CN106373416A - Method and device for testing time consumption of traffic light recognition of unmanned vehicle - Google Patents
Method and device for testing time consumption of traffic light recognition of unmanned vehicle Download PDFInfo
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- CN106373416A CN106373416A CN201611083507.3A CN201611083507A CN106373416A CN 106373416 A CN106373416 A CN 106373416A CN 201611083507 A CN201611083507 A CN 201611083507A CN 106373416 A CN106373416 A CN 106373416A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/09623—Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
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Abstract
The application discloses a method and a device for testing the time consumption of traffic light recognition of an unmanned vehicle. A specific embodiment of the method comprises the steps of when the unmanned vehicle is driven towards a traffic light on a test site and the traffic light is positioned within an effective recognition distance of the traffic light recognition operation of the unmanned vehicle, sending a trigger command for switching to a stop signal from a travel signal to the traffic light, and recording the current time as a first time point; recording the time, at which the unmanned vehicle issues a brake or deceleration command after recognizing the change of the traffic light, as a second time point; determining the operation time consumption of the traffic light recognition of the unmanned vehicle according to a difference value of the first time point and the second time point; determining whether the unmanned vehicle passes the test or not according to the magnitude relation between the operation time consumption and a duration threshold value. After the method and the device are adopted, the test for the time consumption of the traffic light recognition of the unmanned vehicle can be completed.
Description
Technical field
The application is related to field of computer technology and in particular to unmanned technical field, more particularly, to tests no
People drives the method and apparatus that the traffic lights identification of vehicle takes.
Background technology
Using driver during conventional truck, road conditions are obtained by modes such as audition, visions, then pass through brains analysis road
Road situation is to determine corresponding driving strategy.For automatic driving vehicle, need to rely on various sensors come around perceiving
Situation, afterwards using word audio to the information current road conditions feature of identification being perceived, and automatically hold according to recognition result
The corresponding driving strategy of row.
However, in prior art when the identification function to automatic driving vehicle improves, generally paying close attention to identification
Accuracy, be not directed to the test time-consuming to identification.
Content of the invention
The purpose of the application be to propose a kind of traffic lights for testing automatic driving vehicle identify time-consuming method and
Device, to solve the technical problem that background section above is mentioned.
In a first aspect, this application provides a kind of traffic lights for testing automatic driving vehicle identifies time-consuming method,
The method includes: travels towards the traffic lights on test site in automatic driving vehicle and traffic lights is in automatic driving vehicle
When within effective identification distance of traffic lights identification operation, send the triggering being switched to stop signal from running signal to traffic lights
Current time is simultaneously recorded as first time point by instruction；Issue after change automatic driving vehicle being identified traffic lights braking or
The moment of deceleration instruction is recorded as the second time point；Automatic driving car is determined according to the difference of first time point and the second time point
Identification traffic lights used by operation take；Based on the time-consuming magnitude relationship with duration threshold value of operation, determine and test whether to pass through.
It is in certain embodiments, above-mentioned that based on the operation time-consuming magnitude relationship with duration threshold value, determination tests whether to pass through,
Including: if operation is time-consuming passing through it is determined that testing less than duration threshold value；If operation is time-consuming is more than duration threshold value it is determined that testing
Do not pass through.
In certain embodiments, based on the time-consuming magnitude relationship with duration threshold value of operation, determine and test whether by it
Before, said method also includes: the travel speed according to automatic driving vehicle and effective identification distance determine duration threshold value.
In certain embodiments, the above-mentioned travel speed according to automatic driving vehicle and effective identification distance determine duration
Threshold value, comprising: obtain the spacing distance between traffic lights and corresponding stop line；According to spacing distance, effectively identification distance with
And travel speed, determine duration threshold value.
In certain embodiments, above-mentioned according to spacing distance, effectively identification distance and travel speed determine duration threshold value,
Including: according to spacing distance, braking that effectively identification distance, travel speed and automatic driving vehicle issue or deceleration-operation
Acceleration, determines duration threshold value.
Second aspect, this application provides a kind of traffic lights for testing automatic driving vehicle identifies time-consuming device,
Said apparatus include: transmitting element, for automatic driving vehicle towards on test site traffic lights travel and traffic lights at
When within effective identification distance of the traffic lights identification operation of automatic driving vehicle, send from running signal switching to traffic lights
To the triggering command of stop signal and current time is recorded as first time point；Recording unit, for by automatic driving vehicle
Issue braking after the change identifying traffic lights or the moment of deceleration instruction is recorded as the second time point；Determining unit, for root
Determine that automatic driving vehicle identifies that the operation used by traffic lights takes according to the difference of first time point and the second time point；Test is single
Unit, for based on the time-consuming magnitude relationship with duration threshold value of operation, determining and testing whether to pass through.
In certain embodiments, above-mentioned test cell is further used for: if operation is time-consuming is less than duration threshold value it is determined that surveying
Pinged；If operation is time-consuming not passing through it is determined that testing more than duration threshold value.
In certain embodiments, said apparatus also include: threshold value determination unit, for the traveling according to automatic driving vehicle
Speed and effective identification distance determine duration threshold value.
In certain embodiments, above-mentioned threshold value determination unit includes: obtain subelement, for obtain traffic lights with corresponding
Spacing distance between stop line；Determination subelement, for according to spacing distance, effectively identification distance and travel speed, really
Regularly long threshold value.
In certain embodiments, above-mentioned determination subelement is further used for: according to spacing distance, effectively identification distance, OK
Sail speed and the acceleration of braking that automatic driving vehicle issues or deceleration-operation, determine duration threshold value.
The traffic lights for testing automatic driving vehicle that the application provides identifies time-consuming method and apparatus so that passing through
The automatic driving vehicle of test can be completed in a relatively short time traffic lights identification, in order to avoid automatic driving vehicle is in actual travel
When traffic lights identification take longer causing cannot stop in time or slow down and then traffic violation.
Brief description
By reading the detailed description that non-limiting example is made made with reference to the following drawings, other of the application
Feature, objects and advantages will become more apparent upon:
Fig. 1 is that the application can apply to exemplary system architecture figure therein；
Fig. 2 is an enforcement identifying time-consuming method according to the application for the traffic lights testing automatic driving vehicle
The flow chart of example；
Fig. 3 a, 3b are identify time-consuming method according to the application for the traffic lights testing automatic driving vehicle one
The schematic diagram of application scenarios；
Fig. 4 is an enforcement identifying time-consuming device according to the application for the traffic lights testing automatic driving vehicle
The structural representation of example；
Fig. 5 is adapted for word audio in the automatic driving vehicle realizing the embodiment of the present application or testing service device
The structural representation of computer system.
Specific embodiment
With reference to the accompanying drawings and examples the application is described in further detail.It is understood that this place is retouched
The specific embodiment stated is used only for explaining related invention, rather than the restriction to this invention.It also should be noted that, in order to
It is easy to describe, in accompanying drawing, illustrate only the part related to about invention.
It should be noted that in the case of not conflicting, the embodiment in the application and the feature in embodiment can phases
Mutually combine.To describe the application below with reference to the accompanying drawings and in conjunction with the embodiments in detail.
Fig. 1 show can apply the traffic lights for testing automatic driving vehicle of the application identify time-consuming method or
Traffic lights for testing automatic driving vehicle identifies the exemplary system architecture 100 of the embodiment of time-consuming device.
As shown in figure 1, system architecture 100 can include testing service device 101, automatic driving vehicle 102 and traffic lights
103.Testing service device 101 can set up communication connection by network with automatic driving vehicle 102 and traffic lights 103.This net
Network can include various connection types, for example wired, wireless communication link or fiber optic cables etc..
Testing service device 101 can send the control instruction of switching traffic light signals to traffic lights 103, for unmanned
Vehicle 102 identifies the signal intensity of traffic lights 103.Testing service device 101 can receive the number of automatic driving vehicle 102 transmission
According to, and the data receiving is analyzed, thus completing the test to automatic driving vehicle 102.
Automatic driving vehicle 102 can be provided with the sensor (not shown) that vehicle-state is detected and enter line number
Word audio (not shown) according to analysis.Sensor can gather the related data of traffic light signals, and word audio can be carried out
Data analysiss simultaneously can be driven according to analyzing to issue to the control system (not shown) of automatic driving vehicle 102 during traffic light signals
Sail instruction.Additionally, word audio can also be uploaded to testing service device 101 by the network between testing service device 101 surveying
Data required for examination.
It should be noted that the traffic lights for testing automatic driving vehicle that the embodiment of the present application is provided identifies and takes
Method typically executed by testing service device 101, some steps can also be executed by automatic driving vehicle 102；Correspondingly, it is used for
The device that the traffic lights identification of test automatic driving vehicle is time-consuming is generally positioned in testing service device 101, and some units also may be used
To be arranged in automatic driving vehicle 102.
It should be understood that the number of the automatic driving vehicle, traffic lights and testing service device in Fig. 1 is only schematically.
According to realizing needs, can have any number of automatic driving vehicle, traffic lights and testing service device.
With continued reference to Fig. 2, show identified for the traffic lights testing automatic driving vehicle according to the application time-consuming
The flow process 200 of one embodiment of method.The described traffic lights for testing automatic driving vehicle identifies time-consuming method,
Comprise the following steps:
Step 201, automatic driving vehicle towards on test site traffic lights travel and traffic lights be in unmanned
When within effective identification distance of the traffic lights identification operation of vehicle, send to traffic lights and be switched to stop signal from running signal
Triggering command and current time is recorded as first time point.
In the present embodiment, automatic driving vehicle to be tested can be towards traffic lights direction running on test site.
Traffic lights for testing automatic driving vehicle identifies time-consuming method operation electronic equipment thereon (for example shown in Fig. 1
Testing service device) can the distance of automatic driving vehicle and traffic lights reach this automatic driving vehicle traffic lights identification operation
Effective identification distance within when, send the triggering command being switched to stop signal from running signal to traffic lights, this triggering refers to
Make the traffic lights causing change can be identified for automatic driving vehicle.Electronic equipment can by send this triggering command when
Between be recorded as first time point.Wherein, the distance of automatic driving vehicle and traffic lights is reached with the traffic of this automatic driving vehicle
Identification within the effective identification distance of lamp identification operation can be analyzed by the data that automatic driving vehicle uploads and complete
Become and be analyzed and complete it is also possible to carry out testing data that is obtained and being transferred to electronic equipment by other test equipments.
Above-mentioned triggering command can by green light, traffic lights be switched to the instruction of red light or green light switches to the finger of amber light
Order or the instruction that amber light is switched to red light.
Step 202, issue after change automatic driving vehicle being identified traffic lights braking or deceleration instruction when engrave
Record as the second time point.
In the present embodiment, the traffic lights being caused based on sending triggering command to traffic lights in step 201 is from traveling letter
Number to stop signal change, above-mentioned automatic driving vehicle can detect the change information of traffic light signals by sensor,
By vehicle electronic device, automatic driving vehicle identifies that the corresponding driving strategy of this change information is braking or deceleration plan afterwards
Slightly, and by control parts braking or deceleration instruction are issued to vehicle.Thus, automatic driving vehicle can be by automatic driving vehicle
Issue braking or the moment of deceleration instruction is recorded as the second time point and this second time point is uploaded to electronic equipment, electronics sets
Standby this second time point i.e. recordable.
Step 203, determines automatic driving vehicle identification traffic lights institute according to the difference of first time point and the second time point
Operation takes.
In the present embodiment, based on the second time obtained by the first time point obtained by step 201 and step 202
Point, electronic equipment can determine automatic driving vehicle identification traffic lights institute according to the difference of this first time point and the second time point
Operation takes.First time point is to send the time point of triggering command, that is, correspond to the time point that traffic lights produces change.The
Two time points are the time points issuing braking or deceleration instruction, that is, correspond to automatic driving vehicle and completed to traffic lights change
The time of identification.Therefore, the time difference of first time point and the second time point, corresponding is automatic driving vehicle identification traffic lights
The time passing during change, i.e. operation used by identification traffic lights takes.
Step 204, based on the time-consuming magnitude relationship with duration threshold value of operation, determines and tests whether to pass through.
In the present embodiment, electronic equipment can obtain the duration threshold value pre-setting or calculating, and will be based on step
Operation obtained by 203 is taken and is compared with this duration threshold value, thus determining test according to the magnitude relationship obtained by relatively
Whether pass through.
In some optional implementations of the present embodiment, if step 204 may include that operation is time-consuming is less than duration threshold
Value is it is determined that test is passed through；If operation is time-consuming not passing through it is determined that testing more than duration threshold value.In this implementation, work as behaviour
When being less than duration threshold value when making trouble, then explanation identification traffic lights change operation used takes shorter, i.e. automatic driving vehicle
Recognition speed is very fast, has higher performance, and therefore test is passed through.Conversely, then proving that automatic driving vehicle identification traffic lights becomes
Change operation used time-consuming longer, that is, the recognition speed of automatic driving vehicle is relatively slowly it is impossible to ensure that vehicle leaves within a short period of time
Begin to slow down or brake, probably due to cannot stopping in time or retrieving and lead to traffic violation very in actual Driving Scene
To causing vehicle accident, therefore test and do not pass through.
In some optional implementations of the present embodiment, before the step 204, said method also includes: according to unmanned
Drive the travel speed of vehicle and effective identification distance determines duration threshold value.For automatic driving vehicle, operation is time-consuming
Whether satisfaction is actually needed the travel speed with automatic driving vehicle and effectively identifies distance dependent.Constant in other conditions
In the case of, vehicle drive speed is faster, then the braking distance needed for vehicle is longer, then supply the driving of vehicle identification traffic lights change
Distance is shorter, and therefore vehicle must complete to identify within a short period of time.Accordingly, it would be desirable to duration threshold value is set to shorter number
Value, that is, duration threshold value should be in negative correlation with the travel speed of automatic driving vehicle.Identify distance for effective, in theory effectively
Identification distance is longer, then vehicle can proceed by identification in time point earlier, then the operating range leaving vehicle identification for is got over
Long, corresponding duration threshold value then could be arranged to larger numerical value, and therefore duration threshold value should be with automatic driving vehicle to traffic
Effective identification distance that lamp is identified becomes positive correlation.
In some optional implementations of the present embodiment, the above-mentioned travel speed according to automatic driving vehicle and effectively
Identification distance determines that duration threshold value may include that the spacing distance obtaining between traffic lights and corresponding stop line；According to interval
Distance, effectively identification distance and travel speed, determine duration threshold value.In practice, between traffic lights and corresponding stop line
Spacing distance be also impact duration threshold value factor.When spacing distance is longer, then effectively supply identification process in identification distance
The distance travelling can respond shortening, and therefore duration threshold value becomes negatively correlated with spacing distance.
In some optional implementations of the present embodiment, above-mentioned according to spacing distance, effectively identification distance and travelling
Speed, determines duration threshold value, comprising: according to spacing distance, effectively identify that distance, travel speed and automatic driving vehicle issue
Braking or deceleration-operation acceleration, determine duration threshold value.When determining duration threshold value, except considering spacing distance, effectively
In addition it is also necessary to consider the acceleration of braking or deceleration-operation outside identification distance, travel speed.Acceleration is bigger, then vehicle needs more
Short distance completes to issue braking or deceleration-operation to the process of parking completely, and the therefore duration for identification traffic lights change can take
Bigger numerical, therefore duration threshold value are proportional with the acceleration of braking or deceleration-operation.
With continued reference to Fig. 3 a, 3b, Fig. 3 a, 3b are to be known for the traffic lights testing automatic driving vehicle according to the present embodiment
Not Hao Shi the application scenarios of method a schematic diagram.In the application scenarios of Fig. 3 a, 3b, s1 is traffic lights site,
S2 is stop line site, reaches with the distance of traffic lights in effective place s3 identifying in the distance in automatic driving vehicle
When, send the trigger being switched to red light from green light to traffic lights, the change of traffic lights can identify for automatic driving vehicle,
Now record time point is t1；Afterwards, when vehicle reaches place s4, vehicle has identified that the change of traffic lights turns to green light and cuts
It is changed to red light thus issuing braking instruction, the time that record issues braking instruction is t2；Afterwards, identification traffic lights can be calculated
The operation of change takes t, wherein t=t2-t1；Finally, by t and duration threshold value t pre-setting0It is compared, when t is less than t0
When, then test is passed through, and otherwise tests and does not pass through.
The method that above-described embodiment of the application provides is by the test time-consuming to traffic lights identification so that passing through test
Automatic driving vehicle can be completed in a relatively short time traffic lights identification, in order to avoid automatic driving vehicle traffic in actual travel
Lamp identification takes longer causing and cannot stop in time or slow down and then traffic violation.
With further reference to Fig. 4, as the realization to method shown in above-mentioned each figure, this application provides a kind of be used for test no
One embodiment of the device that the traffic lights identification of people's driving vehicle takes, this device embodiment is implemented with the method shown in Fig. 2
Example is corresponding, and this device specifically can apply in the testing service device shown in Fig. 1.
As shown in figure 4, the traffic lights for testing automatic driving vehicle described by the present embodiment identifies time-consuming device
400 include: transmitting element 401, recording unit 402, determining unit 403 and test cell 404.Wherein, transmitting element 401 is used for
In automatic driving vehicle, towards the traffic lights traveling on test site and traffic lights is in the traffic lights identification of automatic driving vehicle
When within the effective identification distance of operation, to traffic lights send from running signal be switched to stop signal triggering command and ought
The front moment is recorded as first time point；Recording unit 402 issues after being used for identifying automatic driving vehicle the change of traffic lights
The moment of braking or deceleration instruction is recorded as the second time point；Determining unit 403 was used for according to first time point and the second time
The difference of point determines that automatic driving vehicle identifies that the operation used by traffic lights takes；And test cell 404 is used for based on operation consumption
When with the magnitude relationship of duration threshold value, determine and test whether to pass through.
In the present embodiment, the traffic lights for testing automatic driving vehicle identifies the transmitting element of time-consuming device 400
401st, the step that the concrete process of recording unit 402, determining unit 403 and test cell 404 may be referred to the corresponding embodiment of Fig. 2
201st, step 202, step 203 and step 204, repeats no more here.
In some implementations of the present embodiment, test cell 404 is further used for: if operation is time-consuming is less than duration threshold
Value is it is determined that test is passed through；If operation is time-consuming not passing through it is determined that testing more than duration threshold value.The concrete place of this implementation
Reason may be referred to corresponding implementation in the corresponding embodiment of Fig. 2, repeats no more here.
In some implementations of the present embodiment, device 400 also includes: threshold value determination unit (not shown), for root
Travel speed and effective identification distance according to automatic driving vehicle determine duration threshold value.The concrete process of this implementation is permissible
With reference to corresponding implementation in the corresponding embodiment of Fig. 2, repeat no more here.
In some implementations of the present embodiment, threshold value determination unit includes: obtains subelement (not shown), is used for obtaining
Take the spacing distance between traffic lights and corresponding stop line；Determination subelement (not shown), for according to spacing distance, effectively
Identification distance and travel speed, determine duration threshold value.The concrete process of this implementation may be referred in the corresponding embodiment of Fig. 2
Corresponding implementation, repeats no more here.
In some optional implementations of the present embodiment, determination subelement is further used for: according to spacing distance, effectively
Braking or the acceleration of deceleration-operation that identification distance, travel speed and automatic driving vehicle issue, determine duration threshold value.Should
The concrete process of implementation may be referred to corresponding implementation in the corresponding embodiment of Fig. 2, repeats no more here.
Below with reference to Fig. 5, it illustrates the electronics being suitable in the automatic driving vehicle realizing the embodiment of the present application big
The structural representation of the computer system 500 of brain or testing service device.
As shown in figure 5, computer system 500 includes CPU (cpu) 501, it can be read-only according to being stored in
Program in memorizer (rom) 502 or be loaded into program random access storage device (ram) 503 from storage part 508 and
Execute various suitable actions and process.In ram 503, the system that is also stored with 500 operates required various program datas.
Cpu 501, rom 502 and ram 503 are connected with each other by bus 504.Input/output (i/o) interface 505 is also connected to always
Line 504.
Connected to i/o interface 505 with lower component: include the importation 506 of keyboard, mouse etc.；Penetrate including such as negative electrode
Spool (crt), liquid crystal display (lcd) etc. and the output par, c 507 of speaker etc.；Storage part 508 including hard disk etc.；
And include the communications portion 509 of the NIC of lan card, modem etc..Communications portion 509 via such as because
The network execution communication process of special net.Driver 510 connects to i/o interface 505 also according to needs.Detachable media 511, such as
Disk, CD, magneto-optic disk, semiconductor memory etc., are arranged in driver 510, as needed in order to read from it
Computer program as needed be mounted into storage part 508.
Especially, in accordance with an embodiment of the present disclosure, the process above with reference to flow chart description may be implemented as computer
Software program.For example, embodiment of the disclosure includes a kind of computer program, and it includes being tangibly embodied in machine readable
Computer program on medium, this computer program comprises the program code for the method shown in execution flow chart.So
Embodiment in, this computer program can be downloaded and installed from network by communications portion 509, and/or from detachable
Medium 511 is mounted.
Flow chart in accompanying drawing and block diagram are it is illustrated that according to the system of the various embodiment of the application, method and computer journey
The architectural framework in the cards of sequence product, function and operation.At this point, each square frame in flow chart or block diagram can generation
A part for one module of table, program segment or code, a part for this module, program segment or code comprises one or more use
Executable instruction in the logic function realizing regulation.It should also be noted that at some as in the realization replaced, being marked in square frame
The function of note can also be to occur different from the order being marked in accompanying drawing.For example, two square frames succeedingly representing are actually
Can execute substantially in parallel, they can also execute sometimes in the opposite order, this is depending on involved function.Also to note
Meaning, the combination of each square frame in block diagram and/or flow chart and the square frame in block diagram and/or flow chart, can be with holding
The special hardware based system of the fixed function of professional etiquette or operation is realizing, or can use specialized hardware and computer instruction
Combination realizing.
It is described in involved unit in the embodiment of the present application to realize by way of software it is also possible to pass through hard
The mode of part is realizing.Described unit can also be arranged within a processor, for example, it is possible to be described as: a kind of processor bag
Include transmitting element, recording unit, determining unit and test cell.Wherein, the title of these units not structure under certain conditions
This unit restriction of itself in pairs, for example, recording unit is also described as " automatic driving vehicle being identified traffic lights
Issue braking after change or the moment of deceleration instruction is recorded as the unit of the second time point ".
As another aspect, present invention also provides a kind of nonvolatile computer storage media, this non-volatile calculating
Machine storage medium can be the nonvolatile computer storage media included in device described in above-described embodiment；Can also
It is individualism, without the nonvolatile computer storage media allocated in terminal.Above-mentioned nonvolatile computer storage media
Be stored with one or more program, when this one or more program is executed by an equipment so that this equipment: unmanned
Drive vehicle towards the traffic lights traveling on test site and described traffic lights is in the traffic lights knowledge of described automatic driving vehicle
When not within effective identification distance of operation, send the triggering command being switched to stop signal from running signal to described traffic lights
And current time is recorded as first time point；Issue after the change described automatic driving vehicle being identified traffic lights braking or
The moment of deceleration instruction is recorded as the second time point；Difference according to described first time point and described second time point determines no
The operation that people drives used by vehicle identification traffic lights takes；Based on the time-consuming magnitude relationship with duration threshold value of described operation, determine
Test whether to pass through.
Above description is only the preferred embodiment of the application and the explanation to institute's application technology principle.People in the art
Member is it should be appreciated that involved invention scope is however it is not limited to the technology of the particular combination of above-mentioned technical characteristic in the application
Scheme, also should cover simultaneously in the case of without departing from described inventive concept, be carried out by above-mentioned technical characteristic or its equivalent feature
Combination in any and other technical schemes of being formed.Such as features described above has similar work(with (but not limited to) disclosed herein
The technical scheme that the technical characteristic of energy is replaced mutually and formed.
Claims (10)
1. a kind of traffic lights for testing automatic driving vehicle identifies time-consuming method it is characterised in that methods described includes:
Travel towards the traffic lights on test site in automatic driving vehicle and described traffic lights is in described automatic driving vehicle
The effective identification distance of traffic lights identification operation within when, send to described traffic lights and be switched to stop signal from running signal
Triggering command and current time is recorded as first time point；
Issue braking after the change described automatic driving vehicle being identified traffic lights or the moment of deceleration instruction is recorded as second
Time point；
According to used by the difference of described first time point and described second time point determines automatic driving vehicle identification traffic lights
Operation is time-consuming；
Based on the time-consuming magnitude relationship with duration threshold value of described operation, determine and test whether to pass through.
2. method according to claim 1 is it is characterised in that described operate the time-consuming size with duration threshold value based on described
Relation, determines and tests whether to pass through, comprising:
If described operation is time-consuming passing through it is determined that testing less than described duration threshold value；
If described operation is time-consuming not passing through it is determined that testing more than described duration threshold value.
3. method according to claim 2 is it is characterised in that closed based on the time-consuming size with duration threshold value of described operation
System, determines and tests whether that methods described also includes by before:
Travel speed according to described automatic driving vehicle and described effective identification distance determine described duration threshold value.
4. method according to claim 3 it is characterised in that the described travel speed according to described automatic driving vehicle with
And described effective identification distance determine described duration threshold value, comprising:
Obtain the spacing distance between traffic lights and corresponding stop line；
According to described spacing distance, described effective identification distance and described travel speed, determine described duration threshold value.
5. method according to claim 4 it is characterised in that described according to described spacing distance, described effective identification away from
From and described travel speed determine described duration threshold value, comprising:
Issued according to described spacing distance, described effective identification distance, described travel speed and described automatic driving vehicle
Braking or the acceleration of deceleration-operation, determine described duration threshold value.
6. a kind of traffic lights for testing automatic driving vehicle identifies time-consuming device it is characterised in that described device includes:
Transmitting element, for automatic driving vehicle travel towards the traffic lights on test site and described traffic lights be in described
When within effective identification distance of the traffic lights identification operation of automatic driving vehicle, send to described traffic lights and cut from running signal
Change to the triggering command of stop signal and current time is recorded as first time point；
Recording unit, for described automatic driving vehicle is identified issue after the change of traffic lights braking or deceleration instruction when
It is recorded as the second time point quarter；
According to the difference of described first time point and described second time point, determining unit, for determining that automatic driving vehicle identifies
Operation used by traffic lights takes；
Test cell, for based on the time-consuming magnitude relationship with duration threshold value of described operation, determining and testing whether to pass through.
7. device according to claim 6 is it is characterised in that described test cell is further used for:
If described operation is time-consuming passing through it is determined that testing less than described duration threshold value；
If described operation is time-consuming not passing through it is determined that testing more than described duration threshold value.
8. device according to claim 6 is it is characterised in that described device also includes:
Threshold value determination unit, determines institute for the travel speed according to described automatic driving vehicle and described effective identification distance
State duration threshold value.
9. device according to claim 8 is it is characterised in that described threshold value determination unit includes:
Obtain subelement, for obtaining the spacing distance between traffic lights and corresponding stop line；
Determination subelement, for according to described spacing distance, described effective identification distance and described travel speed, determining described
Duration threshold value.
10. device according to claim 9 is it is characterised in that described determination subelement is further used for:
Issued according to described spacing distance, described effective identification distance, described travel speed and described automatic driving vehicle
Braking or the acceleration of deceleration-operation, determine described duration threshold value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611083507.3A CN106373416A (en) | 2016-11-30 | 2016-11-30 | Method and device for testing time consumption of traffic light recognition of unmanned vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611083507.3A CN106373416A (en) | 2016-11-30 | 2016-11-30 | Method and device for testing time consumption of traffic light recognition of unmanned vehicle |
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| CN201611083507.3A Pending CN106373416A (en) | 2016-11-30 | 2016-11-30 | Method and device for testing time consumption of traffic light recognition of unmanned vehicle |
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| CN (1) | CN106373416A (en) |
Cited By (3)
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