanned vehicle.
S203, described ambient image is carried out image recognition, determine according to the scene characteristic of image recognition described
Present test field scape.
S204, determine according to described service data whether described unmanned vehicle can be just under described present test field scape
Often run.
Preferably, if present test field scape is public place, then the service data obtained is the row of unmanned vehicle
Sail speed, it is determined that the travel speed of unmanned vehicle whether in the range of the pre-set velocity that described public place specifies,
If, it is determined that described unmanned vehicle can be properly functioning, if not in described public place, it is determined that described unmanned
Car is not normally functioning in described public place.
The present embodiment is by obtaining unmanned vehicle service data, and is adopted by the picture pick-up device carried on unmanned vehicle
The ambient image of collection unmanned vehicle place environment carries out image recognition to described ambient image, according to image recognition
Scene characteristic determines described present test field scape, determines that described unmanned vehicle is worked as described according to described service data
Whether can be properly functioning under front test scene, it is provided that the testing scheme of a kind of unmanned vehicle.
Embodiment three
A kind of flow chart testing the properly functioning method of unmanned vehicle that Fig. 3 provides for the embodiment of the present invention three,
The present embodiment is on the basis of above-described embodiment, by by carrying the test equipment collection scene on unmanned vehicle
Data, to identify present test field scape, determine described preferably by the positioner carried on unmanned vehicle
Unmanned vehicle position；According to unmanned vehicle position and scene location map, determine residing for described unmanned vehicle
Present test field scape.As it is shown on figure 3, specifically include:
S301, acquisition unmanned vehicle service data.
S302, determine described unmanned vehicle position by carrying the positioner on unmanned vehicle.
S303, according to unmanned vehicle position and scene location map, determine the current survey residing for described unmanned vehicle
Examination hall scape.
S304, determine according to described service data whether described unmanned vehicle can be just under described present test field scape
Often run.
Detailed description about each step of the present embodiment sees above-described embodiment, repeats no more here.
The present embodiment is by obtaining unmanned vehicle service data and true by carrying the positioner on unmanned vehicle
Fixed described unmanned vehicle position, according to unmanned vehicle position and scene location map, determines described unmanned vehicle
Residing present test field scape, and determine that described unmanned vehicle is at described present test field according to described service data
Whether can be properly functioning under scape, it is provided that the testing scheme of a kind of unmanned vehicle.
Embodiment four
A kind of flow chart testing the properly functioning method of unmanned vehicle that Fig. 4 provides for the embodiment of the present invention four,
The present embodiment is on the basis of above-described embodiment, by by carrying the test equipment collection scene on unmanned vehicle
Data, to identify present test field scape, the test equipment by carrying on unmanned vehicle that is optimized for gathers scene
Data；According to the traffic mark in described contextual data identification scene, to determine described present test field scape.
As shown in Figure 4, specifically include:
S401, acquisition unmanned vehicle service data.
S402, the test equipment passing through to carry on unmanned vehicle gather contextual data, to identify present test field
Scape.
S403, according to the traffic mark in described contextual data identification scene, to determine described present test field
Scape.
S404, determine according to described service data whether described unmanned vehicle can be just under described present test field scape
Often run.
Concrete, if the traffic mark recognized in described present test field scape occurs in unmanned vehicle perception model
In enclosing, determine whether described unmanned vehicle can make respective reaction according to described traffic mark, if, it is determined that
Described unmanned vehicle can be properly functioning, if not under described present test field scape, it is determined that described unmanned vehicle is in institute
State and be not normally functioning under present test field scape.Wherein, described traffic mark include but not limited to following arbitrarily
A kind of: no tooting mark, motor vehicle signal lamp, lane signal lamp, directional signal light, the mark that turns around of forbidding manufacture
Will, no leftturn sign, level crossing, crossing, bridge, sharp turn, abrupt slope, tunnel or appearance
The section etc. easily caused danger.
The present embodiment is by obtaining unmanned vehicle service data, and is adopted by the test equipment carried on unmanned vehicle
Collection contextual data, according to the traffic mark in described contextual data identification scene, to determine described current test
Scene, and determine whether described unmanned vehicle can be normal under described present test field scape according to described service data
Run, it is provided that the testing scheme of a kind of unmanned vehicle.
Embodiment five
Fig. 5 show a kind of structure testing the properly functioning device of unmanned vehicle that the embodiment of the present invention five provides
Schematic diagram, this device can use the mode of software or hardware to realize, and this device can be integrated in car-mounted terminal,
As it is shown in figure 5, the concrete structure of this device is as follows: data acquisition module 51, scene Recognition module 52 and
Testing results module 53；
Described data acquisition module 51 is used for obtaining unmanned vehicle service data；
The test equipment that described scene Recognition module 52 is used for by carrying on unmanned vehicle gathers contextual data,
To identify present test field scape；
Described testing results module 53 for according to described service data determine described unmanned vehicle described currently
Whether can be properly functioning under test scene.
The properly functioning device of unmanned vehicle is tested for performing the survey described in the various embodiments described above described in the present embodiment
The method that examination unmanned vehicle is properly functioning, its know-why is similar with the technique effect of generation, repeats no more here.
On the basis of above-described embodiment, described scene Recognition module 52 specifically for, by carrying unmanned
Picture pick-up device on car gathers the ambient image of unmanned vehicle place environment；Scene Recognition unit, for described
Ambient image carries out image recognition, determines described present test field scape according to the scene characteristic of image recognition.
On the basis of above-described embodiment, described scene Recognition module 52 specifically for, by carrying unmanned
Positioner on car determines described unmanned vehicle position；According to unmanned vehicle position and scene location map,
Determine the present test field scape residing for described unmanned vehicle.
On the basis of above-described embodiment, described scene Recognition module 52 specifically for, by carrying unmanned
Test equipment on car gathers contextual data；According to the traffic mark in described contextual data identification scene, with
Determine described present test field scape.
On the basis of above-described embodiment, described testing results module 53 specifically for, if present test field
Scape is public place, it is determined that the pre-set velocity whether travel speed of unmanned vehicle specifies in described public place
In the range of, if, it is determined that described unmanned vehicle can be properly functioning, if not in described public place, it is determined that
Described unmanned vehicle is not normally functioning in described public place.
On the basis of above-described embodiment, described testing results module 53 specifically for, if described current survey
The traffic mark recognized in the scape of examination hall occurs in unmanned vehicle sensing range, determines that described unmanned vehicle whether can
Respective reaction is made according to described traffic mark, if, it is determined that described unmanned vehicle is at described present test field
Can be properly functioning, if not under scape, it is determined that described unmanned vehicle can not normally be transported under described present test field scape
OK.
On the basis of above-described embodiment, described testing results module 53 specifically for, if described traffic mark
Know and determine whether described unmanned vehicle can make any one reaction following for no tooting mark: stop blowing a whistle, stopping
Only blow a whistle and travel to place of safety, stop blowing a whistle after beat double dodge warning nearby vehicle until traveling to place of safety,
And the minimum speed that speed is reduced to after stopping blowing a whistle traffic law permission slowly travels until driving to peace
The whole district.
On the basis of above-described embodiment, described testing results module 53 is additionally operable to: determining described unmanned vehicle
After stopping blowing a whistle, if occurred in described present test field scape recognizes the preset range of described unmanned vehicle
Pedestrian and/or vehicle；Determine that described unmanned vehicle is the most still held in the case of described pedestrian and/or vehicle occur
Row stopping is blown a whistle operation.
On the basis of above-described embodiment, described testing results module 53 specifically for, by decibel tester
Detect the operation whether described unmanned vehicle performs to stop blowing a whistle.
On the basis of above-described embodiment, described testing results module 53 specifically for, if described traffic mark
Knowing is motor vehicle signal lamp, and when described motor vehicle signal lamp is green light, determines whether described unmanned vehicle leads to
OK；If or described traffic mark is motor vehicle signal lamp, and described motor vehicle signal lamp be amber light bright time,
Determine whether the described unmanned vehicle having passed past stop line continues to pass through；If or described traffic mark is motor-driven
Car signal lights, and when described motor vehicle signal lamp is when red, determine whether described unmanned vehicle is closed to traffic.
On the basis of above-described embodiment, described testing results module 53 specifically for, if described traffic mark
Know for lane signal lamp, and described lane signal lamp be green arrow lamp bright time, whether determine described unmanned vehicle
Pass through by current lane direction indication；Or if described traffic mark is lane signal lamp, and described track
Signal lights be red fork-shaped lamp or arrow lamp bright time, determine whether described unmanned vehicle stops at current lane and lead to
OK.
On the basis of above-described embodiment, described testing results module 53 specifically for, if described traffic mark
Know the direction of arrow for directional signal light, and the described direction of arrow is to the left, determines whether described unmanned vehicle enters
Row turns left；If or described traffic mark is the direction of arrow of directional signal light, and the described direction of arrow is
Upwards, determine whether described unmanned vehicle keeps straight on；If or described traffic mark is the arrow of directional signal light
Direction, and the described direction of arrow is to the right, determines whether described unmanned vehicle turns right.
On the basis of above-described embodiment, described testing results module 53 specifically for, if described default friendship
Logical be designated following any one: U-turn sign of forbidding manufacture, no leftturn sign, level crossing, People's Bank of China are horizontal
Road, bridge, sharp turn, abrupt slope, tunnel or be susceptible to danger section determine whether described unmanned vehicle enters
Row turns around.
The device testing unmanned vehicle properly functioning described in the various embodiments described above is used for performing described in the various embodiments described above
The test properly functioning method of unmanned vehicle, its know-why is similar with the technique effect of generation, the most no longer
Repeat.
Note, above are only presently preferred embodiments of the present invention and institute's application technology principle.Those skilled in the art
It will be appreciated that the invention is not restricted to specific embodiment described here, can enter for a person skilled in the art
Row various obvious changes, readjust and substitute without departing from protection scope of the present invention.Therefore, though
So by above example, the present invention is described in further detail, but the present invention be not limited only to
Upper embodiment, without departing from the inventive concept, it is also possible to include other Equivalent embodiments more,
And the scope of the present invention is determined by scope of the appended claims.
Claims (26)
1. test the method that unmanned vehicle is properly functioning for one kind, it is characterised in that including:
Obtain unmanned vehicle service data；
Contextual data is gathered, to identify present test field scape by carrying the test equipment on unmanned vehicle；
Determine whether described unmanned vehicle can be properly functioning under described present test field scape according to described service data.
Method the most according to claim 1, it is characterised in that by carrying the test on unmanned vehicle
Equipment gathers contextual data, to identify that present test field scape includes:
The ambient image of unmanned vehicle place environment is gathered by carrying the picture pick-up device on unmanned vehicle；
Described ambient image is carried out image recognition, determines described current survey according to the scene characteristic of image recognition
Examination hall scape.
Method the most according to claim 1, it is characterised in that by carrying the test on unmanned vehicle
Equipment gathers contextual data, to identify that present test field scape includes:
Described unmanned vehicle position is determined by carrying the positioner on unmanned vehicle；
According to unmanned vehicle position and scene location map, determine the present test field scape residing for described unmanned vehicle.
4. according to the arbitrary described method of claim 1-3, it is characterised in that by carrying on unmanned vehicle
Test equipment gather contextual data, to identify that present test field scape includes:
Contextual data is gathered by carrying the test equipment on unmanned vehicle；
According to the traffic mark in described contextual data identification scene, to determine described present test field scape.
The most according to the method in claim 2 or 3, it is characterised in that determine according to described service data
Whether described unmanned vehicle can properly functioning include under described present test field scape:
If present test field scape is public place, it is determined that whether the travel speed of unmanned vehicle is described public
In the range of the pre-set velocity that place specifies, if, it is determined that described unmanned vehicle can be normal in described public place
Run, if not, it is determined that described unmanned vehicle is not normally functioning in described public place.
Method the most according to claim 4, it is characterised in that determine described according to described service data
Whether unmanned vehicle can properly functioning include under described present test field scape:
If the traffic mark recognized in described present test field scape occurs in unmanned vehicle sensing range, really
Whether fixed described unmanned vehicle can make respective reaction according to described traffic mark, if, it is determined that described unmanned
Car can be properly functioning, if not under described present test field scape, it is determined that described unmanned vehicle is in described current survey
It is not normally functioning under the scape of examination hall.
Method the most according to claim 6, it is characterised in that if the traffic mark recognized occurs
In unmanned vehicle sensing range, determine whether described unmanned vehicle can make respective reaction according to described traffic mark
Including:
If described traffic mark is no tooting mark determine described unmanned vehicle whether can make following any one
Reaction: stop blowing a whistle, stop blowing a whistle and travel to place of safety, stop blowing a whistle after beat double sudden strain of a muscle and warn nearby vehicle
Until travelling to place of safety and speed is reduced to after stopping blowing a whistle the minimum speed that traffic law allows delaying
Go slowly and sail until driving to place of safety.
Method the most according to claim 7, it is characterised in that determining that described unmanned vehicle stops blowing a whistle
Afterwards, also include:
Occur in if described present test field scape recognizes the preset range of described unmanned vehicle pedestrian and/or
Vehicle；
Determine that described unmanned vehicle the most still performs to stop ring in the case of described pedestrian and/or vehicle occur
Flute operates.
9. according to the method described in claim 5 or 7, it is characterised in that determine that described unmanned vehicle whether can
Make stopping reaction of blowing a whistle to include:
The operation whether described unmanned vehicle performs to stop blowing a whistle is detected by decibel tester.
Method the most according to claim 6, it is characterised in that if the traffic mark recognized goes out
Now in unmanned vehicle sensing range, determine whether described unmanned vehicle can be made corresponding anti-according to described traffic mark
Should include:
If described traffic mark is motor vehicle signal lamp, and when described motor vehicle signal lamp is green light, really
Whether fixed described unmanned vehicle passes through；Or
If described traffic mark is motor vehicle signal lamp, and described motor vehicle signal lamp be amber light bright time, really
Whether the described unmanned vehicle surely having passed past stop line continues to pass through；Or
If described traffic mark is motor vehicle signal lamp, and when described motor vehicle signal lamp is when red, really
Whether fixed described unmanned vehicle is closed to traffic.
11. methods according to claim 6, it is characterised in that if the traffic mark recognized goes out
Now in unmanned vehicle sensing range, determine whether described unmanned vehicle can be made corresponding anti-according to described traffic mark
Should include:
If described traffic mark is lane signal lamp, and described lane signal lamp be green arrow lamp bright time,
Determine whether described unmanned vehicle passes through by current lane direction indication；Or
If described traffic mark is lane signal lamp, and described lane signal lamp is red fork-shaped lamp or arrow
When head lamp is bright, determine whether described unmanned vehicle stops at current lane and pass through.
12. methods according to claim 6, it is characterised in that if the traffic mark recognized goes out
Now in unmanned vehicle sensing range, determine whether described unmanned vehicle can be made corresponding anti-according to described traffic mark
Should include:
If described traffic mark is the direction of arrow of directional signal light, and the described direction of arrow is to the left, really
Whether fixed described unmanned vehicle turns left；Or
If described traffic mark is the direction of arrow of directional signal light, and the described direction of arrow is upwards, really
Whether fixed described unmanned vehicle keeps straight on；Or
If described traffic mark is the direction of arrow of directional signal light, and the described direction of arrow is to the right, really
Whether fixed described unmanned vehicle turns right.
13. methods according to claim 6, it is characterised in that if the traffic mark recognized goes out
Now in unmanned vehicle sensing range, determine whether described unmanned vehicle can be made corresponding anti-according to described traffic mark
Should include:
If described default traffic mark be following any one: U-turn sign of forbidding manufacture, no leftturn sign,
Level crossing, crossing, bridge, sharp turn, abrupt slope, tunnel or be susceptible to danger section determine
Whether described unmanned vehicle turns around.
Test the device that unmanned vehicle is properly functioning for 14. 1 kinds, it is characterised in that including:
Data acquisition module, is used for obtaining unmanned vehicle service data；
Scene Recognition module, for by carrying the test equipment collection contextual data on unmanned vehicle, to know
Other present test field scape；
According to described service data, testing results module, for determining that described unmanned vehicle is at described present test field
Whether can be properly functioning under scape.
15. devices according to claim 14, it is characterised in that described scene Recognition module is specifically used
In, the ambient image of unmanned vehicle place environment is gathered by carrying the picture pick-up device on unmanned vehicle；Scene is known
Other unit, for described ambient image is carried out image recognition, determines institute according to the scene characteristic of image recognition
State present test field scape.
16. devices according to claim 14, it is characterised in that described scene Recognition module is specifically used
In, determine described unmanned vehicle position by carrying the positioner on unmanned vehicle；According to unmanned parking stall
Put and scene location map, determine the present test field scape residing for described unmanned vehicle.
17. according to the arbitrary described device of claim 14-16, it is characterised in that described scene Recognition mould
Block specifically for, gather contextual data by carrying test equipment on unmanned vehicle；According to described scene number
According to the traffic mark identified in scene, to determine described present test field scape.
18. according to the device described in claim 15 or 16, it is characterised in that described testing results module
Specifically for, if present test field scape is public place, it is determined that whether the travel speed of unmanned vehicle is in institute
In the range of stating the pre-set velocity that public place specifies, if, it is determined that described unmanned vehicle is in described public place
Can be properly functioning, if not, it is determined that described unmanned vehicle is not normally functioning in described public place.
19. devices according to claim 17, it is characterised in that described testing results module is specifically used
In, if the traffic mark recognized in described present test field scape occurs in unmanned vehicle sensing range, really
Whether fixed described unmanned vehicle can make respective reaction according to described traffic mark, if, it is determined that described unmanned
Car can be properly functioning, if not under described present test field scape, it is determined that described unmanned vehicle is in described current survey
It is not normally functioning under the scape of examination hall.
20. devices according to claim 19, it is characterised in that described testing results module is specifically used
In, if described traffic mark is no tooting mark determine described unmanned vehicle whether can make following any one
Reaction: stop blowing a whistle, stop blowing a whistle and travel to place of safety, stop blowing a whistle after beat double sudden strain of a muscle and warn nearby vehicle
Until travelling to place of safety and speed is reduced to after stopping blowing a whistle the minimum speed that traffic law allows delaying
Go slowly and sail until driving to place of safety.
21. devices according to claim 20, it is characterised in that described testing results module is additionally operable to:
After determining that described unmanned vehicle stops blowing a whistle, if described present test field scape recognizes described unmanned vehicle
Preset range in pedestrian and/or vehicle occur；Determine what described unmanned vehicle occurred described pedestrian and/or vehicle
In the case of the most still perform stopping and blowing a whistle operation.
22. according to the device described in claim 18 or 20, it is characterised in that described testing results module
Specifically for, detect, by decibel tester, the operation whether described unmanned vehicle performs to stop blowing a whistle.
23. devices according to claim 19, it is characterised in that described testing results module is specifically used
In, if described traffic mark is motor vehicle signal lamp, and when described motor vehicle signal lamp is green light, really
Whether fixed described unmanned vehicle passes through；Or if described traffic mark is motor vehicle signal lamp, and described motor-driven
Car signal lights be amber light bright time, determine whether the described unmanned vehicle having passed past stop line continues to pass through；Or such as
The most described traffic mark is motor vehicle signal lamp, and when described motor vehicle signal lamp is when red, determines described
Whether unmanned vehicle is closed to traffic.
24. devices according to claim 19, it is characterised in that described testing results module is specifically used
In, if described traffic mark is lane signal lamp, and described lane signal lamp be green arrow lamp bright time,
Determine whether described unmanned vehicle passes through by current lane direction indication；If or described traffic mark is track
Signal lights, and described lane signal lamp be red fork-shaped lamp or arrow lamp bright time, determine that described unmanned vehicle is
The no current lane that stops at passes through.
25. devices according to claim 19, it is characterised in that described testing results module is specifically used
In, if described traffic mark is the direction of arrow of directional signal light, and the described direction of arrow is to the left, really
Whether fixed described unmanned vehicle turns left；If or described traffic mark is the direction of arrow of directional signal light,
And the described direction of arrow is upwards, determine whether described unmanned vehicle keeps straight on；If or described traffic mark is
The direction of arrow of directional signal light, and the described direction of arrow is to the right, determines whether described unmanned vehicle carries out the right side
Turn.
26. devices according to claim 19, it is characterised in that described testing results module is specifically used
In, if described default traffic mark be following any one: U-turn sign of forbidding manufacture, no leftturn sign,
Level crossing, crossing, bridge, sharp turn, abrupt slope, tunnel or be susceptible to danger section determine
Whether described unmanned vehicle turns around.
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