CN107218941A - Method of testing and device applied to pilotless automobile - Google Patents
Method of testing and device applied to pilotless automobile Download PDFInfo
- Publication number
- CN107218941A CN107218941A CN201710379090.3A CN201710379090A CN107218941A CN 107218941 A CN107218941 A CN 107218941A CN 201710379090 A CN201710379090 A CN 201710379090A CN 107218941 A CN107218941 A CN 107218941A
- Authority
- CN
- China
- Prior art keywords
- test
- pilotless automobile
- unmanned plane
- movable detection
- environmental objects
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/265—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network constructional aspects of navigation devices, e.g. housings, mountings, displays
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/18502—Airborne stations
- H04B7/18506—Communications with or from aircraft, i.e. aeronautical mobile service
Abstract
This application discloses the method for testing and device applied to pilotless automobile.One embodiment of this method includes：Pilotless automobile sends the move for including the position that movable detection environmental objects should be in test site in the test environment needed for test to unmanned plane, so that the movable detection environmental objects are moved to position by unmanned plane；When pilotless automobile is travelled to position, obtain the output information of the functional module of pilotless automobile, and the presupposed information corresponding with functional module of the output information based on functional module comparative result, whether arbitration functions module normal.Realize using unmanned plane movement and movable detection environmental objects in the test environment needed for test are moved to the position that movable detection environmental objects should be in test site, so as to, movable detection environmental objects need not be set for the test environment needed for each test respectively, the expense of test is reduced.
Description
Technical field
The application is related to vehicular field, and in particular to vehicle testing field, more particularly to applied to pilotless automobile
Method of testing and device.
Background technology
For each functional module of pilotless automobile, normally whether test is to ensure that the safety of pilotless automobile
The critical environments of property.Test environment needed for test can be simulated in test site is tested.Due to different tests
The position of the device of such as traffic lights is different, it is necessary to for the test wrapper needed for each test in required test environment
In border, the device of such as traffic lights is set respectively, causes the expense of test larger.
The content of the invention
This application provides the method for testing and device applied to pilotless automobile, for solving above-mentioned background technology portion
Divide the technical problem existed.
In a first aspect, this application provides the method for testing applied to pilotless automobile, this method includes：It is unmanned
Automobile sends to unmanned plane and should be at comprising movable detection environmental objects in the test environment needed for test in test site
Position move so that the movable detection environmental objects are moved to the position by unmanned plane；When unmanned
During running car to position, the output information of the functional module of pilotless automobile, and the output based on functional module are obtained
Whether the comparative result of information presupposed information corresponding with functional module, arbitration functions module is normal.
Second aspect, this application provides the test device applied to pilotless automobile, the device includes：Send single
Member, is configured to send comprising movable detection environmental objects in the test environment needed for test in test site to unmanned plane
The move for the position that should be at, so that the movable detection environmental objects are moved to the position by the unmanned plane；
Test cell, is configured to when pilotless automobile is travelled to position, obtains the output of the functional module of pilotless automobile
Information, and the presupposed information corresponding with functional module of the output information based on functional module comparative result, arbitration functions mould
Whether block is normal.
The application provide the method for testing and device applied to pilotless automobile, by pilotless automobile to nobody
Machine sends the shifting for including the position that movable detection environmental objects should be in test site in the test environment needed for test
Dynamic instruction, so that the movable detection environmental objects are moved to position by unmanned plane；When pilotless automobile is travelled to position
When, obtain the output information of the functional module of pilotless automobile, and output information and functional module based on functional module
Whether the comparative result of corresponding presupposed information, arbitration functions module is normal.Realize needed for being tested using unmanned plane movement
Test environment in movable detection environmental objects be moved to the position that movable detection environmental objects should be in test site
Put, so that, without setting movable detection environmental objects respectively for the test environment needed for each test, reduction test
Expense.
Brief description of the drawings
By reading the detailed description made to non-limiting example made with reference to the following drawings, the application's is other
Feature, objects and advantages will become more apparent upon：
Fig. 1 shows the example system frame that can apply to the method for testing applied to pilotless automobile of the application
Structure；
Fig. 2 shows the flow of one embodiment of the method for testing applied to pilotless automobile according to the application
Figure；
Fig. 3 shows that the structure of one embodiment of the test device applied to pilotless automobile according to the application is shown
It is intended to；
Fig. 4 shows a hardware architecture diagram of the pilotless automobile suitable for the application.
Embodiment
The application is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining related invention, rather than the restriction to the invention.It also should be noted that, in order to
Be easy to description, illustrate only in accompanying drawing to about the related part of invention.
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the application can phase
Mutually combination.Describe the application in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Fig. 1 shows the example for the embodiment that can apply to the method for testing applied to pilotless automobile of the application
Sexual system framework.
As shown in figure 1, system architecture can include pilotless automobile 101, network 102 and unmanned plane 103.Network 102
Medium to provide communication link between pilotless automobile 101 and unmanned plane 103.Network 102 can use channel radio
Believe link.
The control system of pilotless automobile 101 includes：On the onboard operations system for operating in pilotless automobile 101
The functional module such as main control module and communication module, picture recognition module, driving decision-making module, main control module can be used for one
The information of functional module output is input to another functional module and the information got is input into One function module.It is logical
Letter module can be used for the information of receiving terminal transmission.Picture recognition module can be used in the road conditions image of identification camera collection
The object such as vehicle, traffic mark.Driving decision-making module can be used for the traveling for controlling pilotless automobile.
Fig. 2 is refer to, it illustrates the implementation of one of the method for testing applied to pilotless automobile according to the application
The flow of example.It should be noted that the method for testing applied to pilotless automobile that is provided of the embodiment of the present application can be by
Pilotless automobile 101 in pilotless automobile such as Fig. 1 is performed.This method comprises the following steps：
Step 201, pilotless automobile is sent comprising the movable detection in the test environment needed for test to unmanned plane
The move for the position that environmental objects should be in test site.
In the present embodiment, pilotless automobile is located in test site.In the test environment needed for test, crossing
The movable detection environmental objects that traffic mark be able to can change as the position in test site.
In the present embodiment, test needed for test environment can by position default settings fixation test environment object and
Mobile test environmental objects are constituted.When testing pilotless automobile, such as road in test environment needed for test
The fixed test environment object such as the lane line of section, the crossing in section can be set in advance in the predeterminated position in test site.
Can by unmanned plane by movable detection environmental objects be moved to test needed for test environment in movable detection environment pair
As the position that should be in test site.The move of the position can be included to unmanned transmission, unmanned plane can be parsed
The move, obtains the position, so that, movable detection environmental objects are moved to the position.
In some optional implementations of the present embodiment, movable detection environmental objects can be to be connected with unmanned plane
Traffic light device.Unmanned plane can carry traffic light device, carry the unmanned plane of traffic light device receive it is unmanned
Automobile send move after, unmanned plane can be moved to test needed for test environment in traffic light device in checkout area
The position that should be in ground, should in test site for example, traffic light device in the test environment needed for test can be moved to
The crossing being in.So as to be moved to traffic lights in the test environment needed for test in the traffic light device of unmanned plane and fill
Put the position that should be in test site.
Step 202, the output information of the functional module of pilotless automobile, and the letter of the output based on functional module are obtained
Whether the comparative result of breath and presupposed information, arbitration functions module is normal.
In the present embodiment, sent by step 201 to unmanned plane comprising removable in the test environment needed for test
After the move for the position that dynamic test environment object should be in test site, unmanned plane can be by the survey needed for test
The movable detection environmental objects that movable detection environmental objects in test ring border are moved in the test environment needed for test exist
The position that should be in test site.It is thus possible to will be travelled when pilotless automobile into the test environment needed for test
During the position that movable detection environmental objects should be in test site, the output of the functional module of pilotless automobile is obtained
Information, and the presupposed information corresponding with position of the output information based on functional module comparative result, arbitration functions module is
It is no normal.
For example, movable detection environmental objects are the traffic light device being connected with unmanned plane, the nothing of traffic light device is carried
It is man-machine receive pilotless automobile transmission move after, can be moved to test needed for test environment in it is red green
Lamp device is moved to the crossing of one in the test site that should be at.
Functional module is picture recognition module, when pilotless automobile travels the traffic lights into the test environment needed for test
During the crossing that device should be in test site, the output information of picture recognition module can be obtained, picture recognition module
Output information can travel into the test environment needed for test traffic light device for pilotless automobile should in test site
During the crossing being in, the lighting lamp state of the traffic light device identified, the corresponding presupposed information in the position is to be moved to crossing
Traffic light device actual lighting lamp state.The lighting lamp state for the traffic lights that can be will identify that and the reality of traffic light device are bright
Lamp state is compared, and judges whether picture recognition module is normal.
In some optional implementations of the present embodiment, to pilotless automobile in the test environment needed for test
When being tested, test route can be pre-set, test route defines pilotless automobile in the test wrapper needed for test
The order at the crossing driven to when being tested in border.
In the present embodiment, it can calculate unmanned in real time by the GPS on pilotless automobile, inertial navigation set
The displacement of automobile, the driving decision-making module of pilotless automobile can by the displacement of the pilotless automobile got in real time with
Original position when test starts in test site is added, and obtains position of the pilotless automobile in test site.Can be with
Based on position of the pilotless automobile in test site and test route, the road that pilotless automobile will travel to is determined
Mouthful, can be the test environment needed for position as test of the crossing that will travel in test site using pilotless automobile
The position that middle movable detection environmental objects should be in test site.
In some optional implementations of the present embodiment, sending to include to unmanned plane is used to change movable detection ring
The control instruction of the state of border object.So that movable detection environmental objects are the traffic light device that unmanned plane is carried as an example, nobody
The I/O interfaces of machine can the traffic light device the connection of I/O interfaces, pilotless automobile can be sent comprising being used for unmanned plane
The control instruction of the lighting lamp state of traffic lights is controlled, unmanned plane can be by I/O interfaces by the bright light shape for controlling traffic lights
The control instruction of state is sent to traffic light device, controls traffic light device lighting corresponding lamp and closing.Unmanned vapour
Car can send to include to unmanned plane to be used to control unmanned plane to hover to the control instruction of preset height, because unmanned plane carries red
Green light device, therefore, traffic light device also hover over the corresponding height of control instruction.
Below by taking a kind of application scenarios as an example, illustrate the method for testing applied to pilotless automobile in the application：Nothing
People drives a car between unmanned plane by the way of radio communication.Two sections, two are included in test environment needed for test
Crossing A and crossing B are set respectively in individual section.In test route, pilotless automobile needs to pass sequentially through crossing A, crossing
B.Pilotless automobile is, it is necessary to which traffic lights dispaly state is green when by crossing A, and pilotless automobile is then sent out to unmanned plane
Send the move for making unmanned plane be moved to crossing A and so that unmanned plane hovers over such as 6 meters of preset height and by green light point
The control instruction that other bright lamps are closed.Pilotless automobile is travelled to the A of crossing, and being sent to unmanned plane makes unmanned plane be moved to B
The control instruction at crossing and cause unmanned plane hover over such as 6 meters of preset height and red light lighted to the control of other lamp relations
Instruction.
Fig. 3 is refer to, it illustrates the implementation of one of the test device applied to pilotless automobile according to the application
The structural representation of example, the test device applied to pilotless automobile includes：Transmitting element 301, test cell 302.Wherein,
Transmitting element 301 is configured to send to unmanned plane and surveyed comprising movable detection environmental objects in the test environment needed for test
The move for the position that should be in the ground of examination hall, so that movable detection environmental objects are moved to institute's rheme by the unmanned plane
Put；Test cell 302 is configured to when pilotless automobile is travelled to position, obtains the functional module of pilotless automobile
Output information, and the presupposed information corresponding with functional module of the output information based on functional module comparative result, judge work(
Whether energy module is normal.
In some optional implementations of the present embodiment, the test device applied to pilotless automobile also includes：
Control instruction transmitting element (not shown), is configured to send comprising the removable survey for being moved to position for changing to unmanned plane
Try the control instruction of the state of environmental objects.
In some optional implementations of the present embodiment, movable detection environmental objects are red for what is be connected with unmanned plane
Green light device.
In some optional implementations of the present embodiment, the device applied to pilotless automobile also includes：Traffic
Mobile unit (not shown) is identified, is configured to when the traffic light device that movable detection environmental objects are connected with unmanned plane,
Based on position of the pilotless automobile in test site and the corresponding test route of the test environment needed for test, it is determined that nobody
The crossing that driving will travel to；Will be red green in the test environment needed for position as test of the crossing in test site
The position that lamp device should be in test site.
Fig. 4 is refer to, it illustrates the pilotless automobile suitable for the application a hardware architecture diagram.
As shown in figure 4, pilotless automobile includes CPU401, memory 402, GPS 403, inertial navigation set 404.
CPU401, memory 402, GPS403, inertial navigation set 404 are connected with each other by bus 405.According to being applied to for the application
The method of testing of pilotless automobile may be implemented as computer program, includes and is retouched in above-described embodiment in the computer program
The instruction for the operation stated.Computer program can be stored in memory 402.The CPU 401 of pilotless automobile is by calling
The computer program stored in memory 402, to unmanned plane send control by movable detection environmental objects move to should
The instruction for the position being in.
Present invention also provides a kind of pilotless automobile, the pilotless automobile can include the application described by Fig. 3
In the test device of pilotless automobile.The pilotless automobile can be configured with one or more processors；Memory, is used for
Storing in one or more programs, one or more programs to include to perform the behaviour described in above-mentioned steps 201-202
The instruction of work.When one or more programs are executed by one or more processors so that on one or more processors are performed
State the operation described in step 201-202.
Present invention also provides a kind of computer-readable medium, during the computer-readable medium can be pilotless automobile
Included；It can also be individualism.The computer-readable medium carries one or more program, when one or many
When individual program is performed by the CPU of pilotless automobile, it can be sent to unmanned plane comprising removable in the test environment needed for test
The move for the position that dynamic test environment object should be in test site, so that unmanned plane is by movable detection environment pair
As being moved to position；When pilotless automobile is travelled to position, the output information of the functional module of pilotless automobile is obtained,
And the comparative result of the presupposed information corresponding with functional module of the output information based on functional module, whether arbitration functions module
Normally.
It should be noted that above-mentioned non-volatile computer-readable medium can be computer-readable signal media or non-
Volatile computer readable storage medium storing program for executing either the two any combination.Computer-readable recording medium can for example be wrapped
Include but be not limited to system, device or the device of electricity, magnetic, optical, electromagnetic, infrared ray or semiconductor, or any combination above.
The more specifically example of non-volatile computer readable storage medium storing program for executing can include but is not limited to：With one or more wires
Electrical connection, portable computer diskette, hard disk, random access storage device (RAM), read-only storage (ROM), erasable type may be programmed
Read-only storage (EPROM or flash memory), optical fiber, portable compact disc read-only storage (CD-ROM), light storage device, magnetic are deposited
Memory device or above-mentioned any appropriate combination.In this application, non-volatile computer readable storage medium storing program for executing can be appointed
What include or storage program tangible medium, the program can be commanded execution system, device or device use or and its
It is used in combination.And in this application, computer-readable signal media can be included in a base band or as a carrier wave part
The data-signal of propagation, wherein carrying computer-readable program code.The data-signal of this propagation can be a variety of shapes
Formula, including but not limited to electromagnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal media may be used also
To be any non-volatile computer-readable medium beyond non-volatile computer readable storage medium storing program for executing, computer-readable Jie
Matter can be sent, propagated or be transmitted for being used or in connection by instruction execution system, device or device
Program.The program code included on computer-readable medium can be transmitted with any appropriate medium, be included but is not limited to：Nothing
Line, electric wire, optical cable, RF etc., or above-mentioned any appropriate combination.
Above description is only the preferred embodiment of the application and the explanation to institute's application technology principle.People in the art
Member should be appreciated that invention scope involved in the application, however it is not limited to the technology of the particular combination of above-mentioned technical characteristic
Scheme, while should also cover in the case where not departing from the inventive concept, is carried out by above-mentioned technical characteristic or its equivalent feature
Other technical schemes formed by any combination.Such as features described above has similar work(with (but not limited to) disclosed herein
The technical characteristic of energy carries out technical scheme formed by replacement mutually.
Claims (10)
1. a kind of method of testing applied to pilotless automobile, it is characterised in that methods described includes：
Pilotless automobile is sent comprising movable detection environmental objects in the test environment needed for test in test to unmanned plane
The move for the position that should be in place so that the unmanned plane movable detection environmental objects are moved to it is described
Position；
When pilotless automobile is travelled to the position, the output information of the functional module of pilotless automobile is obtained, and
The comparative result of output information presupposed information corresponding with functional module based on functional module, just whether arbitration functions module
Often.
2. according to the method described in claim 1, it is characterised in that methods described also includes：
The control for the state for changing the movable detection environmental objects for being moved to the position that includes is sent to the unmanned plane
System instruction.
3. method according to claim 2, it is characterised in that movable detection environmental objects are red for what is be connected with unmanned plane
Green light device.
4. method according to claim 3, it is characterised in that it is red green that movable detection environmental objects are connected with unmanned plane
Lamp device；And
Methods described also includes：
Based on position of the pilotless automobile in test site and the corresponding test route of the test environment needed for test, it is determined that
Pilotless automobile is the crossing that will travel to；
Using traffic light device in the test environment needed for position as test of the crossing in test site in test site
In the position that should be at.
5. a kind of test device applied to pilotless automobile, it is characterised in that described device includes：
Transmitting element, is configured to comprising movable detection environmental objects in the test environment needed for test exist to unmanned plane transmission
The move for the position that should be in test site, so that the movable detection environmental objects are moved to by the unmanned plane
The position；
Test cell, is configured to when pilotless automobile is travelled to the position, obtains the function mould of pilotless automobile
The output information of block, and the presupposed information corresponding with functional module of the output information based on functional module comparative result, sentence
Whether disconnected functional module is normal.
6. device according to claim 5, it is characterised in that described device also includes：
Control instruction transmitting element, is configured to send to include to the unmanned plane to be moved to the removable of the position for changing
The control instruction of the state of dynamic test environment object.
7. device according to claim 6, it is characterised in that movable detection environmental objects are red for what is be connected with unmanned plane
Green light device.
8. device according to claim 7, it is characterised in that described device also includes：
Traffic mark mobile unit, is configured to when the traffic light device that movable detection environmental objects are connected with unmanned plane,
Based on position of the pilotless automobile in test site and the corresponding test route of the test environment needed for test, it is determined that nobody
The crossing that driving will travel to；Using in the test environment needed for position as test of the crossing in test site
The position that traffic light device should be in test site.
9. a kind of pilotless automobile, it is characterised in that including：
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
Realize the method as described in any in claim 1-4.
10. a kind of readable computer storage medium, it is characterised in that be stored thereon with computer program, it is characterised in that the journey
The method as described in any in claim 1-4 is realized when sequence is executed by processor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710379090.3A CN107218941B (en) | 2017-05-25 | 2017-05-25 | Test method and device applied to unmanned automobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710379090.3A CN107218941B (en) | 2017-05-25 | 2017-05-25 | Test method and device applied to unmanned automobile |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107218941A true CN107218941A (en) | 2017-09-29 |
| CN107218941B CN107218941B (en) | 2021-05-28 |
Family
ID=59944485
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710379090.3A Active CN107218941B (en) | 2017-05-25 | 2017-05-25 | Test method and device applied to unmanned automobile |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107218941B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108391095A (en) * | 2018-04-13 | 2018-08-10 | 青岛慧拓智能机器有限公司 | Video capture method and system for monitoring automatic driving vehicle |
| CN108760332A (en) * | 2018-05-14 | 2018-11-06 | 公安部交通管理科学研究所 | The autonomous driving vehicle test scene construction method driven based on place |
| CN108961798A (en) * | 2018-08-10 | 2018-12-07 | 长安大学 | Unmanned vehicle traffic lights independently perceive capacity test system and test method |
| CN109753623A (en) * | 2018-12-10 | 2019-05-14 | 清华大学 | A kind of analysis of automatic driving vehicle multi-test scene and number simplifying method |
| CN109839922A (en) * | 2017-11-28 | 2019-06-04 | 百度在线网络技术（北京）有限公司 | For controlling the method and device of automatic driving vehicle |
| CN111415513A (en) * | 2020-03-26 | 2020-07-14 | 公安部交通管理科学研究所 | Method, device and system for testing driving safety of automatic driving automobile |
| CN113886248A (en) * | 2021-09-30 | 2022-01-04 | 襄阳达安汽车检测中心有限公司 | System, method and equipment for adjusting height of speed limit lever and readable storage medium |
| WO2022246849A1 (en) * | 2021-05-28 | 2022-12-01 | 吉林大学 | Vehicle test method and system based on unmanned aircraft |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103236199A (en) * | 2013-04-09 | 2013-08-07 | 北京理工大学 | Automatic testing system and testing method for street crossing of pedestrians |
| CN104502122A (en) * | 2015-01-12 | 2015-04-08 | 交通运输部公路科学研究所 | Unmanned vehicle remote control brake performance testing and assessment method |
| CN105719499A (en) * | 2016-04-21 | 2016-06-29 | 百度在线网络技术（北京）有限公司 | Traffic sign recognition test method and device |
| CN105954048A (en) * | 2016-07-07 | 2016-09-21 | 百度在线网络技术（北京）有限公司 | Method for testing normal driving of unmanned vehicle and device thereof |
| CN106153352A (en) * | 2016-07-04 | 2016-11-23 | 江苏大学 | A kind of automatic driving vehicle test and verification platform and method of testing thereof |
-
2017
- 2017-05-25 CN CN201710379090.3A patent/CN107218941B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103236199A (en) * | 2013-04-09 | 2013-08-07 | 北京理工大学 | Automatic testing system and testing method for street crossing of pedestrians |
| CN104502122A (en) * | 2015-01-12 | 2015-04-08 | 交通运输部公路科学研究所 | Unmanned vehicle remote control brake performance testing and assessment method |
| CN105719499A (en) * | 2016-04-21 | 2016-06-29 | 百度在线网络技术（北京）有限公司 | Traffic sign recognition test method and device |
| CN106153352A (en) * | 2016-07-04 | 2016-11-23 | 江苏大学 | A kind of automatic driving vehicle test and verification platform and method of testing thereof |
| CN105954048A (en) * | 2016-07-07 | 2016-09-21 | 百度在线网络技术（北京）有限公司 | Method for testing normal driving of unmanned vehicle and device thereof |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109839922A (en) * | 2017-11-28 | 2019-06-04 | 百度在线网络技术（北京）有限公司 | For controlling the method and device of automatic driving vehicle |
| CN109839922B (en) * | 2017-11-28 | 2020-11-10 | 百度在线网络技术（北京）有限公司 | Method and apparatus for controlling unmanned vehicle |
| CN108391095A (en) * | 2018-04-13 | 2018-08-10 | 青岛慧拓智能机器有限公司 | Video capture method and system for monitoring automatic driving vehicle |
| CN108760332A (en) * | 2018-05-14 | 2018-11-06 | 公安部交通管理科学研究所 | The autonomous driving vehicle test scene construction method driven based on place |
| CN108961798A (en) * | 2018-08-10 | 2018-12-07 | 长安大学 | Unmanned vehicle traffic lights independently perceive capacity test system and test method |
| CN108961798B (en) * | 2018-08-10 | 2021-05-18 | 长安大学 | Unmanned vehicle traffic signal lamp autonomous perception capability test system and test method |
| CN109753623A (en) * | 2018-12-10 | 2019-05-14 | 清华大学 | A kind of analysis of automatic driving vehicle multi-test scene and number simplifying method |
| CN109753623B (en) * | 2018-12-10 | 2020-05-01 | 清华大学 | Method for analyzing multiple test scenes and simplifying number of automatic driving vehicles |
| CN111415513A (en) * | 2020-03-26 | 2020-07-14 | 公安部交通管理科学研究所 | Method, device and system for testing driving safety of automatic driving automobile |
| CN111415513B (en) * | 2020-03-26 | 2022-02-08 | 公安部交通管理科学研究所 | Method, device and system for testing driving safety of automatic driving automobile |
| WO2022246849A1 (en) * | 2021-05-28 | 2022-12-01 | 吉林大学 | Vehicle test method and system based on unmanned aircraft |
| CN113886248A (en) * | 2021-09-30 | 2022-01-04 | 襄阳达安汽车检测中心有限公司 | System, method and equipment for adjusting height of speed limit lever and readable storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107218941B (en) | 2021-05-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107218941A (en) | Method of testing and device applied to pilotless automobile | |
| CN107063711B (en) | Method and apparatus for testing unmanned vehicles | |
| CN107063710B (en) | Method and apparatus for testing unmanned vehicles | |
| US20220121550A1 (en) | Autonomous Vehicle Testing Systems and Methods | |
| Szalay et al. | Development of a test track for driverless cars: vehicle design, track configuration, and liability considerations | |
| US10852721B1 (en) | Autonomous vehicle hybrid simulation testing | |
| CN107063713B (en) | Test method and device applied to unmanned automobile | |
| CN112789619B (en) | Simulation scene construction method, simulation method and device | |
| CN108646752B (en) | Control method and device of automatic driving system | |
| CN109767130B (en) | Method and device for controlling a vehicle | |
| CN109509352A (en) | For the path planning of the autonomous vehicle in forbidden area | |
| US8935055B2 (en) | Method and apparatus for vehicle with adaptive lighting system | |
| CN109839922B (en) | Method and apparatus for controlling unmanned vehicle | |
| CN102445210B (en) | The method of navigational system and the destination navigation for motor vehicle | |
| CN106154834A (en) | For the method and apparatus controlling automatic driving vehicle | |
| JP7207670B2 (en) | Highway system for connected autonomous vehicles and methods using it | |
| CN110341717A (en) | Autonomous vehicle around stationary vehicle is mobile | |
| CN106484757A (en) | Train event on positioning railway network | |
| CN109508579A (en) | For obtaining the method and device of virtual point cloud data | |
| CN107765691A (en) | Method and apparatus for controlling automatic driving vehicle | |
| CN109284801A (en) | State identification method, device, electronic equipment and the storage medium of traffic light | |
| CN112509353B (en) | Robot passing method and device, robot and storage medium | |
| US20120041669A1 (en) | Traffic information management device, traffic information management method, and traffic information management program | |
| CN110027558A (en) | Autonomous vehicle loosens turning boundary | |
| JP2006154538A (en) | Method and system for map drawing, navigation device, and input/output device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |