CN107167323A - Field test method and system, equipment and the computer-readable recording medium of pilotless automobile - Google Patents

Field test method and system, equipment and the computer-readable recording medium of pilotless automobile Download PDF

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Publication number
CN107167323A
CN107167323A CN201710317432.9A CN201710317432A CN107167323A CN 107167323 A CN107167323 A CN 107167323A CN 201710317432 A CN201710317432 A CN 201710317432A CN 107167323 A CN107167323 A CN 107167323A
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China
Prior art keywords
pilotless automobile
driving information
test
traveling
reception
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Application number
CN201710317432.9A
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Chinese (zh)
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CN107167323B (en
Inventor
王晓龙
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Beijing Baidu Netcom Science and Technology Co Ltd
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Beijing Baidu Netcom Science and Technology Co Ltd
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Priority to CN201710317432.9A priority Critical patent/CN107167323B/en
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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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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

The present invention provides a kind of field test method and system, equipment and the computer-readable recording medium of pilotless automobile.Methods described includes：At least two first ultrasonic signals and the time of reception of each first ultrasonic signal that the first ultrasonic receiver that pilotless automobile is arranged on pilotless automobile by receiving is sent, at least two first ultrasonic signals are respectively that the first ultrasonic receiver receives at least two ultrasound transmitter devices that set in test site and sent；According to the position of at least two first ultrasonic signals received, the time of reception of each first ultrasonic signal and each ultrasound transmitter device, the driving information of pilotless automobile is calculated；The driving information calculated and the driving information tested oneself are sent to test server, so that test server is according to the driving information of calculating and the driving information tested oneself, the performance of testing oneself of pilotless automobile is detected.Using technical scheme, prior art deficiency can be made up, the performance of testing oneself of pilotless automobile is detected.

Description

Field test method and system, equipment and the computer-readable recording medium of pilotless automobile
【Technical field】
The present invention relates to Computer Applied Technology field, more particularly to a kind of pilotless automobile field test method and System, equipment and computer-readable recording medium.
【Background technology】
Pilotless automobile is a kind of intelligent automobile, can also be referred to as wheeled mobile robot, rely primarily in vehicle The intelligent driving instrument based on computer system it is unmanned to realize.Pilotless automobile collection is automatically controlled, architecture, Numerous technologies such as artificial intelligence, vision calculating, in one, are computer science, pattern-recognition and intelligent control technology high development Product, be also an important symbol for weighing national a research strength and industrial level, in national defence and national economy field Have broad application prospects.
Current pilotless automobile is divided into two also in continuous research and development and test phase, the test of pilotless automobile Point, off-line test and the examination of upper drive test.The wherein upper dangerous larger, cost of drive test examination is more.Current off-line test is more in checkout area Ground is tested, by simulating the traffic of various bursts in test site, to test the braking ability of pilotless automobile, Whether safe avoidance can be realized.
But, barrier of the pilotless automobile in road conditions in front of discovery and using during brake measure, it is necessary to it is clear from The driving information of body such as traveling-position, travel direction and travel speed, driving information that can be according to itself and detection The information of the barrier in the front arrived, generates accurate braking instruction.But in the prior art, lack to pilotless automobile certainly The accuracy of driving information such as speed, travel direction and the travel speed of body detection is detected, so as to can not ensure braking The accuracy of instruction.
【The content of the invention】
The invention provides field test method and system, equipment and the computer-readable recording medium of a kind of pilotless automobile, it is used for Make up and lack the scheme that the accuracy of the driving information detected to pilotless automobile itself is detected in the prior art.
The present invention provides a kind of field test method of pilotless automobile, and methods described includes：
Pilotless automobile receives the first ultrasonic receiver being arranged on the pilotless automobile and sent at least The time of reception of two the first ultrasonic signals and each first ultrasonic signal, at least two first ultrasonic signal Respectively described first ultrasonic receiver receives what at least two ultrasound transmitter devices set in test site were sent；
The pilotless automobile is according at least two first ultrasonic signal, each first ultrasound received The time of reception of ripple signal and the position of each ultrasound transmitter device, calculate the driving information of the pilotless automobile；
The pilotless automobile sends the driving information calculated to the test server and the traveling tested oneself is believed Breath, so that the test server is according to the driving information of calculating and the driving information tested oneself, detect it is described nobody The performance of testing oneself of driving.
The present invention also provides a kind of field test method of pilotless automobile, and methods described includes：
The driving information that test server receives the driving information for the calculating that pilotless automobile is sent and tested oneself；The meter The driving information of calculation is that the first ultrasonic wave that the pilotless automobile is arranged on the pilotless automobile according to receiving connects Receive at least two first ultrasonic signals, the time of reception of each first ultrasonic signal and each ultrasound that device is sent The position of ripple transmitter, calculates what is obtained；At least two first ultrasonic signal is respectively that first ultrasonic wave is received Device receives what at least two ultrasound transmitter devices set in test site were sent；
The test server according to the driving information of calculating and the driving information tested oneself, detect it is described nobody The performance of testing oneself of driving.
The present invention also provides a kind of pilotless automobile, and the pilotless automobile includes：
Receiving module, the first ultrasonic receiver being arranged on for receiving on the pilotless automobile is sent at least The time of reception of two the first ultrasonic signals and each first ultrasonic signal, at least two first ultrasonic signal Respectively described first ultrasonic receiver receives what at least two ultrasound transmitter devices set in test site were sent；
Computing module, for according at least two first ultrasonic signal, each first ultrasonic wave received The time of reception of signal and the position of each ultrasound transmitter device, calculate the driving information of the pilotless automobile；
Sending module, for sending the driving information calculated and the driving information tested oneself to the test server, So that the test server is according to the driving information of calculating and the driving information tested oneself, detect described unmanned The performance of testing oneself of automobile.
The present invention also provides a kind of test server, and the test server includes：
Receiving module, for the driving information for receiving the driving information for the calculating that pilotless automobile is sent and testing oneself；Institute State the driving information of calculating ultrasonic according to receiving be arranged on the pilotless automobile first for the pilotless automobile At least two first ultrasonic signals that ripple receiver is sent, time of reception of each first ultrasonic signal and each described The position of ultrasound transmitter device, calculates what is obtained；At least two first ultrasonic signal is respectively first ultrasonic wave Receiver receives what at least two ultrasound transmitter devices set in test site were sent；
Detection module, for the driving information according to calculating and the driving information tested oneself, detect it is described nobody The performance of testing oneself of driving.
The present invention also provides a kind of field test system of pilotless automobile, including：It is arranged on test site at least Two ultrasound transmitter devices, the first ultrasonic receiver on pilotless automobile and test server；It is each described The communication of ultrasound transmitter device and first ultrasonic receiver is connected, first ultrasonic receiver with it is described unmanned Automobile communication is connected, and the pilotless automobile is connected with test server communication；Wherein described pilotless automobile is adopted Use pilotless automobile as described above；The test server uses test server as described above.
The present invention also provides a kind of computer equipment, and the equipment includes：
One or more processors；
Memory, for storing one or more programs,
When one or more of programs are by one or more of computing devices so that one or more of processing Device realizes the field test method of pilotless automobile as described above.
The present invention also provides a kind of computer-readable medium, is stored thereon with computer program, the program is held by processor The field test method of pilotless automobile as described above is realized during row.
Field test method and system, equipment and the computer-readable recording medium of the pilotless automobile of the present invention, pilotless automobile By receive be arranged on pilotless automobile on the first ultrasonic receiver send at least two first ultrasonic signals and The time of reception of each first ultrasonic signal, at least two first ultrasonic signals are respectively that the first ultrasonic receiver receives survey What at least two ultrasound transmitter devices set in the ground of examination hall were sent；According at least two first ultrasonic signals received, The time of reception of each first ultrasonic signal and the position of each ultrasound transmitter device, calculate the traveling letter of pilotless automobile Breath；The driving information calculated and the driving information tested oneself are sent to test server, for row of the test server according to calculating Information and the driving information tested oneself are sailed, the performance of testing oneself of pilotless automobile is detected., can by using technical scheme To make up the deficiencies in the prior art, the driving information of pilotless automobile is detected, so as in pilotless automobile The driving information tested oneself it is inaccurate when be adjusted in time, and then the driving information that pilotless automobile is tested oneself can be improved Accuracy, and then ensure the accuracy for the braking instruction that pilotless automobile is sent according to the driving information tested oneself, so as to Effectively improve the traffic safety of pilotless automobile.And the testing scheme of the present embodiment, by being carried out in test site, The danger of field test can be effectively prevented from, Security of test is improved.
【Brief description of the drawings】
Fig. 1 is the flow chart of the field test embodiment of the method one of the pilotless automobile of the present invention.
Fig. 2 for the present invention test site at least two ultrasound transmitter devices arrangement schematic diagram.
Fig. 3 be the embodiment of the present invention in pilotless automobile traveling-position Computing Principle schematic diagram.
Fig. 4 is the mark embodiment of the travel direction of the embodiment of the present invention.
Fig. 5 is the flow chart of field test embodiment of the method two of the people without driving of the present invention.
Fig. 6 is the structure chart of the pilotless automobile embodiment of the present invention.
Fig. 7 is the structure chart of the test server embodiment of the present invention.
Fig. 8 is the structure chart of the field test system embodiment of the pilotless automobile of the present invention.
Fig. 9 is the structure chart of the computer equipment embodiment of the present invention.
A kind of exemplary plot for computer equipment that Figure 10 provides for the present invention.
【Embodiment】
In order that the object, technical solutions and advantages of the present invention are clearer, below in conjunction with the accompanying drawings with specific embodiment pair The present invention is described in detail.
Fig. 1 is the flow chart of the field test embodiment of the method one of the pilotless automobile of the present invention.As shown in Fig. 1, this The field test method of the pilotless automobile of embodiment, specifically may include steps of：
100th, pilotless automobile receives the first ultrasonic receiver being arranged on pilotless automobile and sent at least The time of reception of two the first ultrasonic signals and each first ultrasonic signal, at least two first ultrasonic signals are respectively One ultrasonic receiver receives what at least two ultrasound transmitter devices set in test site were sent；
The field test method of the pilotless automobile of the present embodiment describes the technology of the present invention in pilotless automobile side Scheme.The usage scenario of the field test method of the pilotless automobile of the present embodiment is：It is provided with test site At least two ultrasound transmitter devices, the position of each ultrasound transmitter device is fixed, is also learnt in advance in pilotless automobile The position of each ultrasound transmitter device.It is i.e. specific to be deposited in advance in the controller with decision-making and control function of pilotless automobile Mark and the position of each ultrasound transmitter device are contained, so, pilotless automobile just can determine each first ultrasonic wave letter Number it is which ultrasound transmitter device is sent, where is the position of corresponding ultrasound transmitter device.In the present embodiment, for the ease of Test to pilotless automobile, is also provided with the first ultrasonic receiver on pilotless automobile.During test, the first ultrasound Ripple receiver receives the ultrasonic signal that at least two ultrasound transmitter devices set in test site are sent, i.e. the first ultrasonic wave Signal；And carry corresponding delivery time in each first ultrasonic signal.Then the first ultrasonic receiver can be got Receive the time of reception of each first ultrasonic signal.Then each surpass at least two first ultrasonic signals received and the first The time of reception of acoustic signals sends jointly to pilotless automobile.
In the present embodiment, at least two ultrasound transmitter devices in test site can be with evenly distributed.Such as Fig. 2 is this The arrangement schematic diagram of at least two ultrasound transmitter devices in the test site of invention.In test site as shown in Figure 2, with Test exemplified by the evenly distributed multiple ultrasound transmitter device S in both sides of the road.In practical application, at least two ultrasounds in test site Ripple transmitter can also be arranged on specified location according to testing requirement.Or can also be randomly arranged in test site.But No matter which kind of mode is at least two ultrasound transmitter devices is set using, after setting, is required to the position of clear and definite ultrasound transmitter device Put, and inform pilotless automobile before test.
101st, pilotless automobile is according at least two first ultrasonic signals, each first ultrasonic signal received The time of reception and the position of each ultrasound transmitter device, calculate the driving information of pilotless automobile；
Due to carrying corresponding delivery time in each first ultrasonic signal, so, pilotless automobile can be learnt The position of the delivery time of each the first ultrasonic signal, the time of reception of each first ultrasonic signal and each ultrasound transmitter device Put, calculate the driving information of pilotless automobile.The driving information of such as pilotless automobile can include traveling-position, traveling At least one in speed and travel direction.
102nd, pilotless automobile sends the driving information calculated and the driving information tested oneself to test server, for surveying Examination server detects the performance of testing oneself of pilotless automobile according to the driving information and the driving information tested oneself of calculating.
Alternatively, before step 102, it can also include：Pilotless automobile obtains the driving information tested oneself.Nobody drives Sail and various sensors are provided with automobile, for carrying out Autonomous test to various driving informations, therefore pilotless automobile can be from The various driving informations tested oneself are got in the sensor of itself.For example on pilotless automobile it is provided with global positioning system (Global Positioning System；GPS), can be with the traveling-position of Autonomous test pilotless automobile.Pilotless automobile On be additionally provided with velocity sensor, can be with the travel speed of Autonomous test pilotless automobile.It can also be set on pilotless automobile The sensor of measurement travel direction is equipped with, can be with the travel direction of Autonomous test pilotless automobile.It is unmanned in practical application Other sensors can also be installed, for other driving informations of Autonomous test pilotless automobile, herein no longer one by one on automobile Citing is repeated.
Pilotless automobile is sent to test server after the driving information calculated and the driving information tested oneself, test clothes Business device according to reception, the driving information that calculates and the driving information tested oneself according to can detect testing oneself for pilotless automobile Performance.
For example, when driving information includes traveling-position, now step 101, specifically may include steps of：
(a1) pilotless automobile obtains corresponding delivery time from each first ultrasonic signal；
Corresponding delivery time is carried in each first ultrasonic signal that the first ultrasonic receiver is received in the present embodiment. For example can be according to the wavelength, velocity of wave and the time of reception of corresponding ultrasonic wave, Inversion Calculation goes out corresponding first ultrasonic wave letter Number delivery time.And the mark of corresponding ultrasound transmitter device is carried in each first ultrasonic signal.So, When one ultrasonic receiver receives the first ultrasonic signal, first ultrasonic signal is sent to pilotless automobile, nothing People driving can be known according to the mark of corresponding ultrasound transmitter device first ultrasonic signal be by where ultrasonic wave What transmitter was sent.
(a2) delivery time and the time of reception of the pilotless automobile according to each first ultrasonic signal, is calculated unmanned The distance of automobile and corresponding ultrasound transmitter device；
Because the aerial spread speed of ultrasonic wave is known, in the present embodiment, for each the first ultrasonic wave Signal, according to corresponding delivery time and the time of reception, it is known that the propagation duration of first ultrasonic signal.Then again will The propagation duration is multiplied by the spread speed of ultrasonic wave, just obtain be arranged on pilotless automobile on the first ultrasonic receiver with The distance between the corresponding ultrasound transmitter device of first ultrasonic signal.Because the first ultrasonic receiver is driven installed in nobody Sail on automobile, now it is considered that between the first ultrasonic receiver ultrasound transmitter device corresponding with first ultrasonic signal Distance, be approximately equal to the distance between pilotless automobile ultrasound transmitter device corresponding with first ultrasonic signal.This The first ultrasonic receiver in embodiment may be mounted at the surface or underface of the barycenter of pilotless automobile, so as to In timely received ultrasonic signal.
(a3) according to the distance and each ultrasound transmitter device of pilotless automobile and at least two ultrasound transmitter devices Position, calculates the traveling-position of pilotless automobile.
According to the Computing Principle of triangle in the present embodiment, pilotless automobile is needed according to two the first ultrasonic signals The traveling-position of the pilotless automobile can just be calculated.Such as Fig. 3 be the embodiment of the present invention in pilotless automobile row Sail the Computing Principle schematic diagram of position.As shown in figure 3, pilotless automobile is known a priori by ultrasound transmitter device 1 and ultrasonic wave hair It can be transverse and longitudinal coordinate to send the position in the position of device 2, such as the present embodiment.Pilotless automobile 3 is according to the He of ultrasound transmitter device 1 The position of ultrasound transmitter device 2, can calculate the distance between the ultrasound transmitter device 1 and ultrasound transmitter device 2.Then root According to above-mentioned steps (a1) and (a2), the pilotless automobile 3 can be calculated and sent respectively with ultrasound transmitter device 1 and ultrasonic wave The distance between device 2.And the position of ultrasound transmitter device 1 and ultrasound transmitter device 2 be it is known, therefore, just can be with inverting The out current location of pilotless automobile, the current location of the pilotless automobile is just the unmanned vapour in the present embodiment The traveling-position of car.
In the present embodiment, when pilotless automobile receives multiple first ultrasonic waves letter of the first ultrasonic receiver transmission Number when, can therefrom choose the relatively good traveling-position for carrying out Inversion Calculation pilotless automobile of two the first ultrasonic signals.
Now accordingly, step 102:" pilotless automobile sends the driving information calculated to test server and tested oneself Driving information, so that test server is according to the driving information of calculating and the driving information tested oneself, detect pilotless automobile On performance of testing oneself ", can specifically include：Pilotless automobile sends the traveling-position calculated to test server and tested oneself Traveling-position, so that test server is according to traveling-position and traveling-position, the traveling the tested oneself position of detection pilotless automobile Whether accurate put.
For another example when driving information includes travel speed, now step 101, specifically may include steps of：Nothing People's driving is calculated according at least two first ultrasonic signals that each time of reception receives in continuous two times of reception The travel speed of pilotless automobile.
During the traveling-position of above-mentioned calculating pilotless automobile, pilotless automobile only needs one group of first ultrasonic signal In two traveling-positions to calculate pilotless automobile.And traveling displacement divided by running time are equal to according to travel speed. The travel speed of pilotless automobile is calculated in the present embodiment, it is necessary to which two group of first ultrasonic signal is calculated.First according to above-mentioned The mode of embodiment, calculates the traveling-position of two pilotless automobiles, then calculates traveling position according to the two traveling-positions Move, then divided by corresponding running time, just obtain the travel speed of pilotless automobile.Because travel speed is an instantaneous value, So taking two continuous times of reception corresponding at least two first ultrasonic signal in the present embodiment.And between the time of reception Difference determined by the frequency of the transmission of ultrasound transmitter device, typically will not be oversize.
Still optionally further, in above-described embodiment " pilotless automobile is respectively received according in continuous two times of reception At least two first ultrasonic signals that reception is arrived, calculate the travel speed of pilotless automobile ", it can specifically include such as Lower step：
(b1) at least two first ultrasonic signals that pilotless automobile is received according to each time of reception, calculating respectively connects The traveling-position for the pilotless automobile that time receiving carves；
The specific implementation of step (b1) may be referred to step (a1)-(a3) in above-described embodiment to realize, herein Repeat no more.
(b2) pilotless automobile is calculated unmanned according to the traveling-position of the pilotless automobile of two times of reception The travel speed of automobile.
Specifically, according to the traveling-position of two times of reception, traveling displacement can be calculated, then traveling displacement is removed With the time difference of two times of reception, the travel speed of pilotless automobile is just obtained.
Now accordingly, " pilotless automobile sends the driving information calculated to test server and tested oneself step 102 Driving information, so that test server is according to the driving information of calculating and the driving information tested oneself, detection pilotless automobile Test oneself performance ", it can specifically include：Pilotless automobile sends the travel speed calculated and the traveling tested oneself to test server Speed, so that test server is according to the travel speed of calculating and the travel speed tested oneself, detects testing oneself for pilotless automobile Travel speed it is whether accurate.
For another example when driving information includes travel direction, now step 101, specifically may include steps of：Nothing People's driving is calculated according at least two first ultrasonic signals received and the time of reception of each first ultrasonic signal The driving information of pilotless automobile, specifically may include steps of：
At least two first ultrasonic waves that pilotless automobile is received according to each time of reception in two times of reception are believed Number, calculate the travel direction of pilotless automobile.
Two times of reception of the present embodiment can be continuous, can now calculate some instantaneous travel direction.This implementation Two times of reception of example can also be discontinuous, can now calculate the overall travel direction in a period of time.
Still optionally further, in above-described embodiment " pilotless automobile is according to each time of reception in two times of reception At least two first ultrasonic signals received, calculate the travel direction of pilotless automobile ", it can specifically include following step Suddenly：
(c1) at least two first ultrasonic signals that pilotless automobile is received according to each time of reception, calculating respectively connects The traveling-position for the pilotless automobile that time receiving carves；
The specific implementation of step (c1) may be referred to step (a1)-(a3) in above-described embodiment to realize, herein Repeat no more.
(c2) pilotless automobile is calculated unmanned according to the traveling-position of the pilotless automobile of two times of reception The travel direction of automobile；
During the traveling-position of above-mentioned calculating pilotless automobile, pilotless automobile only needs one group of first ultrasonic signal In two traveling-positions to calculate pilotless automobile.The traveling-position of the present embodiment can be using transverse and longitudinal coordinate come table Show.So, according to continuous two traveling-positions, it may be determined that the form direction of pilotless automobile.For example, the row of previous moment Position is sailed for (X1, Y1), the traveling-position of later moment in time is (X2, Y2).Can for example be identified in a reference axis east, west, South, north, then identify traveling-position in reference axis, just can determine pilotless automobile according to former and later two traveling-positions Travel direction.Such as Fig. 4 is the mark embodiment of the travel direction of the embodiment of the present invention.For example in Fig. 4, with previous moment Traveling-position A origin (0,0), later moment in time traveling-position B exemplified by (3,3), in the coordinate system, choose X-axis positive For west, negative sense is eastern, and Y-axis forward direction is north, and negative sense is southern, in practical application, it would however also be possible to employ X-axis just always identifies east, Nan Huo Person north either direction, other directions are similarly.Now according to traveling-position A and traveling-position B, it is recognised that the shape of this period Formula direction is 45 degree of east by north angle traveling.
Now accordingly, " pilotless automobile sends the driving information calculated to test server and tested oneself step 102 Driving information, so that test server is according to the driving information of calculating and the driving information tested oneself, detection pilotless automobile Test oneself performance ", it can specifically include：Pilotless automobile sends the travel direction calculated and the traveling tested oneself to test server Direction, so that test server is according to the travel direction of calculating and the travel direction tested oneself, detects testing oneself for pilotless automobile Travel direction it is whether accurate.
In practical application, in this implementation, other driving informations that pilotless automobile is tested oneself can also be detected, are such as accelerated Degree, angular speed etc., this is no longer going to repeat them.
The field test method of the pilotless automobile of the present embodiment, pilotless automobile is driven by receiving installed in nobody Sail at least two first ultrasonic signals of the transmission of the first ultrasonic receiver on automobile and connecing for each first ultrasonic signal Time receiving carves, and at least two first ultrasonic signals are respectively that the first ultrasonic receiver receives at least two set in test site What individual ultrasound transmitter device was sent；According to connecing at least two first ultrasonic signals, each first ultrasonic signal received Quarter in time receiving and the position of each ultrasound transmitter device, calculate the driving information of pilotless automobile；Send and count to test server The driving information of calculation and the driving information tested oneself, so that test server is believed according to the driving information of calculating and the traveling tested oneself Breath, detects the performance of testing oneself of pilotless automobile.By using the technical scheme of the present embodiment, prior art can be made up not Foot, the driving information of pilotless automobile is detected, so as in the driving information tested oneself of pilotless automobile not It is adjusted in time when accurate, and then the accuracy for the driving information that pilotless automobile is tested oneself can be improved, and then ensures nothing The accuracy for the braking instruction that people's driving is sent according to the driving information tested oneself, it is unmanned so as to effectively improve The traffic safety of automobile.And the testing scheme of the present embodiment, by being carried out in test site, it can be effectively prevented from the spot The danger of test, improves Security of test.
Fig. 5 is the flow chart of field test embodiment of the method two of the people without driving of the present invention.As shown in Fig. 5, this The field test method of the pilotless automobile of embodiment, specifically may include steps of：
200th, the driving information that test server receives the driving information for the calculating that pilotless automobile is sent and tested oneself；Meter The driving information of calculation is that the first ultrasonic receiver that pilotless automobile is arranged on pilotless automobile according to receiving is sent At least two first ultrasonic signals and each first ultrasonic signal the time of reception, calculate and obtain；At least two first Ultrasonic signal is respectively that the first ultrasonic receiver receives at least two ultrasound transmitter devices transmission set in test site 's；
201st, test server is according to the driving information of calculating and the driving information tested oneself, detection pilotless automobile from Survey performance.
Similarly, the driving information of the present embodiment can include at least one in traveling-position, travel speed and travel direction It is individual.
For example, when driving information includes traveling-position, " test server receives pilotless automobile and sent step 200 Calculating driving information and the driving information tested oneself ", can specifically include：Test server receives pilotless automobile and sent Calculating traveling-position and the traveling-position tested oneself；
" test server detects that nobody drives to the step 201 of correspondence according to the driving information and the driving information tested oneself of calculating Sail the performance of testing oneself of automobile ", it can specifically include：Test server according to the traveling-position of calculating and the traveling-position tested oneself, Detect whether the traveling-position tested oneself of pilotless automobile is accurate；
For another example when driving information includes travel speed, " test server receives pilotless automobile hair to step 200 The driving information for the calculating sent and the driving information tested oneself ", can specifically include：Test server receives pilotless automobile hair The travel speed for the calculating sent and the travel speed tested oneself；
" test server detects that nobody drives to the step 201 of correspondence according to the driving information and the driving information tested oneself of calculating Sail the performance of testing oneself of automobile ", it can specifically include：Test server according to the travel speed of calculating and the travel speed tested oneself, Detect whether the travel speed tested oneself of pilotless automobile is accurate；
For another example when driving information includes travel direction, " test server receives pilotless automobile hair to step 200 The driving information for the calculating sent and the driving information tested oneself ", can specifically include：Test server receives pilotless automobile hair The travel direction for the calculating sent and the travel direction tested oneself；
" test server detects that nobody drives to the step 201 of correspondence according to the driving information and the driving information tested oneself of calculating Sail the performance of testing oneself of automobile ", it can specifically include：Test server according to the travel direction of calculating and the travel direction tested oneself, Detect whether the travel direction tested oneself of pilotless automobile is accurate.
The difference of the technical scheme of the present embodiment and the technical scheme of above-mentioned embodiment illustrated in fig. 1 is：Shown in above-mentioned Fig. 1 The technical scheme of embodiment describes technical scheme in pilotless automobile side, and the present embodiment is in test server side Technical scheme is described, it is implemented, and principle is identical, the record of above-mentioned related embodiment is may be referred in detail, herein Repeat no more.
Still optionally further, the test server of the present embodiment can also be controlled to the test stage property of test site, To complete more abundant scrnario testing.The test stage property of the present embodiment can be simulation pedestrian, the mould used on test site Intend vehicle etc. other analog obstacle things.Control for the ease of test server to test stage property, the test road of the present embodiment Signal receiver is provided with tool, the control instruction for receiving test server, and the corresponding row of progress is specified according to control Sail, with test pilotless automobile meet the braking that the test stage property is used performance how.The testing service of the present embodiment Communication between device and test stage property and pilotless automobile, which is used, wirelessly to be communicated.
For example, in the step 200 " traveling for the calculating that test server reception pilotless automobile is sent of above-described embodiment After information and the driving information tested oneself ", it can also comprise the following steps：
(d1) test server is according to the driving information and testing requirement of the calculating of pilotless automobile, it is determined that being deployed in nothing The deployment information of test stage property in the road ahead of people's driving；
In the present embodiment, the driving information that acquiescence pilotless automobile is calculated is more accurate, therefore, is connect in test server , just can be with binding test demand, it is determined that the portion of test stage property after the driving information for the calculating for receiving pilotless automobile transmission Affix one's name to information.The testing requirement of the present embodiment can be by tester's input in test server, and testing requirement can include Test can be included in a plurality of test information, such as testing requirement when pilotless automobile is travelled with speed 80km/h, it is just There is pedestrian at the 50m of front in walking, how test pilotless automobile avoids；It can also include when pilotless automobile is with speed There is pedestrian when 60km/h is travelled, at the 20m of its left front to jaywalk with 1m/s speed, how is test pilotless automobile Avoid；And test when pilotless automobile travel with speed 60km/h, it is super when its rear has the vehicle to be overtaken other vehicles with 70km/h When with pilotless automobile spacing being only 6m after car, how test pilotless automobile avoids；Or test pilotless automobile When being travelled with speed 80km/h, its front nearby has vehicle to be travelled with 60km/h, and how is test pilotless automobile Avoid；Etc. test information.
Test server can be in testing requirement each test information, and combine pilotless automobile calculate traveling Information, it is determined that the deployment information of the test stage property of deployment, such as deployment information can include the starting position of test stage property, traveling At least one in speed, travel direction and driving trace etc..
(d2) test server controls test stage property to travel to pilotless automobile according to the deployment information of test stage property In road ahead, to test the performance of pilotless automobile.
Determine after deployment information, test server can be according to the deployment information for testing stage property, control test stage property Traveling is into the road ahead of pilotless automobile, to test the braking ability of pilotless automobile.For example when test, nobody drives When sailing automobile and being travelled with speed 80km/h, its front nearby has vehicle to be travelled with 60km/h, tests unmanned vapour During the scene how car avoids, the traveling letter that test server is reported according to pilotless automobile, pilotless automobile is calculated Whether breath, the travel speed of detection pilotless automobile reaches 80, if reaching, it is determined that in one 60km/h traveling of its forward basing Test vehicle as test stage property, the distance for the test vehicle distances pilotless automobile specifically disposed can be by testing service Device is set according to test experience, as long as ensureing that test begins with certain distance.So pilotless automobile passes through certainly When the various sensors of body detect the test vehicle that front is run at a low speed, it can slow down or be overtaken other vehicles from left side.If nobody Drive a car no safe avoidance, it is determined that the braking ability of pilotless automobile is poor, knocks into the back, and brake parameterses may be too It is small, now need to adjust the brake parameterses of pilotless automobile.Or the speed that pilotless automobile is overtaken other vehicles is too slow, causes rear car Knock into the back, can now determine that the decision-making that the controller of pilotless automobile is made is less accurate, it is necessary to adjust pilotless automobile Adjust speed etc. of overtaking other vehicles；Or be also likely to be other reasons, it can be carried out by detecting the miss control methodlogy of pilotless automobile Adjustment, so as to improve the security of pilotless automobile.
Still optionally further, wherein step (d2) " test server according to test stage property deployment information, control test road Tool traveling is into the road ahead of pilotless automobile, to test the performance of pilotless automobile ", it can also specifically include：
(e1) test server receive that the second ultrasonic receiver being arranged on test stage property is sent at least two the The time of reception of two ultrasonic signals and each second ultrasonic signal, at least two second ultrasonic signals are respectively the second ultrasound Ripple receiver receives what at least two ultrasound transmitter devices set in test site were sent；
(e2) test server is according at least two second ultrasonic signals and each second ultrasonic signal received The time of reception, calculate the driving information of test stage property；
(e3) test server is according to the deployment information of test stage property and the driving information of test stage property, control test stage property Travelled in the road ahead of pilotless automobile, to test the performance of pilotless automobile.
In the present embodiment, when it needs to be determined that testing the accurate location of stage property, such as test is needed in testing requirement, nobody When driving is travelled with speed 80km/h, there is pedestrian to jaywalk at the 50m of its left front, how test pilotless automobile is kept away Allow.Now test stage property be one simulation pedestrian, when test server detect pilotless automobile speed be 80km/h, this When can determine to simulate the deployment information of pedestrian, and control simulation pedestrian 50 meters of front, jaywalk.Now need clearly to survey Try position, speed and the direction of stage property.In the present embodiment, the second ultrasonic wave can be installed on test stage property such as simulation pedestrian Receiver, receives the ultrasonic signal at least two ultrasound transmitter devices transmission that test site is set, obtains at least the second surpassing Acoustic signals.Then the second ultrasonic receiver believes at least two second ultrasonic signals received and each second ultrasonic wave Number the time of reception be sent to test server.Test server is according at least two second ultrasonic signals received and respectively The time of reception of second ultrasonic signal, calculate the driving information of test stage property.Calculation with above-described embodiment nobody drive The calculation for sailing the driving information of automobile is identical, will not be repeated here.Last test server can be according to test stage property The driving information of deployment information and test stage property, control test stage property is believed in the road ahead of pilotless automobile according to deployment Breath traveling, to test the performance of pilotless automobile.For example whether brake hard is avoided successfully test pilotless automobile, or In the case of having other tracks, if brake hard and crossover lane.If avoidance is unsuccessful, it can check and change nobody and drive The decision-making in the controller in automobile or control parameter are sailed, to strengthen the security of pilotless automobile.
The field test method of the pilotless automobile of the present embodiment, test server receives what pilotless automobile was sent The driving information of calculating and the driving information tested oneself；The driving information of calculating is that pilotless automobile is arranged on nobody according to reception At least two first ultrasonic signals that the first ultrasonic receiver in driving is sent and each first ultrasonic signal The time of reception, calculate what is obtained；At least two first ultrasonic signals are respectively that the first ultrasonic receiver receives test site What at least two ultrasound transmitter devices of middle setting were sent；Test server is believed according to the driving information of calculating with the traveling tested oneself Breath, detects the performance of testing oneself of pilotless automobile.By using the technical scheme of the present embodiment, prior art can be made up not Foot, the driving information of pilotless automobile is detected, so as in the driving information tested oneself of pilotless automobile not It is adjusted in time when accurate, and then the accuracy for the driving information that pilotless automobile is tested oneself can be improved, and then ensures nothing The accuracy for the braking instruction that people's driving is sent according to the driving information tested oneself, it is unmanned so as to effectively improve The traffic safety of automobile.And the testing scheme of the present embodiment, by being carried out in test site, it can be effectively prevented from the spot The danger of test, improves Security of test.
Fig. 6 is the structure chart of the pilotless automobile embodiment of the present invention.As shown in fig. 6, the present embodiment is unmanned Automobile, can specifically include：Receiving module 10, computing module 11 and sending module 12.
Wherein receiving module 10 is used to receive the first ultrasonic receiver transmission being arranged on pilotless automobile extremely The time of reception of few two the first ultrasonic signals and each first ultrasonic signal, at least two first ultrasonic signals are respectively First ultrasonic receiver receives what at least two ultrasound transmitter devices set in test site were sent；
At least two first ultrasonic signals received that computing module 11 is used to being received according to receiving module 10, each the The time of reception of one ultrasonic signal and the position of each ultrasound transmitter device, calculate the driving information of pilotless automobile；
The traveling that sending module 12 is used to send the driving information calculated of computing module 11 to test server and test oneself is believed Breath, so that test server is according to the driving information of calculating and the driving information tested oneself, detects the testing oneself property of pilotless automobile Energy.
The pilotless automobile of the present embodiment, the reality of the field test of pilotless automobile is realized by using above-mentioned module Existing principle and technique effect are identical with realizing for above-mentioned related method embodiment, and above-mentioned correlation technique is may be referred in detail and is implemented The record of example, will not be repeated here.
Still optionally further, when driving information include traveling-position when, computing module 11 specifically for：
Corresponding delivery time is obtained in each first ultrasonic signal received from receiving module 10；
According to the delivery time of each first ultrasonic signal and the time of reception, pilotless automobile and corresponding ultrasound are calculated The distance of ripple transmitter；
According to the position of the distance with least two ultrasound transmitter devices and each ultrasound transmitter device, calculate unmanned The traveling-position of automobile；
Accordingly, sending module 12 is specifically for the traveling-position calculated to test server transmission computing module 11 and oneself The traveling-position of survey, so that test server is according to traveling-position and traveling-position, detects the row tested oneself of pilotless automobile Whether accurate sail position.
Still optionally further, when driving information includes travel speed, computing module 11 is specifically for according to receiving module At least two first ultrasonic signals that each time of reception receives in 10 continuous two times of reception received, calculate nobody and drive Sail the travel speed of automobile；
Further, computing module 11 specifically for：
At least two first ultrasonic signals that each time of reception received according to receiving module 10 receives, calculating respectively connects The traveling-position for the pilotless automobile that time receiving carves；
According to the traveling-position of the pilotless automobile of two times of reception, the travel speed of pilotless automobile is calculated；
Accordingly, sending module 12 is specifically for the travel speed calculated to test server transmission computing module 11 and oneself The travel speed of survey, so that test server is according to the travel speed of calculating and the travel speed tested oneself, detects unmanned vapour Whether the travel speed tested oneself of car is accurate.
Still optionally further, when driving information includes travel direction, computing module 11 is specifically for according to receiving module At least two first ultrasonic signals that each time of reception receives in 10 two times of reception received, calculate unmanned vapour The travel direction of car；
Further, the body of computing module 11 is used for：
At least two first ultrasonic signals that each time of reception received according to receiving module 10 receives, calculating respectively connects The traveling-position for the pilotless automobile that time receiving carves；
According to the traveling-position of the pilotless automobile of two times of reception, the travel direction of pilotless automobile is calculated；
Accordingly, sending module 12 is specifically for the travel direction calculated to test server transmission computing module 11 and oneself The travel direction of survey, so that test server is according to the travel direction of calculating and the travel direction tested oneself, detects unmanned vapour Whether the travel direction tested oneself of car is accurate.
The pilotless automobile of above-described embodiment, the field test of pilotless automobile is realized by using above-mentioned module Realization principle and technique effect are identical with realizing for above-mentioned related method embodiment, above-mentioned correlation technique are may be referred in detail real The record of example is applied, be will not be repeated here.
Fig. 7 is the structure chart of the test server embodiment of the present invention.As shown in fig. 7, the test server of the present embodiment, It can specifically include：Receiving module 20 and detection module 21.
Wherein receiving module 20 is used for the traveling letter for receiving the driving information of the calculating of pilotless automobile transmission and testing oneself Breath；The driving information of calculating is the first ultrasonic receiver that pilotless automobile is arranged on pilotless automobile according to receiving The position of at least two first ultrasonic signals, the time of reception of each first ultrasonic signal and each ultrasound transmitter device that send Put, calculate what is obtained；At least two first ultrasonic signals are respectively that the first ultrasonic receiver receives setting in test site At least two ultrasound transmitter devices send；
The driving information that detection module 21 is used for the driving information of the calculating received according to receiving module 20 and tested oneself, detection The performance of testing oneself of pilotless automobile.
The test server of the present embodiment, the realization of the field test of pilotless automobile is realized by using above-mentioned module Principle and technique effect are identical with realizing for above-mentioned related method embodiment, and above-mentioned related method embodiment is may be referred in detail Record, will not be repeated here.
Still optionally further, when driving information includes traveling-position, receiving module 20 is unmanned specifically for receiving The traveling-position for the calculating that automobile is sent and the traveling-position tested oneself；
Detection module 21 specifically for the driving information of calculating received according to receiving module 20 and the driving information tested oneself, The performance of testing oneself of pilotless automobile is detected, is specifically included：Test server is according to the traveling-position of calculating and the traveling tested oneself Position, detects whether the traveling-position tested oneself of pilotless automobile is accurate；
Still optionally further, when driving information includes travel speed, receiving module 20 is unmanned specifically for receiving The travel speed for the calculating that automobile is sent and the travel speed tested oneself；
Detection module 21 specifically for the travel speed of calculating received according to receiving module 20 and the travel speed tested oneself, Detect whether the travel speed tested oneself of pilotless automobile is accurate；
Still optionally further, when driving information includes travel direction, receiving module 20 is unmanned specifically for receiving The travel direction for the calculating that automobile is sent and the travel direction tested oneself；
Detection module 21 specifically for the travel direction of calculating received according to receiving module 20 and the travel direction tested oneself, Detect whether the travel direction tested oneself of pilotless automobile is accurate.
Still optionally further, as shown in fig. 7, the test server of the present embodiment also includes：Deployment module 22 and control mould Block 23.
Deployment module 22 is used for driving information and the test of the calculating of the pilotless automobile received according to receiving module 20 Demand, it is determined that the deployment information for the test stage property being deployed in the road ahead of pilotless automobile；
Control module 23 is used for the deployment information of the test stage property determined according to deployment module 22, control test stage property traveling Into the road ahead of pilotless automobile, to test the performance of pilotless automobile；
Further, control module 23 is sent specifically for receiving the second ultrasonic receiver being arranged on test stage property At least two second ultrasonic signals and each second ultrasonic signal the time of reception, at least two second ultrasonic signals point Not Wei the second ultrasonic receiver receive what at least two ultrasound transmitter devices that set in test site were sent；
At least two second ultrasonic signals received and each second ultrasonic signal received according to receiving module 20 The time of reception, calculate test stage property driving information；
According to the deployment information of test stage property and the driving information of test stage property, control test stage property is in pilotless automobile Road ahead in travel, to test the performance of pilotless automobile.
The test server of above-described embodiment, the reality of the field test of pilotless automobile is realized by using above-mentioned module Existing principle and technique effect are identical with realizing for above-mentioned related method embodiment, and above-mentioned correlation technique is may be referred in detail and is implemented The record of example, will not be repeated here.
Fig. 8 is the structure chart of the field test system embodiment of the pilotless automobile of the present invention.As shown in figure 8, this reality The field test system of the pilotless automobile of example is applied, including：Be arranged on test site at least two ultrasound transmitter devices 30, The first ultrasonic receiver 50 and test server 60 on pilotless automobile 40；Each ultrasound transmitter device 30 with First ultrasonic receiver 40 communication connection, the first ultrasonic receiver 50 is connected with the communication of pilotless automobile 40, and nobody drives Automobile 40 is sailed to be connected with the communication of test server 60；Wherein pilotless automobile 40 using embodiment as shown in Figure 6 nobody Driving；Test server uses the test server of embodiment as shown in Figure 7.And such as accompanying drawing 1 and Fig. 5 can be used The field test method of the pilotless automobile of illustrated embodiment realizes the field test to pilotless automobile, can join in detail The record for stating related embodiment is admitted to, be will not be repeated here.
Still optionally further, the field test system of the pilotless automobile of the present embodiment, can also include test stage property And the second ultrasonic receiver on test stage property, the record of above-mentioned related embodiment is may be referred in detail, herein Repeat no more.
Fig. 9 is the structure chart of the computer equipment embodiment of the present invention.As shown in figure 9, the computer equipment of the present embodiment, Including：One or more processors 30, and memory 40, memory 40 are used to store one or more programs, work as memory The one or more programs stored in 40 are performed by one or more processors 30 so that one or more processors 30 are realized Such as the field test method of accompanying drawing 1 or the pilotless automobile of embodiment illustrated in fig. 5.Specifically, when the computer equipment is to answer When in pilotless automobile as unpiloted control device, the one or more processors 30 are realized such as the institute of accompanying drawing 1 Show the field test method of the pilotless automobile of embodiment.When the computer equipment is as an independent computer equipment, When realizing test server function, the one or more processors 30 realize the pilotless automobile of embodiment as shown in Figure 5 Field test method.In embodiment illustrated in fig. 9 exemplified by including multiple processors 30.
For example, a kind of exemplary plot for computer equipment that Figure 10 provides for the present invention.Figure 10 is shown suitable for being used for realizing The exemplary computer device 12a of embodiment of the present invention block diagram.The computer equipment 12a that Figure 10 is shown is only one and shown Example, should not carry out any limitation to the function of the embodiment of the present invention and using range band.
As shown in Figure 10, computer equipment 12a is showed in the form of universal computing device.Computer equipment 12a component It can include but is not limited to：One or more processor 16a, system storage 28a, connection different system component (including be Unite memory 28a and processor 16a) bus 18a.
Bus 18a represents the one or more in a few class bus structures, including memory bus or Memory Controller, Peripheral bus, graphics acceleration port, processor or the local bus using any bus structures in a variety of bus structures.Lift For example, these architectures include but is not limited to industry standard architecture (ISA) bus, MCA (MAC) Bus, enhanced isa bus, VESA's (VESA) local bus and periphery component interconnection (PCI) bus.
Computer equipment 12a typically comprises various computing systems computer-readable recording medium.These media can be it is any can The usable medium accessed by computer equipment 12a, including volatibility and non-volatile media, moveable and immovable Jie Matter.
System storage 28a can include the computer system readable media of form of volatile memory, for example, deposit at random Access to memory (RAM) 30a and/or cache memory 32a.Computer equipment 12a may further include other removable Dynamic/immovable, volatile/non-volatile computer system storage medium.Only as an example, storage system 34a can be used In the immovable, non-volatile magnetic media of read-write (Figure 10 is not shown, is commonly referred to as " hard disk drive ").Although in Figure 10 not Showing, can providing for the disc driver to may move non-volatile magnetic disk (such as " floppy disk ") read-write, and to removable The CD drive of dynamic anonvolatile optical disk (such as CD-ROM, DVD-ROM or other optical mediums) read-write.In these situations Under, each driver can be connected by one or more data media interfaces with bus 18a.System storage 28a can be with Including at least one program product, the program product has one group of (for example, at least one) program module, these program module quilts Configure to perform the function of each embodiment of above-mentioned Fig. 1, Fig. 5, Fig. 6 and Fig. 7 of the invention.
Program with one group of (at least one) program module 42a/utility 40a, can be stored in such as system and deposit In reservoir 28a, such program module 42a include --- but being not limited to --- operating system, one or more application program, The reality of network environment is potentially included in each or certain combination in other program modules and routine data, these examples It is existing.Program module 42a generally perform function in each embodiment of above-mentioned Fig. 1, Fig. 5, Fig. 6 and Fig. 7 described in the invention and/or Method.
Computer equipment 12a can also be with one or more external equipment 14a (such as keyboard, sensing equipment, display 24a etc.) communication, the equipment communication interacted with computer equipment 12a can be also enabled a user to one or more, and/or With any equipment (such as network interface card, tune for enabling computer equipment 12a to be communicated with one or more of the other computing device Modulator-demodulator etc.) communication.This communication can be carried out by input/output (I/O) interface 22a.Also, computer equipment 12a can also by network adapter 20a and one or more network (such as LAN (LAN), wide area network (WAN) and/ Or public network, such as internet) communication.As illustrated, network adapter 20a passes through bus 18a and computer equipment 12a Other modules communication.It should be understood that although not shown in the drawings, can combine computer equipment 12a using other hardware and/or Software module, includes but is not limited to：Microcode, device driver, redundant processor, external disk drive array, RAID system, Tape drive and data backup storage system etc..
Processor 16a is stored in program in system storage 28a by operation, thus perform various function application and Data processing, for example, realize the field test method of the pilotless automobile shown in above-described embodiment.
The present invention also provides a kind of computer-readable medium, is stored thereon with computer program, the program is held by processor The field test method of the pilotless automobile as shown in above-mentioned embodiment is realized during row.For example, the computer-readable medium can To apply in the control device of pilotless automobile, realized such as when the computer program now stored thereon is executed by processor The field test method of pilotless automobile shown in above-mentioned Fig. 1 embodiments.The computer-readable medium can be applied similar Realize and scheme as described above in the computer equipment of test server, when the computer program now stored thereon is executed by processor The field test method of pilotless automobile shown in 5 embodiments.
The computer-readable medium of the present embodiment can be included in the system storage 28a in above-mentioned embodiment illustrated in fig. 10 RAM30a, and/or cache memory 32a, and/or storage system 34a.
With the development of science and technology, the route of transmission of computer program is no longer limited by tangible medium, can also be directly from net Network is downloaded, or is obtained using other modes.Therefore, the computer-readable medium in the present embodiment can not only include tangible Medium, can also include invisible medium.
The computer-readable medium of the present embodiment can use any combination of one or more computer-readable media. Computer-readable medium can be computer-readable signal media or computer-readable recording medium.Computer-readable storage medium Matter for example may be-but not limited to-system, device or the device of electricity, magnetic, optical, electromagnetic, infrared ray or semiconductor, or Combination more than person is any.The more specifically example (non exhaustive list) of computer-readable recording medium includes：With one Or the electrical connections of multiple wires, portable computer diskette, hard disk, random access memory (RAM), read-only storage (ROM), Erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disc read-only storage (CD-ROM), light Memory device, magnetic memory device or above-mentioned any appropriate combination.In this document, computer-readable recording medium can Be it is any include or storage program tangible medium, the program can be commanded execution system, device or device use or Person is in connection.
Computer-readable signal media can be included in a base band or as the data-signal of carrier wave part propagation, Wherein carry computer-readable program code.The data-signal of this propagation can take various forms, including --- but It is not limited to --- electromagnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal media can also be Any computer-readable medium beyond computer-readable recording medium, the computer-readable medium can send, propagate or Transmit for being used or program in connection by instruction execution system, device or device.
The program code included on computer-readable medium can be transmitted with any appropriate medium, including --- but do not limit In --- wireless, electric wire, optical cable, RF etc., or above-mentioned any appropriate combination.
It can be write with one or more programming languages or its combination for performing the computer that the present invention is operated Program code, described program design language includes object oriented program language-such as Java, Smalltalk, C++, Also include conventional procedural programming language-such as " C " language or similar programming language.Program code can be with Fully perform, partly perform on the user computer on the user computer, as independent software kit execution, a portion Divide part execution or the execution completely on remote computer or server on the remote computer on the user computer. Be related in the situation of remote computer, remote computer can be by the network of any kind --- including LAN (LAN) or Wide area network (WAN)-be connected to subscriber computer, or, it may be connected to outer computer (is for example carried using Internet service Come for business by Internet connection).
In several embodiments provided by the present invention, it should be understood that disclosed system, apparatus and method can be with Realize by another way.For example, device embodiment described above is only schematical, for example, the unit Divide, only a kind of division of logic function there can be other dividing mode when actually realizing.
The unit illustrated as separating component can be or may not be it is physically separate, it is aobvious as unit The part shown can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple On NE.Some or all of unit therein can be selected to realize the mesh of this embodiment scheme according to the actual needs 's.
In addition, each functional unit in each embodiment of the invention can be integrated in a processing unit, can also That unit is individually physically present, can also two or more units it is integrated in a unit.Above-mentioned integrated list Member can both be realized in the form of hardware, it would however also be possible to employ hardware adds the form of SFU software functional unit to realize.
The above-mentioned integrated unit realized in the form of SFU software functional unit, can be stored in an embodied on computer readable and deposit In storage media.Above-mentioned SFU software functional unit is stored in a storage medium, including some instructions are to cause a computer It is each that equipment (can be personal computer, server, or network equipment etc.) or processor (processor) perform the present invention The part steps of individual embodiment methods described.And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (Read- Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disc or CD etc. it is various Can be with the medium of store program codes.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention God is with principle, and any modification, equivalent substitution and improvements done etc. should be included within the scope of protection of the invention.

Claims (17)

1. a kind of field test method of pilotless automobile, it is characterised in that methods described includes：
Pilotless automobile receives at least two that the first ultrasonic receiver being arranged on the pilotless automobile is sent The time of reception of first ultrasonic signal and each first ultrasonic signal, at least two first ultrasonic signals difference Receive what at least two ultrasound transmitter devices set in test site were sent for first ultrasonic receiver；
The pilotless automobile is believed according at least two first ultrasonic signal, each first ultrasonic wave that receive Number the time of reception and each ultrasound transmitter device position, calculate the driving information of the pilotless automobile；
The pilotless automobile sends the driving information calculated and the driving information tested oneself to the test server, with For the test server according to the driving information of calculating and the driving information tested oneself, the unmanned vapour is detected The performance of testing oneself of car.
2. according to the method described in claim 1, it is characterised in that when the driving information includes the traveling-position, institute State pilotless automobile connecing according at least two first ultrasonic signal, each first ultrasonic signal received Quarter in time receiving and the position of each ultrasound transmitter device, calculate the driving information of the pilotless automobile, specifically include：
The pilotless automobile obtains corresponding delivery time from each first ultrasonic signal；
The delivery time and the time of reception of the pilotless automobile according to each first ultrasonic signal, are calculated The distance of the pilotless automobile and the corresponding ultrasound transmitter device；
Sent according to the distance and each ultrasonic wave of the pilotless automobile and at least two ultrasound transmitter device The position of device, calculates the traveling-position of the pilotless automobile；
Accordingly, the pilotless automobile sends the driving information calculated and the traveling tested oneself to the test server Information, so that the test server is according to the driving information of calculating and the driving information tested oneself, detects the nothing Performance of testing oneself in people's driving, is specifically included：
The pilotless automobile sends the traveling-position calculated and the traveling-position tested oneself to the test server, with For the test server according to the traveling-position and the traveling-position, the row tested oneself of the pilotless automobile is detected Whether accurate sail position.
3. method according to claim 1 or 2, it is characterised in that when the driving information includes the travel speed, The pilotless automobile is according at least two first ultrasonic signal, each first ultrasonic signal received The time of reception and the position of each ultrasound transmitter device, calculate the driving information of the pilotless automobile, specifically include：
The pilotless automobile according to each time of reception in continuous two times of reception receive it is described at least Two the first ultrasonic signals, calculate the travel speed of the pilotless automobile；
Further, the pilotless automobile is received according to each time of reception in continuous two times of reception At least two first ultrasonic signal, calculates the travel speed of the pilotless automobile, specifically includes：
At least two first ultrasonic signal that the pilotless automobile is received according to each time of reception, is calculated The traveling-position of the pilotless automobile of each time of reception；
The pilotless automobile calculates described according to the traveling-position of the pilotless automobile of two times of reception The travel speed of pilotless automobile；
Accordingly, the pilotless automobile sends the driving information calculated and the traveling tested oneself to the test server Information, so that the test server is according to the driving information of calculating and the driving information tested oneself, detects the nothing The performance of testing oneself of people's driving, is specifically included：
The pilotless automobile sends the travel speed calculated and the travel speed tested oneself to the test server, with For the test server according to the travel speed of calculating and the travel speed tested oneself, the unmanned vapour is detected Whether the travel speed tested oneself of car is accurate.
4. method according to claim 1 or 2, it is characterised in that when the driving information includes the travel direction, The pilotless automobile is according at least two first ultrasonic signal, each first ultrasonic signal received The time of reception and the position of each ultrasound transmitter device, calculate the driving information of the pilotless automobile, specifically include：
The pilotless automobile received according to each time of reception in two times of reception described at least two First ultrasonic signal, calculates the travel direction of the pilotless automobile；
Further, the pilotless automobile is received according to each time of reception in continuous two times of reception At least two first ultrasonic signal, calculates the travel direction of the pilotless automobile, specifically includes：
At least two first ultrasonic signal that the pilotless automobile is received according to each time of reception, is calculated The traveling-position of the pilotless automobile of each time of reception；
The pilotless automobile calculates described according to the traveling-position of the pilotless automobile of two times of reception The travel direction of pilotless automobile；
Accordingly, the pilotless automobile sends the driving information calculated and the traveling tested oneself to the test server Information, so that the test server is according to the driving information of calculating and the driving information tested oneself, detects the nothing The performance of testing oneself of people's driving, is specifically included：
The pilotless automobile sends the travel direction calculated and the travel direction tested oneself to the test server, with For the test server according to the travel direction of calculating and the travel direction tested oneself, the unmanned vapour is detected Whether the travel direction tested oneself of car is accurate.
5. a kind of field test method of pilotless automobile, it is characterised in that methods described includes：
The driving information that test server receives the driving information for the calculating that pilotless automobile is sent and tested oneself；The calculating Driving information is the first ultrasonic receiver that the pilotless automobile is arranged on the pilotless automobile according to receiving At least two first ultrasonic signals, the time of reception of each first ultrasonic signal and each ultrasonic wave hair sent The position of device is sent, calculates what is obtained；At least two first ultrasonic signal is respectively that first ultrasonic receiver connects What at least two ultrasound transmitter devices set in Acceptance Tests place were sent；
The test server is detected described unmanned according to the driving information and the driving information tested oneself of calculating The performance of testing oneself of automobile.
6. method according to claim 5, it is characterised in that when the driving information includes traveling-position, the survey The driving information that examination server receives the driving information for the calculating that pilotless automobile is sent and tested oneself, is specifically included：It is described to survey The traveling-position that examination server receives the traveling-position for the calculating that the pilotless automobile is sent and tested oneself；
The test server is detected described unmanned according to the driving information and the driving information tested oneself of calculating The performance of testing oneself of automobile, is specifically included：The test server is according to the traveling-position of calculating and the traveling tested oneself Position, detects whether the traveling-position tested oneself of the pilotless automobile is accurate；
When the driving information includes travel speed, the test server receives the row for the calculating that pilotless automobile is sent Information and the driving information tested oneself are sailed, is specifically included：The test server receives the calculating that the pilotless automobile is sent The travel speed and the travel speed tested oneself；
The test server is detected described unmanned according to the driving information and the driving information tested oneself of calculating The performance of testing oneself of automobile, is specifically included：The test server is according to the travel speed of calculating and the traveling tested oneself Speed, detects whether the travel speed tested oneself of the pilotless automobile is accurate；
When the driving information includes travel direction, the test server receives the row for the calculating that pilotless automobile is sent Information and the driving information tested oneself are sailed, is specifically included：The test server receives the calculating that the pilotless automobile is sent The travel direction and the travel direction tested oneself；
The test server is detected described unmanned according to the driving information and the driving information tested oneself of calculating The performance of testing oneself of automobile, is specifically included：The test server is according to the travel direction of calculating and the traveling tested oneself Direction, detects whether the travel direction tested oneself of the pilotless automobile is accurate.
7. the method according to claim 5 or 6, it is characterised in that test server receives what pilotless automobile was sent After the driving information of calculating and the driving information tested oneself, methods described also includes：
The test server is according to the driving information and testing requirement of the calculating of the pilotless automobile, it is determined that deployment The deployment information of test stage property in the road ahead of the pilotless automobile；
The test server according to it is described test stage property deployment information, control it is described test stage property travel to it is described nobody drive In the road ahead for sailing automobile, to test the performance of the pilotless automobile；
Further, the test server according to it is described test stage property deployment information, control it is described test stage property travel to In the road ahead of the pilotless automobile, to test the performance of the pilotless automobile, specifically also include：
The test server receive that the second ultrasonic receiver being arranged on the test stage property sends at least two the The time of reception of two ultrasonic signals and each second ultrasonic signal, at least two second ultrasonic signal is respectively Second ultrasonic receiver receives what at least two ultrasound transmitter devices set in test site were sent；
The test server is believed according at least two second ultrasonic signal and each second ultrasonic wave that receive Number the time of reception, calculate it is described test stage property driving information；
The test server is according to the deployment information of the test stage property and the driving information of the test stage property, and control is described Test stage property is travelled in the road ahead of the pilotless automobile, to test the performance of the pilotless automobile.
8. a kind of pilotless automobile, it is characterised in that the pilotless automobile includes：
Receiving module, at least two for receiving the first ultrasonic receiver being arranged on pilotless automobile transmission The time of reception of first ultrasonic signal and each first ultrasonic signal, at least two first ultrasonic signals difference Receive what at least two ultrasound transmitter devices set in test site were sent for first ultrasonic receiver；
Computing module, for according at least two first ultrasonic signal, each first ultrasonic signal received The time of reception and each ultrasound transmitter device position, calculate the driving information of the pilotless automobile；
Sending module, for sending the driving information calculated and the driving information tested oneself to the test server, for The test server detects the pilotless automobile according to the driving information and the driving information tested oneself of calculating Performance of testing oneself.
9. pilotless automobile according to claim 8, it is characterised in that when the driving information includes the traveling position When putting, the computing module, specifically for：
Corresponding delivery time is obtained from each first ultrasonic signal；
According to the delivery time of each first ultrasonic signal and the time of reception, the pilotless automobile is calculated With the distance of the corresponding ultrasound transmitter device；
According to the position of the distance with least two ultrasound transmitter device and each ultrasound transmitter device, calculate described The traveling-position of pilotless automobile；
Accordingly, the sending module, specifically for sending the traveling-position calculated to the test server and testing oneself Traveling-position, so that the test server is according to the traveling-position and the traveling-position, detect described unmanned Whether the traveling-position tested oneself of automobile is accurate.
10. pilotless automobile according to claim 8 or claim 9, it is characterised in that when the driving information includes the row When sailing speed, the computing module, specifically for being received according to each time of reception in continuous two times of reception At least two first ultrasonic signal, calculate the travel speed of the pilotless automobile；
Further, the computing module, specifically for：
At least two first ultrasonic signal received according to each time of reception, calculates each time of reception The traveling-position of the pilotless automobile；
According to the traveling-position of the pilotless automobile of two times of reception, the row of the pilotless automobile is calculated Sail speed；
Accordingly, the sending module, specifically for sending the travel speed calculated to the test server and testing oneself Travel speed, so that the test server is according to the travel speed of calculating and the travel speed tested oneself, detection Whether the travel speed tested oneself of the pilotless automobile is accurate.
11. pilotless automobile according to claim 8 or claim 9, it is characterised in that when the driving information includes the row When sailing direction, the computing module, specifically for according to the institute that each time of reception receives in two times of reception At least two first ultrasonic signals are stated, the travel direction of the pilotless automobile is calculated；
Further, the computing module, specifically for：
At least two first ultrasonic signal received according to each time of reception, calculates each time of reception The traveling-position of the pilotless automobile；
According to the traveling-position of the pilotless automobile of two times of reception, the row of the pilotless automobile is calculated Sail direction；
Accordingly, the sending module, specifically for sending the travel direction calculated to the test server and testing oneself Travel direction, so that the test server is according to the travel direction of calculating and the travel direction tested oneself, detection Whether the travel direction tested oneself of the pilotless automobile is accurate.
12. a kind of test server, it is characterised in that the test server includes：
Receiving module, for the driving information for receiving the driving information for the calculating that pilotless automobile is sent and testing oneself；The meter The driving information of calculation is that the first ultrasonic wave that the pilotless automobile is arranged on the pilotless automobile according to receiving connects Receive at least two first ultrasonic signals, the time of reception of each first ultrasonic signal and each ultrasound that device is sent The position of ripple transmitter, calculates what is obtained；At least two first ultrasonic signal is respectively that first ultrasonic wave is received Device receives what at least two ultrasound transmitter devices set in test site were sent；
Detection module, for the driving information according to calculating and the driving information tested oneself, is detected described unmanned The performance of testing oneself of automobile.
13. test server according to claim 12, it is characterised in that when the driving information includes traveling-position When, the receiving module, specifically for receiving the traveling-position for the calculating that the pilotless automobile is sent and testing oneself The traveling-position；
The detection module, specifically for the driving information according to calculating and the driving information tested oneself, detection is described The performance of testing oneself of pilotless automobile, is specifically included：The test server is according to the traveling-position of calculating and tests oneself The traveling-position, detects whether the traveling-position tested oneself of the pilotless automobile is accurate；
When the driving information includes travel speed, the receiving module is sent out specifically for receiving the pilotless automobile The travel speed for the calculating sent and the travel speed tested oneself；
The detection module, specifically for the travel speed according to calculating and the travel speed tested oneself, detection is described Whether the travel speed tested oneself of pilotless automobile is accurate；
When the driving information includes travel direction, the receiving module is sent out specifically for receiving the pilotless automobile The travel direction for the calculating sent and the travel direction tested oneself；
The detection module, specifically for the travel direction according to calculating and the travel direction tested oneself, detection is described Whether the travel direction tested oneself of pilotless automobile is accurate.
14. the test server according to claim 12 or 13, it is characterised in that the test server also includes：
Deployment module, for the driving information and testing requirement of the calculating according to the pilotless automobile, it is determined that deployment The deployment information of test stage property in the road ahead of the pilotless automobile；
Control module, for according to it is described test stage property deployment information, control it is described test stage property travel to it is described nobody drive In the road ahead for sailing automobile, to test the performance of the pilotless automobile；
Further, the control module, specifically for receiving the second ultrasonic receiver being arranged on the test stage property At least two second ultrasonic signals sent and the time of reception of each second ultrasonic signal, described at least two second Ultrasonic signal is respectively that second ultrasonic receiver receives at least two ultrasound transmitter devices set in test site Send；
According at least two second ultrasonic signal received and the time of reception of each second ultrasonic signal, meter Calculate the driving information of the test stage property；
According to the deployment information of the test stage property and the driving information of the test stage property, the test stage property is controlled described Travelled in the road ahead of pilotless automobile, to test the performance of the pilotless automobile.
15. a kind of field test system of pilotless automobile, it is characterised in that including：It is arranged at least the two of test site Individual ultrasound transmitter device, the first ultrasonic receiver on pilotless automobile and test server；It is each described super Sound transmitter is connected with first ultrasonic receiver communication, first ultrasonic receiver and the unmanned vapour Car communication connection, the pilotless automobile is connected with test server communication；Wherein described pilotless automobile is used As above any described pilotless automobiles of claim 8-11；The test server is appointed using as above claim 12-14 Test server described in one.
16. a kind of computer equipment, it is characterised in that the computer equipment includes：
One or more processors；
Memory, for storing one or more programs,
When one or more of programs are by one or more of computing devices so that one or more of processors are real The now method as described in any in claim 1-4, or realize the method as described in any in claim 5-7.
17. a kind of computer-readable medium, is stored thereon with computer program, it is characterised in that the program is executed by processor Methods of the Shi Shixian as described in any in claim 1-4, or realize the method as described in any in claim 5-7.
CN201710317432.9A 2017-05-08 2017-05-08 Field test method and system, equipment and the readable medium of pilotless automobile Active CN107167323B (en)

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