CN106710028B - Method and apparatus for testing wakeup time of unmanned vehicle - Google Patents
Method and apparatus for testing wakeup time of unmanned vehicle Download PDFInfo
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Abstract
Methods and apparatus for testing wakeup times of an unmanned vehicle are disclosed. One embodiment of the method comprises: detecting an event for triggering the unmanned vehicle to switch from a standby state to a driving state when the unmanned vehicle is in the standby state; when the event is detected, recording the current time as a first time point; detecting whether the unmanned vehicle is in a running state or not, and recording the time when the unmanned vehicle is detected to be in the running state as a second time point; determining the time consumed for waking up according to the difference between the first time point and the second time point; and determining whether the test is passed or not based on the wake-up time and the time threshold. This embodiment enables a wake-up time consuming test of the unmanned vehicle switching from a standby state to a driving state.
Description
Technical Field
The application relates to the technical field of computers, in particular to the technical field of unmanned vehicles, and particularly relates to a method and a device for testing awakening time consumption of an unmanned vehicle.
Background
With the continuous maturity of the unmanned technology, in order to save the energy consumption of the unmanned vehicle, the unmanned vehicle can switch the system to a standby state when meeting the need of temporary parking during the driving process. When the parking condition is released, the unmanned vehicle can be switched from the standby state to the running state again, thereby continuing running.
However, in actual use of the above-described technology, the vehicle needs to complete the switching from the standby state to the running state in a short time so that the vehicle can be started in time when running is permitted. However, there is currently no technique to test the wake-up time of an unmanned vehicle.
Disclosure of Invention
It is an object of the present application to provide a method and apparatus for testing the wake-up latency of an unmanned vehicle to solve the technical problems mentioned in the background section above.
In a first aspect, the present application provides a method for testing the wake-up time of an unmanned vehicle, the method comprising: detecting an event for triggering the unmanned vehicle to switch from a standby state to a driving state when the unmanned vehicle is in the standby state; when an event is detected, recording the current time as a first time point; detecting whether the unmanned vehicle is in a running state or not, and recording the time when the unmanned vehicle is detected to be in the running state as a second time point; determining the time consumed for waking up according to the difference between the first time point and the second time point; and determining whether the test is passed or not based on the wake-up time and the time threshold.
In some embodiments, the determining whether the test passes or not based on the wake-up time and the duration threshold includes: if the awakening time is less than the time threshold, determining that the test is passed; and if the wake-up time is greater than the time threshold, determining that the test is not passed.
In some embodiments, the detecting an event for triggering the unmanned vehicle to switch from the standby state to the driving state includes: an event that a traffic light in front of the unmanned vehicle is switched from a stop signal to a travel signal is detected.
In some embodiments, the detecting an event for triggering the unmanned vehicle to switch from the standby state to the driving state includes: an event of an increase in the separation of the unmanned vehicle from the preceding vehicle is detected.
In some embodiments, before determining whether the test passes based on the wake up time and the duration threshold, the method further comprises: acquiring judgment time for judging the occurrence of the event by a user and action time for starting an action on the vehicle when the user judges the occurrence of the event; and determining a duration threshold value based on the judgment duration and the action duration.
In a second aspect, the present application provides an apparatus for testing the wake up time of an unmanned vehicle, the apparatus comprising: the unmanned vehicle control device comprises a detection unit, a control unit and a control unit, wherein the detection unit is used for detecting an event for triggering the unmanned vehicle to switch from a standby state to a running state when the unmanned vehicle is in the standby state; the first recording unit is used for recording the current time as a first time point when the event is detected; the second recording unit is used for detecting whether the unmanned vehicle is in a running state or not and recording the time when the unmanned vehicle is detected to be in the running state as a second time point; the determining unit is used for determining the awakening time consumption according to the difference between the first time point and the second time point; and the testing unit is used for determining whether the test is passed or not based on the wake-up time and the time threshold.
In some embodiments, the test unit is further configured to: if the awakening time is less than the time threshold, determining that the test is passed; and if the wake-up time is greater than the time threshold, determining that the test is not passed.
In some embodiments, the above detection unit is further configured to: an event that a traffic light in front of the unmanned vehicle is switched from a stop signal to a travel signal is detected.
In some embodiments, the above detection unit is further configured to: an event of an increase in the separation of the unmanned vehicle from the preceding vehicle is detected.
In some embodiments, the above apparatus further comprises: the acquisition unit is used for acquiring the judgment time length for judging the occurrence of the event by a user and the action time length for starting the action on the vehicle when the user judges the occurrence of the event; and the threshold value determining unit is used for determining the time length threshold value based on the judging time length and the action time length.
According to the method and the device for testing the unmanned vehicle, the unmanned vehicle can complete the awakening operation of switching from the standby state to the running state in a short time through the awakening time-consuming test, so that the unmanned vehicle cannot be started in time due to the fact that the unmanned vehicle is awakened for a long time in actual running, and then traffic jam is caused.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
FIG. 1 is an exemplary system architecture diagram in which the present application may be applied;
FIG. 2 is a flow diagram of one embodiment of a method for testing the wake up time of an unmanned vehicle according to the present application;
FIG. 3 is a schematic diagram of one application scenario of a method for testing the wake up time of an unmanned vehicle according to the present application;
FIG. 4 is a schematic block diagram illustrating one embodiment of an apparatus for testing the wake up time of an unmanned vehicle according to the present application;
FIG. 5 is a schematic block diagram of a computer system suitable for use in implementing the electronic brain or test server of the unmanned vehicle in embodiments of the present application.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the related invention are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
Fig. 1 illustrates an exemplary system architecture 100 to which embodiments of the present method for testing the wake up time of an unmanned vehicle or an apparatus for testing the wake up time of an unmanned vehicle may be applied.
As shown in fig. 1, the system architecture 100 may include a test server 101, a network 102, and an unmanned vehicle 103. The network 102 is used to provide a medium for a communication link between the test server 101 and the unmanned vehicle 103. Network 102 may include various connection types, such as wired, wireless communication links, or fiber optic cables, to name a few.
The test server 101 may detect an event for triggering the unmanned vehicle to switch from the standby state to the driving state through a sensor. In addition, the test server 101 may receive data transmitted by the unmanned vehicle 103 and analyze the received data, thereby completing a test of the unmanned vehicle 103.
The unmanned vehicle 103 may be equipped with sensors (not shown) that detect the vehicle state and an electronic brain (not shown) that performs data analysis. The sensors may collect road condition data, and the electronic brain may perform data analysis on the road condition data and may issue a control instruction to a control system (not shown) of the unmanned vehicle 103 according to the analysis result. The control instruction may be used to switch the operating state of the unmanned vehicle 103. In addition, the electronic brain can also upload data required for the test to the test server 101 through the network 102.
It should be noted that the method for testing the wake-up time of the unmanned vehicle provided in the embodiment of the present application is generally performed by the test server 101, and some steps may also be performed by the unmanned vehicle 103; accordingly, the wake-up time consuming means for testing the unmanned vehicle is generally provided in the test server 101, and some units may be provided in the unmanned vehicle 103.
It should be understood that the number of unmanned vehicles, networks, and test servers in FIG. 1 is illustrative only. There may be any number of unmanned vehicles, networks, and test servers, as desired for implementation.
With continued reference to FIG. 2, a flow 200 of one embodiment of a method for testing the wake up time of an unmanned vehicle according to the present application is shown. A described method for testing the wake-up time of an unmanned vehicle, comprising the steps of:
in step 201, when the unmanned vehicle is in a standby state, an event for triggering the unmanned vehicle to switch from the standby state to a driving state is detected.
In this embodiment, the electronic device (e.g., the test server shown in fig. 1) on which the method for testing the wake-up time of the unmanned vehicle operates may detect an event for triggering the unmanned vehicle to switch from the standby state to the driving state while the unmanned vehicle is in the standby state. For example, the event may be an event in which a traffic police makes a motor vehicle passing gesture.
In some optional implementations of the present embodiment, the detecting of the event for triggering the unmanned vehicle to switch from the standby state to the driving state in step 201 may include: an event that a traffic light in front of the unmanned vehicle is switched from a stop signal to a travel signal is detected. For the unmanned vehicle, the unmanned vehicle should be in a parking state when the traffic light is a stop signal, and the unmanned vehicle can run when the traffic light is a running signal. Therefore, the event that the traffic light is switched from the stop signal to the running signal can trigger that the unmanned vehicle needs to be switched from the standby state to the running state. In practice, the switching of the traffic light from the stop signal to the running signal may be set according to traffic regulations in various regions, for example, the switching may be performed from a red light signal to a green light signal, or from a red light signal to a yellow light signal, or from a yellow light signal to a green light signal. The event that the traffic light is switched from the stop signal to the travel signal may be triggered by the electronic device sending a signal switching command to the traffic light, or may be triggered by other control means.
In some optional implementations of the present embodiment, the detecting of the event for triggering the unmanned vehicle to switch from the standby state to the driving state in step 201 may include: an event of an increase in the separation of the unmanned vehicle from the preceding vehicle is detected. For the unmanned vehicle, the unmanned vehicle should be in a parking state when the vehicle is jammed, and the unmanned vehicle can run when the vehicle is released. The jammed state release is a specific scenario in which the unmanned vehicle needs to be switched from the standby state to the running state. In general, an increase in the distance of the leading vehicle from the unmanned vehicle may be an event indicative of the release of the stuck state, which may trigger the unmanned vehicle to switch from the standby state to the driving state. The event of the distance between the unmanned vehicle and the preceding vehicle increasing may be triggered by the electronic device transmitting a travel command to the preceding vehicle to cause the preceding vehicle to travel forward, or may be triggered by another control means.
In the present embodiment, based on the detection operation performed in step 201, when the above event is detected, the electronic device may record the current time as the first time point. Typically, the electronic device may detect such events using a connected sensing device, which may include, but is not limited to, a camera, a lidar, and the like.
In this embodiment, the electronic device may detect whether the unmanned vehicle is in a running state. Wherein the unmanned vehicle performs a wake-up operation for switching from the standby state to the driving state upon detection of the event. When the unmanned vehicle finishes the awakening operation, the unmanned vehicle is in a running state. Therefore, the electronic device may detect whether the unmanned vehicle is in a running state, and record the current time as the second time point when the unmanned vehicle is detected to be in the running state.
And step 204, determining the time consumed for waking up according to the difference between the first time point and the second time point.
In this embodiment, based on the first time point obtained in step 201 and the second time point obtained in step 202, the electronic device may determine that the operation time for the wakeup operation of switching the unmanned vehicle from the standby state to the driving state is consumed according to a difference between the first time point and the second time point. The first time point is a time point at which an event occurs, i.e., a time point at which a corresponding wake-up operation starts to be performed. The second time point is a time point at which the unmanned vehicle is in a running state, i.e., a time point corresponding to the end of the wake-up operation. Therefore, the time difference between the first time point and the second time point corresponds to the time elapsed during the waking up of the unmanned vehicle, i.e., the time consumed for the operation of the waking up.
In this embodiment, the electronic device may obtain a preset or calculated time threshold, and compare the wake-up time obtained in step 203 with the time threshold, so as to determine whether the test passes according to the magnitude relationship obtained by the comparison.
In some optional implementations of this embodiment, step 204 may include: if the awakening time is less than the time threshold, determining that the test is passed; and if the wake-up time is greater than the time threshold, determining that the test is failed. In this implementation, when the operation elapsed time is less than the duration threshold, it indicates that the operation elapsed time for waking up is short, that is, the unmanned vehicle wakes up faster, has higher performance, and thus the test passes. On the contrary, it is proved that the operation time consumed by the unmanned vehicle awakening operation is long, that is, the awakening speed of the unmanned vehicle is slow, so that the unmanned vehicle cannot be suitable for ensuring that the vehicle returns to the running state within a short time, the unmanned vehicle cannot be started in time in an actual scene with a high possibility, and traffic jam is easily caused, so that the test cannot be passed.
In some optional implementations of this embodiment, before step 205, the method further includes: acquiring judgment time for judging the occurrence of the event by a user and action time for starting an action on a vehicle when the user judges the occurrence of the event; and determining a duration threshold value based on the judgment duration and the action duration.
With continued reference to fig. 3, fig. 3 is a schematic diagram of an application scenario of the method for testing the wake-up time of an unmanned vehicle according to the present embodiment. In the application scenario of fig. 3, the traffic light is initially in the red light signaling state, and the unmanned vehicle stops at S based on the red light signaling state of the traffic light, while the unmanned vehicle is in the standby state for energy saving. Then, an event that the traffic light is switched from the red light to the green light triggers the unmanned vehicle to switch from the standby state to the driving state occurs. The electronic device records the current point in time as T1 when it detects the event. When the unmanned vehicle detects this event, the electronic device starts to perform the wake-up operation of switching from the standby state to the running state, and records the current time as T2 when the unmanned vehicle is in the running state. After that, the electronic device may calculate the operation elapsed time T of the wake-up operation, where T is T2-T1. Finally, the electronic equipment compares t with a preset time length threshold t0Comparing, when t is less than t0And if so, determining that the test is passed, otherwise, determining that the test is not passed.
According to the method provided by the embodiment of the application, the test of the awakening time is carried out, so that the tested unmanned vehicle can be awakened from the standby state to the running state in a short time, and the condition that the unmanned vehicle cannot be started in time due to long awakening time in actual running so as to cause traffic jam is avoided.
With further reference to fig. 4, as an implementation of the methods shown in the above figures, the present application provides an embodiment of an apparatus for testing the wake-up time of an unmanned vehicle, which corresponds to the method embodiment shown in fig. 2, and which is particularly applicable to various test servers.
As shown in fig. 4, the apparatus 400 for testing the wake-up time of an unmanned vehicle described in the present embodiment includes: a detection unit 401, a first recording unit 402, a second recording unit 403, a determination unit 404, and a test unit 405. Wherein the detection unit 401 is configured to detect an event for triggering the unmanned vehicle to switch from the standby state to the driving state when the unmanned vehicle is in the standby state; the first recording unit 402 is configured to record a current time as a first time point when the event is detected; the second recording unit 403 is configured to detect whether the unmanned vehicle is in a running state, and record a time at which the unmanned vehicle is detected to be in the running state as a second time point; the determining unit 404 is configured to determine a wake-up time according to a difference between the first time point and the second time point; and the test unit 405 is used to determine whether the test passes based on the wake-up time and the duration threshold.
In this embodiment, for specific processing of the detecting unit 401, the first recording unit 402, the second recording unit 403, the determining unit 404, and the testing unit 405 of the apparatus 400 for testing the wake-up time of the unmanned vehicle, reference may be made to step 201, step 202, step 203, step 204, and step 205 in the corresponding embodiment of fig. 2, which is not described herein again.
In some optional implementations of the present embodiment, the test unit 405 is further configured to: if the awakening time is less than the time threshold, determining that the test is passed; and if the wake-up time is greater than the time threshold, determining that the test is not passed. The specific processing of this implementation may refer to a corresponding implementation in the corresponding embodiment of fig. 2.
In some optional implementations of the present embodiment, the detecting unit 401 is further configured to: an event that a traffic light in front of the unmanned vehicle is switched from a stop signal to a travel signal is detected. The specific processing of this implementation may refer to a corresponding implementation in the corresponding embodiment of fig. 2.
In some optional implementations of the present embodiment, the detecting unit 401 is further configured to: an event of an increase in the separation of the unmanned vehicle from the preceding vehicle is detected. The specific processing of this implementation may refer to a corresponding implementation in the corresponding embodiment of fig. 2.
In some optional implementations of this embodiment, the apparatus 400 further includes: a collecting unit (not shown) for collecting a judgment time length for the user to judge the occurrence of the event and an action time length for the user to send a starting action to the vehicle when judging the occurrence of the event; a threshold determination unit (not shown) for determining the time length threshold based on the judgment time length and the action time length.
Referring now to fig. 5, there is shown a schematic block diagram of a computer system 500 suitable for use in implementing the electronic brain or server of the unmanned vehicle in the embodiments of the present application.
As shown in fig. 5, the computer system 500 includes a Central Processing Unit (CPU)501 that can perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM)502 or a program loaded from a storage section 508 into a Random Access Memory (RAM) 503. In the RAM 503, various programs and data necessary for the operation of the system 500 are also stored. The CPU 501, ROM 502, and RAM 503 are connected to each other via a bus 504. An input/output (I/O) interface 505 is also connected to bus 504.
The following components are connected to the I/O interface 505: an input portion 506 including a keyboard, a mouse, and the like; an output portion 507 including a display such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker; a storage portion 508 including a hard disk and the like; and a communication section 509 including a network interface card such as a LAN card, a modem, or the like. The communication section 509 performs communication processing via a network such as the internet. The driver 510 is also connected to the I/O interface 505 as necessary. A removable medium 511 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 510 as necessary, so that a computer program read out therefrom is mounted into the storage section 508 as necessary.
In particular, according to an embodiment of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program tangibly embodied on a machine-readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network through the communication section 509, and/or installed from the removable medium 511.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units described in the embodiments of the present application may be implemented by software or hardware. The described units may also be provided in a processor, and may be described as: a processor includes a detection unit, a first recording unit, a second recording unit, a determination unit, and a test unit. The names of these units do not in some cases constitute a limitation on the units themselves, and for example, the detection unit may also be described as "a unit that detects an event for triggering switching of the unmanned vehicle from the standby state to the running state when the unmanned vehicle is in the standby state".
As another aspect, the present application also provides a nonvolatile computer storage medium, which may be the nonvolatile computer storage medium included in the apparatus described in the above embodiments; or it may be a non-volatile computer storage medium that exists separately and is not incorporated into the terminal. The non-volatile computer storage medium stores one or more programs that, when executed by a device, cause the device to: detecting an event for triggering the unmanned vehicle to switch from a standby state to a driving state when the unmanned vehicle is in the standby state; recording a current time as a first time point when the event is detected; detecting whether the unmanned vehicle is in a running state or not, and recording the time when the unmanned vehicle is detected to be in the running state as a second time point; determining the time consumed for waking up according to the difference between the first time point and the second time point; and determining whether the test is passed or not based on the wake-up time and a time threshold.
The above description is only a preferred embodiment of the application and is illustrative of the principles of the technology employed. It will be appreciated by a person skilled in the art that the scope of the invention as referred to in the present application is not limited to the solution described above with specific combinations of features, but also covers other solutions formed by any combination of the above features or their equivalents without departing from the inventive concept described. For example, the above features may be replaced with (but not limited to) features having similar functions disclosed in the present application.
Claims (8)
1. A method for testing the wake up time of an unmanned vehicle, the method comprising:
detecting an event for triggering the unmanned vehicle to switch from a standby state to a driving state when the unmanned vehicle is in the standby state;
recording a current time as a first time point when the event is detected;
detecting whether the unmanned vehicle is in a running state or not, and recording the time when the unmanned vehicle is detected to be in the running state as a second time point;
determining the time consumed for waking up according to the difference between the first time point and the second time point;
determining whether the test passes or not based on the wake-up time and a time threshold;
before determining whether the test passes based on the wake up time and a duration threshold, the method further comprises:
acquiring judgment time for judging the occurrence of the event by a user and action time for starting an action on a vehicle when the user judges the occurrence of the event;
determining the duration threshold based on the determination duration and the action duration.
2. The method of claim 1, wherein determining whether the test passes based on the wake-up elapsed time and a duration threshold comprises:
if the awakening time consumption is smaller than the time threshold, determining that the test is passed;
and if the awakening time consumption is larger than the time length threshold, determining that the test is not passed.
3. The method of claim 1, wherein the detecting an event for triggering the unmanned vehicle to switch from a standby state to a driving state comprises:
detecting an event that a traffic light in front of the unmanned vehicle switches from a stop signal to a travel signal.
4. The method of claim 1, wherein the detecting an event for triggering the unmanned vehicle to switch from a standby state to a driving state comprises:
detecting an event of an increase in the separation of the unmanned vehicle from a preceding vehicle.
5. An apparatus for testing the wake up time of an unmanned vehicle, the apparatus comprising:
the unmanned vehicle control device comprises a detection unit, a control unit and a control unit, wherein the detection unit is used for detecting an event for triggering the unmanned vehicle to switch from a standby state to a running state when the unmanned vehicle is in the standby state;
the first recording unit is used for recording the current time as a first time point when the event is detected;
the second recording unit is used for detecting whether the unmanned vehicle is in a running state or not and recording the time when the unmanned vehicle is detected to be in the running state as a second time point;
a determining unit, configured to determine a wake-up time according to a difference between the first time point and the second time point;
the test unit is used for determining whether the test is passed or not based on the awakening time and the time threshold;
the device further comprises:
the acquisition unit is used for acquiring the judgment time length for judging the occurrence of the event by a user and the action time length for starting the vehicle when the user judges the occurrence of the event;
a threshold determination unit configured to determine the duration threshold based on the determination duration and the action duration.
6. The apparatus of claim 5, wherein the test unit is further configured to:
if the awakening time consumption is smaller than the time threshold, determining that the test is passed;
and if the awakening time consumption is larger than the time length threshold, determining that the test is not passed.
7. The apparatus of claim 5, wherein the detection unit is further configured to:
detecting an event that a traffic light in front of the unmanned vehicle switches from a stop signal to a travel signal.
8. The apparatus of claim 5, wherein the detection unit is further configured to:
detecting an event of an increase in the separation of the unmanned vehicle from a preceding vehicle.
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| CN111724501A (en) * | 2019-03-22 | 2020-09-29 | 北京京东尚科信息技术有限公司 | Data synchronous acquisition method and device applied to unmanned equipment |
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| CN205507805U (en) * | 2016-03-29 | 2016-08-24 | 华东师范大学 | Towards non - wearing formula traffic police gesture recognition system of remotely piloted vehicle's multidimension |
| CN106020205B (en) * | 2016-07-22 | 2018-11-02 | 百度在线网络技术（北京）有限公司 | A kind of unmanned vehicle energy saving of system control method and device |
| CN106017949B (en) * | 2016-07-28 | 2019-05-10 | 百度在线网络技术（北京）有限公司 | A kind of test method and device of unmanned vehicle emergency response time |
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