CN107782564A

CN107782564A - A kind of automatic driving vehicle evaluation system and method

Info

Publication number: CN107782564A
Application number: CN201711036852.6A
Authority: CN
Inventors: 王飞跃; 李静; 田滨; 胡成云; 陈世超; 曹东璞; 李力
Original assignee: Qingdao Hui Tuo Intelligent Machine Co Ltd
Current assignee: Jiangsu XCMG Construction Machinery Institute Co Ltd
Priority date: 2017-10-30
Filing date: 2017-10-30
Publication date: 2018-03-09
Anticipated expiration: 2037-10-30
Also published as: CN107782564B

Abstract

The invention discloses a kind of automatic driving vehicle evaluation system and method.System includes：System server；Test parameter generation module, it is configured to obtain testing requirement, is generated according to the testing requirement and export on-line testing parameter；Running test data acquisition module on the spot, it is configured to obtain running data collection setup parameter, and the traveling test result data fed back in test process is travelled on the spot based on running data collection setup parameter acquisition vehicle to be measured and uploads to the system server in real time；Test result analysis module, it is configured to download the traveling test result data in real time at the system server, parses the traveling test result data, generation traveling test result real-time report.The system according to the present invention and method, field test can be carried out to the driveability of automatic driving vehicle and generate test report in real time in test process, so as to improve the accuracy of test report and real-time.

Description

A kind of automatic driving vehicle evaluation system and method

Technical field

The present invention relates to field of traffic, and in particular to a kind of automatic driving vehicle evaluation system and method.

Background technology

Automatic driving vehicle can also be referred to as wheeled automatic robot, and it relies primarily on vehicle-mounted sensor-based system and perceives road Environment, automatic planning travelling line simultaneously control vehicle to reach predeterminated target.Automatic driving vehicle be collection automatically control, visual meter Numerous technologies such as calculation, architecture are to weigh national a research strength and industrial level in the product of the high development of one Important symbol, had broad application prospects in national defence and national economy field.

With the fast-developing and constantly lifting of automatic driving vehicle technology in global range, how based on a kind of completely only The next accurate, science of test system for standing on test vehicle, the various performances for testing and evaluating automatic driving vehicle in all directions are It is very urgent and important.

At present, the checkout area of automatic driving vehicle is mainly examined by setting test event and the route of some sequencing Examine the performance of automatic driving vehicle.But its not only inspection target is less, and can not directly record and drive automatically comprehensively The various data of vehicle under steam are sailed, are unfavorable for carrying out automatic driving vehicle automatic driving vehicle technical merit deep, detailed Thin analysis etc..

The content of the invention

The invention provides a kind of automatic driving vehicle evaluation system, the system includes：

System server；

Test parameter generation module, it is configured to obtain testing requirement, is generated and exported online according to the testing requirement Test parameter, the on-line testing parameter include test route data and running data collection setup parameter；

Running test data acquisition module on the spot, it is configured to obtain the running data collection setup parameter, based on institute State running data collection setup parameter acquisition vehicle to be measured and the traveling test result data fed back in test process is travelled on the spot And the system server is uploaded in real time；

Test result analysis module, it is configured to download the traveling test result number in real time at the system server According to parsing the traveling test result data, generation traveling test result real-time report.

In one embodiment：

The test parameter generation module is additionally configured to that off-line test parameter, institute are generated and exported according to the testing requirement Stating off-line test parameter includes off-line test data acquisition parameters；

The system also includes off-line test data acquisition module, and the off-line test data acquisition module is configured to obtain Off-line test data acquisition parameters, off-line simulation is carried out to the vehicle to be tested based on the off-line test data acquisition parameters Test, obtain off-line simulation test result；

The test result analysis module is additionally configured to parse the off-line simulation test result, generation off-line simulation test As a result report.

In one embodiment, the test result analysis module is additionally configured to off-line simulation test result described in integration analysis And the traveling test result data, generation traveling test result real-time report.

In one embodiment, the system also includes：

Information display module, it is configured to travel test result data and/or the traveling test knot described in real-time exhibition Fruit real-time report.

In one embodiment, the system also includes data memory module, and it is configured to：

Downloaded in real time at the system server and preserve the traveling test result data；

Obtained at the test result analysis module and preserve the traveling test result real-time report.

In one embodiment, the system also includes：

Exception monitoring module, it is configured to the abnormality of monitoring system, wherein, the exception monitoring module includes：

System test modules, it is configured to reliability, the Stability and veracity of testing the system repeatedly；

System-monitoring module, it is configured to real-time monitoring system running situation, judges whether to break down.

The invention also provides a kind of automatic driving vehicle assessment method, methods described includes：

Testing requirement is obtained, on-line testing parameter is generated according to the testing requirement, the on-line testing parameter includes surveying Try route data and running data collection setup parameter；

The test route data are sent to vehicle to be tested；

Running data collection setup parameter is sent to running test data collecting device, tested using the traveling Data acquisition equipment obtains vehicle to be measured and the traveling test result data fed back in test process is travelled on the spot and by the row Sail test result data and upload to system server in real time；

Download the traveling test result data in real time at the system server, parse the traveling test result number According to generation traveling test result real-time report.

In one embodiment, methods described also includes：

Off-line test parameter is generated according to the testing requirement, the off-line test parameter includes off-line test data acquisition Parameter；

The off-line test data acquisition parameters are sent to off-line test data acquisition equipment, utilize the off-line test Data acquisition equipment carries out off-line simulation test to the vehicle to be tested, obtains off-line simulation test result；

Parse the off-line simulation test result, the test result report of generation off-line simulation.

In one embodiment, methods described also includes：

Off-line simulation test result described in integration analysis and the traveling test result data, generation traveling test result Real-time report.

In one embodiment, abnormality is monitored by the way of test and monitoring combine, including：

The reliability of test system, Stability and veracity repeatedly；

Real-time monitoring system running situation, judge whether to break down.

The system according to the present invention and method, the driveability of automatic driving vehicle can be carried out field test and Test report is generated in test process in real time, so as to improve the accuracy of test report and real-time；According to the present invention's System and method can greatly improve the testing efficiency of automatic driving vehicle.

The further feature or advantage of the present invention will illustrate in the following description.Also, the present invention Partial Feature or Advantage will be become apparent by specification, or be appreciated that by implementing the present invention.The purpose of the present invention and part Advantage can be realized or obtained by specifically noted step in specification, claims and accompanying drawing.

Brief description of the drawings

Accompanying drawing is used for providing a further understanding of the present invention, and a part for constitution instruction, the reality with the present invention Apply example to be provided commonly for explaining the present invention, be not construed as limiting the invention.In the accompanying drawings：

Fig. 1 and Fig. 2 is the method execution flow chart according to different embodiments of the invention；

Fig. 3 is test report schematic diagram according to an embodiment of the invention；

Fig. 4 is Part Methods execution flow chart according to an embodiment of the invention；

Fig. 5 and Fig. 6 is the system architecture diagram according to different embodiments of the invention；

Fig. 7~Fig. 9, Figure 12 are the components of system as directed structured flowcharts according to different embodiments of the invention；

Figure 10 and Figure 11 is the components of system as directed structure operational flow diagram according to different embodiments of the invention.

Embodiment

Embodiments of the present invention are described in detail below with reference to drawings and Examples, whereby implementation personnel of the invention Can fully understand how application technology means solve technical problem to the present invention, and reach the implementation process of technique effect and according to The present invention is embodied according to above-mentioned implementation process.If it should be noted that do not form conflict, each embodiment in the present invention And each feature in each embodiment can be combined with each other, the technical scheme formed protection scope of the present invention it It is interior.

In view of the above-mentioned problems, the present invention proposes a kind of automatic driving vehicle assessment method.In the method for the invention, exist The collection and evaluation and test of test result data are carried out during the traveling of vehicle to be tested in real time, is tested in vehicle to be tested Related test report is proposed while traveling.So, the accuracy of test report and comprehensive can not only be ensured, and The state for testing vehicle can be adjusted according to test report in real time in test, so as to realize test, evaluation, adjust Whole, re-test slitless connection, substantially increases testing efficiency and efficiency of research and development.

Next the implementation process of the embodiment of the present invention is described in detail based on flow chart.The step shown in the flow chart of accompanying drawing Suddenly can be performed in the computer system comprising such as one group computer executable instructions.Although show in flow charts each The logical order of step, but in some cases, can be with the step shown or described by being performed different from order herein.

As shown in figure 1, in one embodiment, method includes：

S110, obtain testing requirement；

S120, on-line testing parameter is generated according to testing requirement, on-line testing parameter includes test route data and row Sail data acquisition setup parameter；

S130, test route data are sent to vehicle to be tested, make vehicle to be tested be travelled according to test route Test；

S140, running data collection setup parameter is sent to running test data collecting device；

S141, the row fed back in test process is travelled on the spot using running test data collecting device acquisition vehicle to be measured Sail test result data；

S150, traveling test result data is uploaded into system server in real time；

S160, download traveling test result data in real time at system server；

S170, parsing traveling test result data, generation traveling test result real-time report.

Further, on-line testing parameter also includes being used for the test site configuration parameter for arranging test site.Testing During, first according to test site configuration parameter configuration testing place, vehicle to be tested is then made according to test route data row Sail, can thus make running test data collecting device be surveyed according to running data collection setup parameter collection in the process of moving Test result data.

Further, as shown in Fig. 2 in one embodiment, method also includes：

S200, off-line test parameter is generated according to testing requirement, off-line test parameter is joined including off-line test data acquisition Number；

S280, off-line test data acquisition parameters are sent to off-line test data acquisition equipment；

S281, treat test vehicle using off-line test data acquisition equipment and carry out off-line simulation test, obtain offline imitative True test result；

S282, parse off-line simulation test result, the test result report of generation off-line simulation.

In above-mentioned flow, off-line test parameter is used for the off-line simulation test for configuring equipment on vehicle to be tested.Specifically , such as simulation type, simulated environment parameter, simulation times, emulation input parameter, simulation result collection setup parameter etc..

According to above-mentioned flow, it is possible to automatic driving vehicle is carried out to test comprising off-line simulation and driven on the spot and is tested Integration test, more accurate comprehensive test result can be obtained.So, not only in vehicle to be measured on actual travel place Traveling during vehicle is tested, but also under non-driving state for vehicle to be measured equipment carry out off-line simulation Simulation test.Test result can not meet to research and develop inspection demand when can effectively solve the problems, such as only to carry out traveling test.

Further, in one embodiment, off-line simulation test is first completed before traveling test on the spot is carried out.Then exist In step S270, integration analysis off-line simulation test result and traveling test result data, it is real-time that generation travels test result Report.

Further, in one embodiment, based on test result type, off-line simulation is tested and driven on the spot and is tested It is divided into qualitative test and quantitative test two parts.

Specifically, in one embodiment, qualitative test includes：

It is based on treating test vehicle progress driving condition analysis when test route data travel in vehicle to be tested, acquisition is driven Sail state analysis result.

In one embodiment, quantitative test includes：

Collection vehicle dynamics data when test route data travel is based in vehicle to be tested.

Further, in one embodiment, quantitative test also includes：

The equipment that test vehicle is treated based on off-line test parameter carries out off-line simulation test；

Further, in one embodiment, travel test result real-time report include safety analysis report, intelligent point Analysis report, Analysis of Comfort report and/or agility analysis report.

Specifically, in one embodiment, safety analysis report mainly includes brake hard ability investigation report, information is pacified All-round power investigation report, interactive capability investigation report.Brake hard ability investigation report, it is to investigate automatic driving vehicle to exist Behavior reaction in emergency circumstances and stopping power, including automatic brake stop；Information security ability investigation report, it is to investigate certainly The dynamic system safety and network security for driving vehicle, including APP safety, ECU safety, Can-bus bus safeties etc.；Man-machine interaction Ability investigation report, be investigate when automated driving system degenerate or automated driving system failure when, automatic Pilot Current traffic security risk preferably be evaded or be reduced to vehicle can, be smoothly transitted into driver's takeover mode.

Intelligent analysis report, mainly includes：Perception investigation report, decision rule investigation report, wagon control are examined Examine report.Perception investigation report investigate automatic driving vehicle perception recognition capability, including object detection, object identification or Classification, object positioning and behavior prediction etc..Decision rule investigation report investigates behavior of the automatic driving vehicle under traffic environment Decision-making and path planning ability, including lane change are investigated, with car investigation, global path planning and local paths planning investigation etc.；Car Control investigation report investigates automatic driving vehicle and precisely performs the effect of upper layer motion control instruction etc., including during response instruction Between, the velocity interval of controllable braking etc..

Analysis of Comfort is reported, mainly including steady ability investigation report, fast ability investigation report.Steady ability is investigated The consistent level in automatic driving vehicle traveling, including the real-time change by Vehicle dynamic parameters are investigated in report, to investigate Whether vehicle, which has, excessive waved, jolts；Fast ability investigation report investigates automatic driving vehicle and completes related driving task Situation, including pause number, spent time etc..

Agility analysis report, mainly include adaptability investigation report, emergency capability investigation report, capability for correcting and investigate Report.Adaptability investigation report investigate automatic driving vehicle with car ability, or be automatic cruising ability, can be from homophony The parameters such as whole speed are to adapt to current traffic environment；Emergency capability investigation report investigates automatic driving vehicle in some dangerous feelings Ability of emergency management under condition, including gps signal loss, certain danger road conditions, automated driving system failure, automated driving system When invasion, the processing mode and risk size of automated driving system.Capability for correcting investigation report investigates automatic Pilot Vehicle is under steam, if has the adjustment capability after route deviation, after road contract speed, regulates the speed to meet The abilities such as road requirement.

Specifically, in a specific application scenarios, final test result and test report output are as shown in Figure 3.

Next based on the test detail that the inventive method is described in detail with specific testing requirement.

In a concrete application scene, so that ' straight trip of two phase place lamp T-shaped road junction ' travels test scene on the spot as an example, carry out Test and analysis.

According to ' straight trip of two phase place lamp T-shaped road junction ' test scene, off-line test parameter and on-line testing corresponding to generation Parameter, off-line simulation test and on the spot traveling test are carried out based on off-line test parameter and on-line testing parameter, tested During to automatic driving vehicle carry out qualitative and quantitative test.

Qualitative test, test scene mainly is built in test site, checks whether automatic driving vehicle can complete phase The driving task of pass, by taking ' straight trip of two phase place lamp T-shaped road junction ' scene as an example, at two phase place lamp T-shaped road junction, it is automatic to investigate this Vehicle is driven whether can：Straight trip is by current crossing, correct marker lamp state, correct detection guideboard information (in reality T-shaped road junction on place sets following guideboard：Indicating signboard, the speed(-)limit sign board in T-shaped road junction), regulate the speed to speed limit In the range of, whether press graticule etc..During vehicle is by the crossing, the result of whole qualitative investigations is recorded, and is adopted Collect the actual vehicle kinetic parameter of vehicle, the kinetic parameter of decision rule module output, actual GPS track, traveling video Deng.

Finally, certain evaluation result is provided to the result of qualitative test, such as with following calculation：

Table 1

As shown in table 1：Assuming that in qualitative test, i-th of test assignment is " straight trip of two phase place lamp T-shaped road junction ", and score value is M_i, the final score of the test assignment is W_i, then：

1) selection "No" in " if straight trip passes through crossing ", that is, vehicle could not keep straight on by crossing, then the test assignment Score W_i=0；

2) selection "Yes" in " if straight trip passes through crossing ", then check that the driving task of automatic driving vehicle completes effect again Fruit, subtract driving task and complete several deduction of points items below effect, for example can correctly identify traffic lights, but exceed the speed limit and Road surface yellow line is pressed, then last score is：W_i=M_i-M_i2-M_i3

Finally, the total score W of qualitative test meets：

W=∑s w_i (1)

Quantitative test, data source is in two parts：A part is the data that test site collects, than as mentioned above The Vehicle dynamic parameters of automatic driving vehicle, GPS track, traveling video etc.；Another part is tested from off-line simulation.From Line emulation testing includes：Perception test, decision rule aptitude tests, wagon control aptitude tests.

Specifically, in one embodiment, the main automatic driving vehicle of investigating of perception test is to object in traffic flow Identify classification capacity.Wherein：

1) offline perception test assignment content：In different illumination, block, the factor such as road type and vehicle movement Under, in-vehicle camera image discrete data during the vehicle actual travel of collection is identified and positioned, i.e., each type objects (sedan-chair Car, pedestrian, lorry, bicycle, bus etc.) position in the picture.

2) offline perception test assignment flow：

(1) automatic Pilot test system obtains test data from the communication data interface of off-line data platform.

The actual traffic of the in-vehicle camera collection of off-line test data source driving vehicle in real roads traffic environment Scene graph discrete series.According to the difference to the coverage extent of object in off-line test data set, it is divided into the figure of 5 kinds of grade of difficulty As sequence.During actual test, the image sequence of equal number of 5 grade of difficulty is randomly selected respectively.It is not general, it is assumed that The picture number for 5 grade of difficulty chosen is n, and the score of 5 kinds of grade of difficulty is followed successively by：N_1, N_2, N_3, N_4, N_5, it is difficult Degree is higher, and score value is bigger.

(2) automatic Pilot test system will utilize the perception algorithm analysis number of itself at once after interface gets data According to finally, the result that the result of analysis is returned to off-line data platform is recorded with assessing interface.Wherein, the result of return is with txt Form returns, and content includes：The timestamp of data, each two field picture are got from " the communication data interface of off-line data platform " In sequence, timestamp that coordinate (x, y) in picture of object names, object, whole sequence of pictures have been analyzed.

(3) finally, off-line data platform contrasts to the legitimate reading in the document and database of return, provides：5 The correct number of picture recognition of grade of difficulty is followed successively by：N_01, n_02, n_03, n_04, n_05；The picture of 5 grade of difficulty Correct number is positioned to be followed successively by：N_11, n_12, n_13, n_14, n_15；Complete the total time t of data analysis.

Object identification ability score：C=N_1*n_01+N_2*n_02+N_3*n_03+N_4n_04+N_5*n_05

Object stationkeeping ability score：P=N_1*n_11+N_2*n_12+N_3*n_13+N_4n_14+N_5*n_15

Off-line test perception score：N=(C+P)/t

According to the result of qualitative test and quantitative test, the 4S based on comprehensive test module in-depth analysis automatic driving vehicle Performance, including security, intelligent, comfortableness, agility, provide final test report.

Specifically, in one embodiment, in qualitative test, provide the deduction of points situation of perceptually relevant project：Such as because Yellow line is pressed in generation, and explanation can not accurately identify the pavement strips such as lane line, collect the violation wrong content and score value of perceived direction, Such as provide such as the form of table 2：

Table 2

In quantitative test, the scoring event of perceptually relevant project as shown in table 3 is provided：

Table 3

The score of summary qualitative test and quantitative test, it is possible to provide the total score of perception and wait to improve Technique direction.

In the method flow of the present invention, test and travel on the spot by way of test combines obtaining more off-line simulation Comprehensive reliable test result.But it is often different for different vehicles, different R＆D targets, its testing requirement. Therefore, it is to determine off-line test parameter and on-line testing parameter to adapt to different one of testing requirements, committed step.

In one embodiment, testing requirement is analyzed and decomposed, testing requirement, which is decomposed into, multiple to be needed to meet Test scene set.Then for each test scene generation off-line test parameter and on-line testing parameter so that most Throughout one's life into off-line test parameter and on-line testing parameter meet the demands of all test scenes.

As shown in figure 4, in one embodiment, off-line test parameter and on-line testing parameter are generated according to testing requirement Process includes：

S410, determine the test scene that testing requirement includes；

S420, the test scene characteristic information according to corresponding to calling test scene；

S430, according to off-line test parameter corresponding to the generation of the test scene characteristic information of calling and on-line testing ginseng Number.

Further, it is contemplated that generally require to be driven on actual road surface when vehicle is tested, and it is real on road surface Border is possible to traffic accident occur when travelling.In order to control test process completely as far as possible, the favorite foreign affairs of test process are reduced Therefore the adverse consequences brought, in one embodiment, testing requirement is analyzed and decomposed, testing requirement is decomposed into multiple Need the set of test scene met.Then existing controllable test site generation off-line test parameter and online is relied on Test parameter so that final test content meets all test scenes.So, it is maximum on the basis of testing requirement is met The controllability for improving test process of limit, so as to reduce influence caused by contingency in test process.

For example, for traveling test on the spot, testing requirement is that the traveling of A points actual from map to B points is tested.But A points are the section put into operation to B points, occur unexpected to influence other vehicle pass-throughs in test process.Therefore, one In embodiment, the lane specific situation of analysis A points to B points, based on existing controllable test site generation on-line testing parameter, make The process that travels on the spot that must be carried out based on on-line testing parameter can be comprising the lane specific situation identical road with A points to B points Road situation, thus can be with the traveling of realistic simulation A points to B points.When vehicle safety stability is not high first in controllable test A points are carried out on place to the simulation test of B points, actual section test is being carried out when security and stability reaches standard.

Further, in one embodiment, the detailed description of links in test process is divided into static nature letter Breath and dynamic feature information.In one embodiment, off-line test parameter and on-line testing parameter are generated according to testing requirement Process include：

Determine the test scene that testing requirement includes；

The static nature information according to corresponding to calling test scene；

The dynamic feature information according to corresponding to calling test scene；

According to off-line test parameter corresponding to the generation of the static nature information and dynamic feature information of calling and online Test parameter.

Specifically, in one embodiment, dynamic feature information includes Crash characteristics, driver's violation form, vehicle traveling State and vehicle safety state.

Specifically, in one embodiment, static nature information includes road type, road alignment, crossing elimination state, road Face quality, road Cross Section state, weather, visibility and illumination condition.

Further, for the ease of realizing the test content generation based on testing requirement, in one embodiment, based on difficulty Quantifies describe testing requirement, and different static nature information and dynamic feature information are carried out with the degree-of-difficulty factor quantified Association, can is according to the difficulty system of testing requirement so when carrying out the calling of static nature information and dynamic feature information Number directly invokes the static nature information and dynamic feature information of design parameter.

Further, in order to improve the stability of system, in one embodiment, supervised by the way of testing and monitoring combination Abnormality is controlled, including：

Reliability, the Stability and veracity of the system are tested repeatedly；

Real-time monitoring system running situation, judge whether to break down.

Based on the method for the present invention, the invention also provides a kind of automatic driving vehicle evaluation system.As shown in figure 5, it is System includes：

System server 500；

Test parameter generation module 510, it is configured to obtain testing requirement, is generated according to testing requirement and export online survey Parameter is tried, on-line testing parameter includes test route data and running data collection setup parameter；

Running test data acquisition module 520 on the spot, it is configured to obtain running data collection setup parameter, based on traveling Data acquisition setup parameter obtains vehicle to be measured and the traveling test result data fed back in test process and real-time is travelled on the spot Upload to system server 500；

Test result analysis module 530, it is configured at system server 500 download traveling test result number in real time According to, parsing traveling test result data, generation traveling test result real-time report.

Further, in one embodiment, as shown in fig. 6, test parameter generation module 610 is additionally configured to according to test need Seek survival into and export off-line test parameter, off-line test parameter includes off-line test data acquisition parameters；System also includes offline Test data collection module 640, off-line test data acquisition module 640 are configured to obtain off-line test data acquisition parameters, base Test vehicle is treated in off-line test data acquisition parameters and carries out off-line simulation test, obtains off-line simulation test result；

Test result analysis module 630 is additionally configured to parse the off-line simulation test result, generation off-line simulation test As a result report.

Further, in one embodiment, test result analysis module 630 is additionally configured to the test of integration analysis off-line simulation As a result and traveling test result data, generation travel test result real-time report.

Specifically, in one embodiment, in off-line simulation test process, test parameter generation module 610 will be surveyed offline Examination parameter is sent to the relevant device on off-line test data acquisition module 640 and vehicle to be tested, by off-line test data Acquisition module 640 carries out off-line simulation test for vehicle to be tested.

In test process is travelled on the spot, test site configuration parameter is sent to test by test parameter generation module 610 Place is with configuration testing place；Test route data are sent to vehicle to be tested so as to be measured by test parameter generation module 610 Test run travels according to test route in test site；Test parameter generation module 610 sends out running data collection setup parameter Be sent to running test data acquisition module 530 on the spot, so as to make on the spot running test data acquisition module 530 in vehicle to be tested Carry out carrying out data acquisition during test traveling.

Further, in one embodiment, running test data acquisition module includes on the spot：

Qualitative test unit, its be configured to vehicle to be tested be based on test route data traveling when treat test vehicle enter Row driving condition is analyzed, and obtains driving condition analysis result.

Further, in one embodiment, running test data acquisition module also includes on the spot：

Dynamics of vehicle test cell, it is configured to the collection vehicle when vehicle to be tested is based on test route data traveling Dynamics data.

Further, in one embodiment, off-line test data acquisition module includes perception test module, decision-making is advised Draw aptitude tests module, wagon control aptitude tests module.

Further, in one embodiment, system also includes：

Test data analysis module, test data analysis module include safety analysis unit, intelligent analytic unit, relaxed Adaptive analytic unit and agility analytic unit, test data analysis module are configured to be surveyed in off-line simulation according to vehicle to be measured The test result generation test report fed back in examination and on the spot traveling test process.

Specifically, in one embodiment, safety analysis unit, mainly include brake hard ability and investigate module, information Security capabilities investigates module, interactive capability investigates module.Brake hard ability investigates module, is responsible for investigating automatic Pilot car Behavior reaction in case of emergency and stopping power, including automatic brake stop；Information security ability investigates module, is responsible for Investigate the system safety and network security of automatic driving vehicle, including APP safety, ECU safety, Can-bus bus safeties etc.；People Machine interaction capabilities investigate module, be responsible for investigate when automated driving system degenerate or automated driving system failure when, Current traffic security risk preferably be evaded or be reduced to automatic driving vehicle can, be smoothly transitted into driver's takeover mode.

Intelligent analytic unit, mainly includes：Perception investigates module, decision rule investigates module, wagon control is examined Examine module.Perception investigates the perception recognition capability that module is responsible for investigating automatic driving vehicle, including object detection, object are known Other or classification, object positioning and behavior prediction etc..Decision rule investigates module, is responsible for investigating automatic driving vehicle in traffic environment Under behaviour decision making and path planning ability, including lane change is investigated, investigated with car, global path planning and local paths planning are examined Examine；Wagon control investigates module, is responsible for investigating the effect that automatic driving vehicle precisely performs upper layer motion control instruction etc., bag Include response instruction time, the velocity interval etc. of controllable braking.

Analysis of Comfort unit, mainly investigate module including steady ability, fast ability investigates module.Steady ability is investigated Module, it is responsible for investigating the consistent level in automatic driving vehicle traveling, including the real-time change by Vehicle dynamic parameters, comes Investigate vehicle and whether have and excessive wave, jolt；Fast ability investigates module, is responsible for investigation automatic driving vehicle completion correlation and drives Sail the situation of task, including pause number, spent time etc..

Agility analytic unit, mainly include adaptability and investigate module, emergency capability investigation module, capability for correcting investigation Module.Adaptability investigates module, be responsible for investigating automatic driving vehicle with car ability, or be automatic cruising ability, can It is autonomous the parameter such as to regulate the speed to adapt to current traffic environment；Emergency capability investigates module, is responsible for investigating automatic driving vehicle Ability of emergency management under some dangerous situations, including gps signal loss, certain danger road conditions, automated driving system failure, Automated driving system by invasion when, the processing mode and risk size of automated driving system.Capability for correcting investigates module, It is responsible for investigating automatic driving vehicle under steam, if there is the adjustment capability after route deviation, after road contract speed, Regulate the speed to meet the abilities such as rto request.

Further, in one embodiment, test parameter generation module includes：

Scene library, it is configured to the test scene characteristic information of storage evaluation and test scene；

Test scene determining unit, it is configured to obtain testing requirement, determines the test scene that testing requirement includes；

Scene characteristic acquiring unit, its be configured to be called from scene library according to test scene corresponding to test scene feature Information；

Test parameter generation unit, its test scene characteristic information for being configured to be called according to scene characteristic acquiring unit are given birth to Into corresponding off-line test parameter and on-line testing parameter.

Further, in one embodiment, scene library includes static scene storehouse and dynamic scene storehouse.

Specifically, in one embodiment, static scene storehouse includes natural environment storehouse, geographical environment storehouse and traffic element Storehouse.

Specifically, in one embodiment, natural environment storehouse includes weather, illumination, visibility.It is such as fine day, cloudy, cloudy My god, the rainy day, snowy day, the different illumination such as weather, daytime, night such as greasy weather, 200 meters, the different range such as 100-200 rice can be shown in Degree.

Geographical environment storehouse includes urban road, super expressway, backroad and special area.Specifically, in an embodiment In, urban road includes various roads intersection and some Typical Urban roads：Right-angled intersection, T words intersection, annular Intersection, two-way two-lane road, two-way four-lane road, public bus network dedicated Lanes；Super expressway includes linear section, received Take the exemplary height sections such as station, crankcase ventilaton, the ring road for passing in and out fastlink, two-way six-lane；Backroad includes county road, township Dao He villages road, it is specific such as non-division line two-way lane, muddy section, Z-shaped road, the intersection of no signal lamp；Special section Domain includes：Parking areas, equipped with limited speed belt section, tunnel road, cross-country section.

Traffic element storehouse includes road signs, according to standard GB/T 5768-2009《Road signs and mark Line》It is as follows respectively：Caution sign, such as consecutive curve, Junction on bend ahead；Prohibitory sign, such as No entry, no left turn, limitation Speed, no turns；Warning Mark：Keep straight on and bend to right, roundabout ahead, point to traveling lane, non-motor vehicle track；Typically Road fingerpost：Traffic circle, interchange, first-aid station, gas station, detour sign, parking lot；Height highway refers to Road sign will：Entrance advance notice, next outlet, place direction, the band that stops in emergency, service area advance notice, interflow, shunting, chevron alignment sign； Road signs and graticule, such as center yellow double solid line, center yellow actual situation line, two-way two carriageway surfacings center line, forbid Changing Lane line, left curved area to be transferred line, left turn guide line, the stop line of signal lamp intersection；Road construction safety sign, construction Road column, traffic cone mark, men working, road closed, mobility construction marker.

In one embodiment, dynamic scene storehouse includes normality traffic scene storehouse, dangerous traffic scene storehouse and man-machine interaction Scene library.

Specifically, in one embodiment, normality traffic scene storehouse, i.e. ordinary traffic scene, such as detection and response traffic Lamp, collisionless perform U-Turn by, detection and avoidance pedestrian (replacing pedestrian with moving dummies), move backward, turn around, turn left Curved, right-hand bend, change lane；Dangerous traffic scene, i.e. easily hair accident scene, such as drive towards reverse track and carry out lane change or conjunction Stream, ponding have mist section slow down；Man-machine interaction scene library, i.e. human driver may be handed over automatic Pilot operating system Mutual scene, such as：When exiting automatic driving mode, the risk averse in receiving delivery system, handing-over with human driver；Automatically When the automated driving system of driving vehicle can not make a policy, it is necessary to when human driver intervenes, the handing-over with human driver Mode etc..

Specifically, in one embodiment, drive range (especially geographical environment) is being limited to detect automatic driving vehicle Under performance be testing requirement, testing process includes：

Step 1：Determine test scene

Limited based on the drive range in testing requirement, design the driving range of automatic driving vehicle.In view of driving automatically The classification sailed and realize difficulty, automatic driving vehicle can not may be adapted to simultaneously in the early stage with all road environments, therefore, First be done step-by-step limit in the range of automatic driving vehicle, than if super expressway traveling automatic driving vehicle, can be in city There is the automatic driving vehicle that fixed circuit expert sails at automatic driving vehicle, Neng industrial parks or scenic spot of city's road driving etc. Deng.

According to the driving range of automatic driving vehicle, especially geographical environment, based on scene library, automatic Pilot is investigated in design The driving ability of vehicle, select the test scene of correlation.

Step 2：Generate test parameter

The test scene determined according to step 1, combs out specific driving ability task, the driving task energy that be able to will quantify Power index is finely divided and standardized, and generation carries out the test parameter of related qualitative test and quantitative test.

Step 3：Test

The test parameter determined according to step 2 carries out related qualitative test and quantitative test, obtains test result.

Step 4：Interpretation of result

The qualitative test and the result of quantitative test exported according to step 3, is analyzed the performance of automatic driving vehicle, Final test report is provided, indicates the problem of current automatic driving vehicle is present and driving ability to be improved etc..

In one embodiment, to detect a certain item of automatic driving vehicle performance or several as testing requirement.Specifically, root According to the investigation point of a certain in vehicle performance or some performances, corresponding test scene is designed come automatic driving vehicle of testing and assessing.Test Flow includes：

Step 1：Determine test scene

Vehicle performance type to be tested is determined, the investigation point based on the vehicle performance type, design correlation is to be measured to drive Sail ability；

According to driving ability to be measured, the drive range of automatic driving vehicle is designed；

Based on scene library, design, selection test scene and driving task.

Step 2：Generate test parameter

The test scene determined according to step 1 and specific driving ability task, generation carry out related qualitative test and The test parameter of quantitative test.

Step 3：Test

Step 4：Interpretation of result

The qualitative test and the result of quantitative test exported according to step 3, is analyzed the performance of automatic driving vehicle, Provide final test report.

Further, as shown in fig. 7, in one embodiment, running test data acquisition module 100 includes on the spot：It is static Data memory module 101, static data acquisition module 102, Dynamic Data Acquiring module 103, data processing module 104 and number According to communication module 105.

Wherein, static data memory module 101 is connected with static data acquisition module 102, static data memory module 101 It is stored with the static data on automatic driving vehicle to be tested.When on the spot, running test data acquisition module 100 needs to obtain During the static data of automatic driving vehicle to be tested, static data acquisition module 102 can store mould by reading static data Related data in block 101 obtains the static data of automatic driving vehicle to be tested.

In one embodiment, the static data that static data memory module 101 is stored can be carried out by special equipment It is imported into after collection in static data memory module 101.Certainly, in other embodiments of the invention, static data stores The acquisition modes of the data stored in module 101 can with when other rational methods, the invention is not restricted to this.

In one embodiment, it is preferable that the static data that static data memory module 101 is stored includes map datum. High-precision map collection is carried out to test site using high-precision map collecting vehicle, so also can be obtained by high-precision map number According to.Then resulting accurately diagram data is stored in static data memory module 101, so subsequently need when Also can is waited to read from static data memory module 101 on current to be tested using static data acquisition module 102 The static data (such as accurately diagram data) of automatic driving vehicle.

It is quiet because the test site of automatic driving vehicle may include multiple different places, therefore in one embodiment The static data that state data memory module 101 is stored can include multigroup high-precision map number corresponding to multiple different places According to.Static data acquisition module 102 is reading the static number of automatic driving vehicle to be tested from static data memory module 101 According to when, can be deposited according to the test site information that accessed automatic driving vehicle to be tested is presently in from static data Store up the static data read in module 101 corresponding to present test field ground.

It is pointed out that in other embodiments of the invention, the static state stored in static data memory module 101 Data can also include other reasonable datas, meanwhile, the institute from static data memory module 101 of static data acquisition module 102 The static data of reading can also be or including other reasonable datas outside accurately diagram data, the invention is not restricted to This.

In order that analysis that must be to the automatic Pilot performance of automatic driving vehicle is more efficient, it is in one embodiment, static Data memory module 101 and static data acquisition module 102 are arranged preferably in vehicle evaluation system server 107, so Also can more efficiently and accurately gets the static data of vehicle to be analyzed to vehicle evaluation system server 107.

Certainly, in other embodiments of the invention, according to being actually needed, static data memory module 101 and static number It can also be realized according to acquisition module 102 using other special equipments outside vehicle evaluation system server 107, the present invention is not It is limited to this.

In one embodiment, dynamic data acquisition module 103 is connected with data processing module 104, and it can obtain to be measured The dynamic data of automatic driving vehicle is tried, and by above-mentioned dynamic data transmission to data processing module 104.Wherein, in order to Performance or capacity more accurate, objective, that quantitatively evaluate automatic driving vehicle/automatic driving vehicle, implement one In example, the dynamic data of the automatic driving vehicle to be tested acquired in dynamic data acquisition module 103 preferably includes：V2X leads to Believe device data, positioning data of vehicles, vehicle dynamics data, vehicle operating data and vehicle video data.

Specifically, as shown in figure 8, in one embodiment, dynamic data acquisition module 103 preferably includes：Vehicle-mounted V2X is whole End equipment 201, high-precision difference location equipment 202, high-precision inertial navigation measuring apparatus, steering wheel angle measuring apparatus 204 And car running computer digital independent equipment 205.

Vehicle-mounted V2X terminal devices 201 can obtain vehicle and vehicle interactive information and vehicle and roadside interactive information.It is logical Cross the vehicle-mounted V2X terminal devices 201 to match, also can is got dynamic data acquisition module 103 with present test field Between automatic driving vehicle to be tested and other vehicles in the test site and the related roadside equipment in the test site Interactive information.

Using high-precision difference location equipment 202, dynamic data acquisition module 103 can get automatic Pilot to be tested The longitude data and latitude data of vehicle.And high-precision inertial navigation test equipment 203 is utilized, dynamic data acquisition module 103 The associated vehicle dynamics data of automatic driving vehicle to be tested, such as the lateral velocity of vehicle, longitudinal direction speed can then be got Degree, course angle, yaw velocity, longitudinal acceleration and side acceleration etc..Steering wheel angle measuring apparatus 204 can measure Steering wheel angle, such dynamic data acquisition module 103 also to get treat by can utilization orientation disk outer corner measurement equipment 204 Test the steering wheel angle data of automatic driving vehicle.Because the height of automatic driving vehicle is intelligent, therefore car running computer exists Important function is play during the traveling of automatic driving vehicle, it utilizes driving electricity equivalent to the brain of automatic driving vehicle Brain digital independent equipment 205, dynamic data acquisition module 103 can be driven automatically by reading the data of car running computer to get Sail the light status (such as turn signal state and/or headlight state etc.) of vehicle and other decision operation data.

In one embodiment, dynamic data acquisition module 103 also includes being used for the video data for obtaining vehicle video data Harvester.Specifically, in one embodiment, the video data of automatic driving vehicle to be tested preferably by with clap unmanned plane and Ordinatedly collected with clapping vehicle.

Camera is provided with vehicle windscreen with clapping vehicle, it can drive the location point in front at present to major-minor Carry out video acquisition.When testing automatic driving vehicle to be tested, automatic driving vehicle to be tested can be in test site Traveling, in the process, it can be followed at automatic driving vehicle rear to be tested with clapping vehicle, so with clapping vehicle, also can is sharp The camera configured with itself gets the first video data of automatic driving vehicle to be tested.Wherein, first video Data are the video data of the automatic driving vehicle to be tested observed by the angle that followed by with ground.

Meanwhile in order to more accurately and comprehensively record, present automatic driving vehicle to be tested in test site Transport condition, in one embodiment, video data acquiring device can also utilize with clap unmanned plane come from obtain in the air it is to be tested from The dynamic video data for driving vehicle, so as to obtain the second video data.Wherein, second video data is with aerial follower Angle observed by automatic driving vehicle to be tested video data.

Certainly, in other embodiments of the invention, according to being actually needed, accessed by dynamic data acquisition module 103 Dynamic data both can only include a certain item or a few items in item listed above, it is other unlisted reasonable to include , or be a certain item listed above or several and the combination of other unlisted reasonable items, the invention is not restricted to this.

Simultaneously, it is necessary to which explanation, the said equipment is only a specific embodiment for obtaining associated dynamic data, at this In the different embodiments of invention, according to actual conditions, above-mentioned dynamic data can be obtained using other rationally equipment, this hair It is bright to be similarly not so limited to.

Dynamic data acquisition module 103, can be by the dynamic number after the dynamic data of automatic driving vehicle to be tested is obtained According to transmitting to the data processing module 104 being attached thereto, to be carried out in advance to above-mentioned dynamic data by data processing module 103 Reason.

Specifically, in one embodiment, the different types of data included for dynamic data, data processing module 104 are pre-processed preferably by different processing modes, obtain pre-processing dynamic data with this.

For example, the vehicle video data included in the dynamic data come is transmitted for dynamic data acquisition module 103, In one embodiment, data processing module 104 is preferably compressed coding to vehicle video data, to reduce follow-up data biography Data volume in defeated and data handling procedure, so it is favorably improved the efficiency of whole evaluation system.

For another example other data (such as V2X in the dynamic data come is transmitted for dynamic data acquisition module 103 Communications device data, positioning data of vehicles, vehicle dynamics data and vehicle operating data etc.), in one embodiment, at data Manage module 104 and data cleansing preferably carried out to above-mentioned dynamic data, with remove noise data in above-mentioned dynamic data and/or Unusual Value Data.The removal of noise data and/or unusual Value Data is favorably improved the accuracy of data, is also just so final Accurately and reliably data basis has been established in the test and appraisal to the capacity or performance of automatic driving vehicle.

In one embodiment, machine learning method of the data processing module 104 preferably by such as artificial neural network To carry out data cleansing to above-mentioned dynamic data.Certainly, in other embodiments of the invention, data processing module 104 may be used also To be pre-processed using other rational methods to dynamic data, the invention is not restricted to this.

After completing to transmit dynamic data acquisition module 103 respective handling of the dynamic data come, in an embodiment In, data processing module 104 preferably comes to carry out data encapsulation to the dynamic data after processing according further to default encapsulation format, from And obtain pre-processing dynamic data.

Specifically, in one embodiment, data processing module 104 comes to processing preferably according to the frame format shown in table 4 Dynamic data afterwards carries out data encapsulation.

Origin identification	Frame length	Serial number	Frame domain	Check bit
					2 bytes	1 byte	2 bytes	N byte	2 bytes

Table 4

As can be seen from Table 4, frame format used in data processing module 104 includes in one embodiment：Starting mark Know position, frame length position, serial number position, frame domain position and check bit.Wherein, origin identification position, serial number position and check bit are equal For 2 bytes, frame length position is 1 byte, the length position N byte of frame domain position (specific length can according to be actually needed regulation).

Certainly, in other embodiments of the invention, the frame format for pre-processing dynamic data can also be other reasonable lattice Formula, the invention is not restricted to this.

By carrying out data encapsulation to the dynamic data after processing, the running test data on the spot that the present embodiment is provided is adopted Integrate module and provide consistent data sharing interface and transmission means as the test of automatic driving vehicle, be so favorably improved pair The automatic Pilot capacity of automatic driving vehicle carries out the data transmission efficiency in assessment process.

Data processing module 104 is connected with data communication module 105, and it can will pre-process obtained pretreatment dynamic data Transmit to data communication module 105.Data communication module 105, can be to above-mentioned pre- after above-mentioned pretreatment dynamic data is received Handle dynamic data and carry out data encryption, and by the data transfer after encryption to the vehicle evaluation system server being attached thereto 107。

It is pointed out that according to being actually needed, running test data acquisition module 100 can also be deposited including this on the spot Store up module 106.Wherein, body memory module 106 is connected with data processing module 104, and it can receive data processing module 104 Transmit the related data (such as pretreatment dynamic data etc.) come.When needing to transfer related data from local, data processing Module 104 can be by carrying out digital independent to realize that data are transferred to this memory module 106.

In one embodiment, due to vehicle evaluation system server 107 simultaneously with static data acquisition module 102 and data Communication module 105 connects, thus its can not only receive static data acquisition module 102 transmit come on it is to be tested from The dynamic static data for driving vehicle, data communication module 105 can also be received and transmit the automatic driving vehicle to be tested come Dynamic data, such vehicle evaluation system server 107 also can summary static data and dynamic data come it is accurate, Comprehensively, quantitatively the automatic Pilot capacity of automatic driving vehicle to be tested is tested and assessed.

It is pointed out that in other embodiments of the invention, according to being actually needed, running test data gathers on the spot Module can not also configure static data acquisition module and/or static data memory module, and so running test data is adopted on the spot The data that collection module is transmitted to vehicle test and appraisal server 107 only include the dynamic data of automatic driving vehicle to be tested.

Further, in one embodiment, system also includes：

Information display module, it is configured to real-time exhibition traveling test result data and/or traveling test result is reported in real time Accuse.

Further, in one embodiment, system also includes data memory module, and it is configured to：

Downloaded in real time at system server and preserve traveling test result data；

Obtained at test result analysis module and preserve traveling test result real-time report.

Further, in one embodiment, on the spot running test data acquisition module include road information management module with And vehicle information management module, wherein, road information management module is used for the equipment for obtaining road information and data acquisition facility Information, vehicle information management module are used for the information of vehicles for obtaining automatic driving vehicle to be tested.

Specifically, in one embodiment, road information management module includes map generation unit and map modification unit.Ground The checkout area on the test site information generation present test field ground that figure generation unit is used in accessed road information Ground map datum.Map modification unit is connected with map generation unit, and it can provide map datum interface and by the interface To obtain map modification data.After map modification data are obtained, above-mentioned map can be changed data transfer by map modification unit To map generation unit, so as to change data according to above-mentioned map come to existing test site map number by map generation unit According to being updated.

Further, in one embodiment, road information management module also includes data acquisition facility administrative unit.Data Collection facilities management unit is used to be connected with the data acquisition facility in test site, and it can gather and record in test site The facility information of each data acquisition facility.

Specifically, in one embodiment, the facility information that data acquisition facility administrative unit is gathered and recorded is preferably Including：Device name, device signal, equipment interface, functions of the equipments and device location etc..Certainly, in other realities of the present invention Apply in example, the facility information that data acquisition facility administrative unit is gathered and recorded both can only include certain in item listed above One or a few items, other unlisted reasonable items can also be included, or be a certain item in item listed above or a few items With the reasonable combination of other unlisted reasonable items, the invention is not restricted to this.

Because the test site of automatic driving vehicle may include multiple different places, therefore in other realities of the present invention Apply in example, alternatively, road information management module can also include road information memory cell.Road information memory cell can Store the facility information for the data acquisition facility that the road information of multiple different test sites and corresponding test site are configured. Administrative unit is implemented in map generation unit and data data acquisition to manage mould from road information according to present test field The corresponding real-time facility information of road information and data acquisition is extracted in block with present test field.

Further, in one embodiment, test result analysis module and vehicle information management module and road information Management module connect, its can be transmitted according to road information management module come road information and vehicle information management module The information of vehicles for the automatic driving vehicle to be tested that transmission comes generates the vehicle running state information of automatic driving vehicle to be tested.

Further, as shown in figure 9, in one embodiment, test result analysis module 102 preferably includes：Vehicle base This information management unit 301, track of vehicle information management unit 302, dynamics of vehicle information management unit 303, vehicle test and appraisal Information management unit 304 and automobile video frequency information management unit 305.

Wherein, vehicle basic information management unit 301 after information of vehicles, can carry receiving from above-mentioned information of vehicles Take out the vehicle static information of automatic driving vehicle to be tested.In one embodiment, vehicle basic information management unit 301 is carried The vehicle static information at the place of taking preferably include such as VIN, vehicle brand signal, body dimensions, body color, Appraise and decide manned number, vehicle power source, vehicle total kilometrage number, engine displacement, volume of fuel tank, vehicle historical testing information, traffic Accident information and all Business Names of vehicle etc. will not change over time or the less information of change frequency.

Certainly, in other embodiments of the invention, the vehicle static at 301 extractions of vehicle basic information management unit Information both can only comprising one list in a certain item or a few items, other unlisted reasonable items can also be included, Invention not limited to this.

Track of vehicle administrative unit 302 is used in the information of vehicles according to accessed automatic driving vehicle to be tested Vehicle position information generates the trace information of automatic driving vehicle to be tested, and is transmitted according to road information management module 301 The road information come generates the lane information in section residing for automatic driving vehicle to be tested.Obtaining automatic driving vehicle to be tested Trace information and its residing section lane information after, track of vehicle administrative unit 302 also according to above- mentioned information give birth to by can Into the vehicle running state information of automatic driving vehicle to be tested.

Figure 10 shows the reality of the generation of track of vehicle administrative unit 302 vehicle driving trace status information in one embodiment Existing schematic flow sheet.

As shown in Figure 10, in one embodiment, track of vehicle administrative unit 302 is in generation vehicle driving trace status information During, accessed vehicle position information can be pre-processed in step S401, so as to obtain pretreated locations Information.

Specifically, in one embodiment, the vehicle that track of vehicle administrative unit 302 will be got first in step S401 Positional information is stored in preset position information document, and then the data in preset position information document are pre-processed, and The corresponding data in preset reference positions information document is replaced using the positional information after processing.

For example, in one embodiment, the vehicle position information accessed by track of vehicle administrative unit 302 is preferably to treat The vehicle-mounted V2X equipment of test automatic driving vehicle returns the High Precision GPS Data come.After High Precision GPS Data is received, Track of vehicle administrative unit 302 can according to certain cycle (Cycle Length can according to be actually needed be configured to it is different reasonable Value) above-mentioned High Precision GPS Data is stored temporarily in original GPS documents with text formatting.Then, track of vehicle administrative unit 302 can pre-process to the data in original GPS documents, and be replaced using pretreated gps data in original GPS documents Corresponding data.

The factors such as itself vibration, unexpected plus/minus speed and electromagnetic interference in vehicle traveling easily cause V2X equipment institute Abnormity point is produced in the gps data collected, and these abnormity points have a very big impact for subsequent data analysis process, hold Easily influence the degree of accuracy of data processed result.Therefore, in one embodiment, track of vehicle administrative unit 302 is preferably to above-mentioned High Precision GPS Data carries out outlier detection, and will detect obtained abnormity point elimination, so also helps to improve data Accuracy and reliability.

Certainly, in other embodiments of the invention, track of vehicle administrative unit 302 can also use other rational methods The vehicle position information received is pre-processed, the invention is not restricted to this.

As shown in Figure 10, in one embodiment, after pretreated locations information, track of vehicle administrative unit 302 can be in step Coordinate Conversion is carried out to pretreated locations information resulting in step S401 in rapid S402, it is corresponding to obtain automatic Pilot to be tested Location point coordinate set of the vehicle in pre-set space coordinate system.

Specifically, because track of vehicle administrative unit 302 is received and pre-processed, obtain is gps data, and GPS numbers According in WGS84 coordinate systems, obviously base is not utilized if directly carrying out follow-up data processing and analysis using GSP data Position calculating is carried out in traditional space coordinates, therefore, in one embodiment, track of vehicle administrative unit 302 is in step The coordinate system conversion of the location point of automatic driving vehicle to be tested can be carried out in S402, so as to obtain under Traditional Space coordinate system The coordinate of each location point of automatic driving vehicle to be tested.

In one embodiment, track of vehicle administrative unit 302 can be in step S403 according to automatic driving vehicle to be tested Location point coordinate set in pre-set space coordinate system (such as Traditional Space coordinate system) generates automatic Pilot car to be tested Path curves in above-mentioned pre-set space coordinate system.Specifically, track of vehicle administrative unit 302 can use such as The modes such as curve matching are intended according to location point coordinate set of the automatic driving vehicle to be tested under pre-set space coordinate system Conjunction obtains path curves of the automatic driving vehicle to be tested under pre-set space coordinate system.

Track of vehicle administrative unit 302 can also get the road on present test field ground from road information management module 101 Road information, also the section according to residing for above-mentioned road information generates automatic driving vehicle to be tested exists can in step s 404 for it Track curve under pre-set space coordinate system.In one embodiment, track of vehicle administrative unit 302 generates the principle of track curve It is similar with the principle and process of above-mentioned generation path curves with process, therefore herein no longer to step S404 particular content Repeated.

In step S405, track of vehicle administrative unit 302 can be bent according to movement locus resulting in step S403 Track curve obtained by line and step S404 generates the vehicle driving trace state of automatic driving vehicle to be tested letter Breath.

Specifically, in one embodiment, the track curve that track of vehicle administrative unit 302 is generated is preferably lane line Curve.Path curves and step of the meeting of track of vehicle administrative unit 302 in step S403 obtained by judgment step S403 Lane line curve obtained by S404 if there is interaction or overlaps, then then represent to be measured with the presence or absence of intersecting or overlapping There is violation situation in the track of examination automatic driving vehicle, therefore now track of vehicle administrative unit 302 will recording curve intersection Points overlap point data, and according to curved intersection point data and overlap point data generation rule-breaking vehicle information.

In one embodiment, due to that can be obtained known to the coordinate information of each point in path curves or by calculating Arrive, therefore also can includes each violation location point in the rule-breaking vehicle information that is generated of track of vehicle administrative unit 302 GPS coordinate information.

In one embodiment, track of vehicle administrative unit 302 is come to institute in step S403 preferably by different colors Track curve obtained by obtained path curves and step S404 carries out visualization processing, so as to facilitate user more Add simplicity, clearly the track transport condition of automatic driving vehicle to be tested is analyzed.Simultaneously as each violation position The gps coordinate of point is, it is known that the system can also obtain each violation by being analyzed the view data got simultaneously The view data of location point, thus in order to more facilitate user to be consulted, in one embodiment, track of vehicle administrative unit The view data of each violation location point is preferably carried out visualization association by 302 with corresponding violation location point.So user Can is it should be understood that view the view data of the violation point during concrete condition at violation location point.

After rule-breaking vehicle information is generated, in one embodiment, track of vehicle administrative unit 302 is preferably by above-mentioned vehicle Violation information is preserved into default violation document, subsequently to transfer.In one embodiment, above-mentioned default violation document is preferably Coordinate data and corresponding view data including each violation location point.Certainly, in other embodiments of the invention, on Other unlisted reasonable datas (such as vehicle dynamics data etc.) can also be included by stating in default violation document, the present invention is not It is limited to this.

Again as shown in figure 9, in one embodiment, also being included in vehicle information management module：Dynamics of vehicle message tube Manage unit 303, vehicle test and appraisal information management unit 304 and automobile video frequency information management unit 305.Wherein, dynamics of vehicle Information management unit 303 is used to transmit the dynamics of vehicle number come to automatic driving vehicle onboard power parameter acquisition equipment According to being collected and analyzed.

Specifically, in one embodiment, above-mentioned vehicle dynamics data preferably includes：Characterize whether vehicle breaks away Side acceleration and side velocity, characterize whether vehicle has the dangerous angle of heel of rollover and roll velocity, characterizes vehicle Whether there is yaw angle and yaw velocity of driftage wind direction etc..

Dynamics of vehicle information management unit 303 can be using preset vehicle power model come to above-mentioned dynamics of vehicle Data are analyzed in real time, so as to obtain the situation of change of above-mentioned each data, and then according to the change feelings of above-mentioned each data Condition determines the driving posture information of automatic driving vehicle to be tested.

In one embodiment, alternatively, dynamics of vehicle information management unit 303 can also be believed according to above-mentioned driving posture Cease to determine the ride performance information of automatic driving vehicle, operational stability information and riding comfort information etc.. After obtaining above-mentioned analysis result, dynamics of vehicle information management unit 303 understands the original dynamics of vehicle that receive itself Data and each centre and/or final analysis result are transmitted to vehicle test and appraisal information management unit 304 and data storage mould Block.

In one embodiment, automobile video frequency information management unit 305 is used for the vehicle for obtaining automatic driving vehicle to be tested Video information is simultaneously analyzed automobile video frequency information, so as to obtain the video analysis knot for automatic driving vehicle to be tested Fruit.

Specifically, automobile video frequency information management unit 305 preferably includes video collect portion and video analysis portion.Wherein, The automobile video frequency on automatic driving vehicle to be tested come is transmitted for collecting different video collecting device in video collect portion Information, and by automobile video frequency information transfer to the information display module and data memory module being attached thereto.Video analysis portion with Video acquisition portion connect, its can based on default visual analysis algorithm come video acquisition portion is transmitted come automobile video frequency information Carry out visual analysis, so as to obtain the video analysis result for automatic driving vehicle to be tested, and by the result transmit to Connection information display module and data memory module.

For example, in one embodiment, automobile video frequency information management unit 305 can using default lane detection algorithm come The automobile video frequency information received to itself is analyzed, so that it is determined that locating automatic driving vehicle to be tested whether there is line ball feelings Condition.

Certainly, in one embodiment, according to being actually needed, automobile video frequency information management unit 305 can use it is a variety of not With visual analysis algorithm come to the automobile video frequency information received carry out visual analysis, to obtain a variety of different visual analysises As a result.

In one embodiment, vehicle test and appraisal information management unit 304 can transmit what is come to each Test and analysis module Test and analysis result is collected, and by the Test and analysis result collected transmit to the information display module that is attached thereto and/ Or data memory module.

For example, vehicle test and appraisal information management unit 304 is connected with automobile video frequency information management unit 305, it can be received Automobile video frequency information management unit 305 transmits the visual analysis result come；Vehicle test and appraisal information management unit 304 is gone back and vehicle Dynamic information administrative unit 303 connects, its can receive dynamics of vehicle information management unit 303 transmit come such as from The analysis results such as dynamic ride performance information, operational stability information and the riding comfort information for driving vehicle；Vehicle is surveyed Information management unit 304 is commented also to be connected with track of vehicle information management unit 302, it can receive track of vehicle information management list Member 302 transmits the vehicle movement trajectory analysis result come.

Certainly, vehicle test and appraisal information management unit 304 can also be connected with other Test and analysis units, to receive other surveys Comment analytic unit go out transmission come vehicle perception, decision-making and the ability to architect plans and strategies such as to automatic driving vehicle to be tested, The Test and analysis result of completion ability is thought in Body Control ability and comprehensive driving.

Certainly, in other embodiments of the invention, test result analysis module both can be included only in item listed above A certain item or a few items, other unlisted reasonable items can also be included, the invention is not restricted to this.

It is pointed out that in other embodiments of the invention, according to being actually needed, institute in test result analysis module Comprising each information management unit related data and/or analysis result that directly can both receive itself transmit to information Display module and/or data memory module, can also by vehicle test and assess information management unit 304 by above-mentioned data transfer extremely Information display module and/or data memory module.

In addition, for convenience follow-up data extraction, in one embodiment, test result analysis module receive it is to be measured , can be by the various information included in above-mentioned information of vehicles according to information change shape after the information of vehicles for trying automatic driving vehicle Condition carries out Type division, will not change over time or the less information of change frequency is divided into vehicle static information, will be with Time change or the larger information of change frequency are divided into vehicle multidate information.So basic information management unit 301 is also It can get corresponding all kinds of static informations by directly extracting vehicle static information, and other information administrative unit (such as Track of vehicle information management unit 302, dynamics of vehicle information management unit 303 and automobile video frequency information management unit 305 Deng) also can get corresponding all kinds of multidate informations by extracting vehicle multidate information and analyzed.

Further, in one embodiment, information display module preferably with road information management module, information of vehicles pipe Module and the connection of test result analysis module are managed, it can transmit the relevant information (example come to road information management module Such as the facility information of data acquisition facility), vehicle information management module transmitted relevant information (such as the vehicle received come Information) and/or test result analysis module transmit come relevant information (such as by being analyzed information of vehicles obtained by Process analysis procedure analysis result and final analysis result etc.) carry out visualization and show.

For example, transmit for automobile video frequency information management unit 305 and/or vehicle test and appraisal information management unit 304 Automobile video frequency information, information display module can show that various video collecting device is gathered by the way of video matrix To multiple visual angles vehicle traveling video (such as with clapping video of taking photo by plane captured by unmanned plane, intersection camera clapped The video when automatic driving vehicle to be tested taken the photograph passes through intersection, follow captured by judge's car after automatic driving vehicle The traveling video of automatic driving vehicle to be tested etc.).

For another example information display module, which can also receive road information management module, transmits the test site map number come According to, meanwhile, information display module can also receive track of vehicle information management unit 302 transmit come driving trace information and Vehicle driving trace status information.In one embodiment, information display module can be according to above-mentioned test site map datum wash with watercolours High-precision map is dyed, and renders the traveling of place's vehicle on high-precision map in real time according to pretreated vehicle position information Track.So can not only accurately show position and the driving trace of automatic driving vehicle to be tested, additionally it is possible to avoid due to Directly easily occurred using driving trace shown on high-precision map caused by vehicle position information (such as gps data) The problems such as drift.

In one embodiment, can be in the high-precision map of the test site rendered by information display module, user On be visually known the position of the rolling stock tested in present test field ground, so as to contribute to staff to participating in surveying The scheduling and arrangement of the vehicle of examination, so as to improve the testing efficiency of vehicle.

The related Test and analysis result come is transmitted for test result analysis module, in one embodiment, information displaying Module will be shown according to the characteristics of different evaluating results to carry out visualization using different display forms, so that user's energy Enough automatic Pilot capacity more directly perceived, knowing precisely automatic driving vehicle to be tested.

For example, information display module can show vehicle in lateral, inclination, horizontal stroke by the traveling of such as dynamic statistical chart The speed and acceleration in three directions are put, the flat of vehicle traveling can intuitively be symbolized by the smooth and degree of jitter of curve It is pliable, so as to further reflect performance of the vehicle in decision-making and control execution etc..

For another example when receiving rule-breaking vehicle information, information display module can on map to violation location point and Corresponding image shown, so also just can intuitively represent violation easily occurs for vehicle section and traffic scene Feature, so as to indicate clear and definite direction for the lifting of automatic driving vehicle technology.

Further, in one embodiment, system can also transfer module and historical data displaying mould comprising historical data Block.Historical data is transferred module and is connected with data memory module, and it can be instructed according to the data query that gets come from data Corresponding data are transferred in memory module and are transmitted to historical data display module and are shown with carrying out visualization.Need what is shown It is that in one embodiment, information display module can be realized with historical data display module based on same hardware device.When So, in other embodiments of the invention, information display module can also be based on different hardware from historical data display module Equipment realizes that the invention is not restricted to this.

In one embodiment, in order to simplify the inquiry operation of user, such as data transfer module can preferably provide itself The legal Query Information type and the type of the history test and appraisal information of support inquiry supported.For example, looking into for the period Ask, data, which transfer module, can provide calendar displaying, and such user only needs selection inquiry from date and deadline. Only support to regard vehicle driving trace, vehicle testing task performance and vehicle traveling for another example if data transfer module The inquiry of frequency, then data, which transfer module, can then list the information type of above-mentioned support inquiry, and such user also just only needs to select Inquiry to related data can both have been realized by selecting corresponding data type.

After corresponding information inquiry instruction is received, data transfer module and can access data memory module and be deposited from data The data corresponding with above- mentioned information query statement are transferred in storage module, and the data transfer inquired is gone through to what is be attached thereto History data display module, shown with carrying out visualization by historical data display module.

In one embodiment, in order to it is more accurate, clearly show the traveling effect of automatic driving vehicle and performance is asked Topic, data, which transfer module and historical data display module, ordinatedly can farthest reproduce automatic driving vehicle to be tested Test process, and the different characteristics of the historical data obtained according to inquiry shows to carry out visualization using different forms.

For example, for vehicle historical track, in one embodiment, user can carry out vehicle traveling in query time section The playback of track simultaneously adjusts track playback speed, so also allows for user and more easily checks automatic Pilot to be tested Driving information of the vehicle in each section.

For another example for the violation information of vehicle, data transfer module while violation position point data is transferred, and can also The view data corresponding to the violation location point is transferred, rule-breaking vehicle position can understood by so also allowing for user Automatic driving vehicle to be tested driving situation at that time is further appreciated that simultaneously, it is to be tested automatic so as to contribute to user to analyse in depth Drive the problems of vehicle.

From foregoing description as can be seen that automatic driving vehicle analysis system provided by the present invention can it is transparent, accurate, Comprehensively visualization is carried out to the related data of automatic driving vehicle to show, enable a user to intuitively to get automatic The problem of in the presence of driving Vehicular system and algorithm.

Meanwhile the system also has the inquiry of historical data function, so also allowing for that the test result of system has can be with Track, so also facilitate the history test and appraisal letter that automatic driving vehicle research staff checks automatic driving vehicle anywhere or anytime Breath, the related driving ability lifted so as to clear and definite automated driving system to algorithm needs.

Further, in one embodiment, system also includes：

Further, in one embodiment, system also includes the user terminal for being used for the current running status of display systems. The user terminal of system is configured to provide for Man Machine Interface so as to realize the man-machine interaction between user.

In one embodiment, by the man-machine interaction between user, what user terminal can obtain that user inputted is System configuration data, so as to realize the parameter configuration to exception monitoring module.

In one embodiment, the system configuration data accessed by user terminal can include such as monitoring rank data, Monitoring range data, monitoring device management data and monitoring object data etc..Certainly, in other embodiments of the invention, According to being actually needed, the system configuration data accessed by user terminal both can only comprising any one of item listed above or Several, other unlisted reasonable items can also be included, the invention is not restricted to this.

It can be become apparent from order to facilitate user, easily recognize the running status of automatic driving vehicle evaluation system, In one embodiment, user terminal can also receive exception monitoring module and transmit the correlation analysis result come and show, so as to So that user had both been recognized that the running status of automatic driving vehicle evaluation system by user terminal, at the same also without with Family must carry out the observation of data in exception monitoring module so that whole service status monitoring process is more efficient.

In one embodiment, exception monitoring module is arranged preferably in monitoring server, and it can obtain automatic Pilot The related data of vehicle evaluation system, and determine according to these data the running status of automatic driving vehicle evaluation system.

Specifically, as shown in figure 11, in one embodiment, exception monitoring module is receiving what user terminal transmitted After system configuration data, parameter configuration can be carried out according to said system configuration data in step S202.Meanwhile in step S202 In, exception monitoring module can also generate phase according to related system configuration data (such as monitoring object, monitoring range data etc.) The data query instruction answered.

Specifically, in one embodiment, exception monitoring module, can be by above-mentioned data after above-mentioned data query instruction is obtained Query statement is sent to automatic driving vehicle evaluation system.Automatic driving vehicle evaluation system meeting response abnormality monitoring modular is sent out The data query instruction sent, by corresponding to the related test and appraisal data feedback that the data query instructs to exception monitoring module.

As shown in figure 11, in one embodiment, it is different after data query instruction is sent to automatic driving vehicle evaluation system Normal monitoring modular can obtain automatic driving vehicle evaluation system in step S203 and feed back the related test and appraisal data come, and in step According to received data come respectively to the running status of the corresponding subsystem of automatic driving vehicle evaluation system in rapid S204 Analyzed.

In one embodiment, exception monitoring module by the data communication module provisioned in itself come with automatic driving vehicle Evaluation system carries out data interaction.The data that itself needs to transmit can be packaged into same data frame knot by data communication module Structure, and the data frame after encapsulation is encrypted.Specifically, in one embodiment, the data in exception monitoring module are led to Module is believed preferably by Ethernet connected mode to establish data transmission link with automatic driving vehicle evaluation system.Certainly, In other embodiments of the invention, can also be used between exception monitoring module and automatic driving vehicle evaluation system other Rational method carries out data interaction, and the invention is not restricted to this.

Further, in one embodiment, data acquisition subsystem (on the spot traveling survey of the exception monitoring module for system Try data acquisition module and off-line test data acquisition module), Test and analysis subsystem (test parameter generation module and survey Test result analysis module) and test and appraisal displaying subsystem (test result analysis module and information display module) running status Monitoring react the running status of whole automatic driving vehicle evaluation system.

Figure 12 shows the structural representation of exception monitoring module in one embodiment.

As shown in figure 12, in one embodiment, exception monitoring module preferably includes：First monitoring modular 102a, second Monitoring modular 102b and the 3rd monitoring modular 102c.Wherein, the first monitoring modular 102a is used to obtain automatic driving vehicle test and appraisal System transmits the vehicle operation data of the automatic driving vehicle to be analyzed come.Because the vehicle of above-mentioned automatic driving vehicle is run Data be gathered by the data acquisition subsystem in automatic driving vehicle evaluation system and transmitted Lai, therefore, first monitoring Also can determines the running status of data acquisition subsystem to module 102a by being analyzed above-mentioned vehicle operation data, Determine data acquisition subsystem with the presence or absence of abnormal.

In one embodiment, the first monitoring modular 102a is receiving the vehicle operation data of automatic driving vehicle to be analyzed Afterwards, data verification can be carried out to above-mentioned vehicle operation data, and determines that automatic driving vehicle is tested and assessed according to data verification result The running status of data acquisition subsystem in system.Wherein, if existed by vehicle operation data at data verification determination different Often, then the first monitoring modular 102a is also it is determined that going out data acquisition subsystem has exception.

Specifically, in one embodiment, in order to realize the monitoring to the running status of data acquisition subsystem, first monitors Module 102a preferably periodically sends the instruction of the first data query to automatic driving vehicle evaluation system, so as to be driven derived from dynamic Vehicle evaluation system is sailed to respond above-mentioned first data query instruction and feed back what itself was collected to the first monitoring modular 102a The vehicle operation data of automatic driving vehicle to be analyzed.

It is pointed out that in different embodiments of the invention, the first monitoring modular 102a sends the first data query The specific value of the Cycle Length of instruction can be configured to different reasonable values according to being actually needed, and the present invention is not to above-mentioned week The specific length of phase is defined.

It is also desirable to point out when, in other embodiments of the invention, according to being actually needed, the first monitoring modular The time that 102a sends the instruction of the first data query to automatic driving vehicle evaluation system can also be by the system of user's input Configuration data determines.

In one embodiment, the vehicle operation data that automatic driving vehicle evaluation system is fed back can include such as VX2 Interaction data, vehicle geographic position data, vehicle dynamics data, lights of vehicle status data and Vehicle Decision Method operation data Deng.Certainly, in other embodiments of the invention, vehicle operation data both can only include item listed above in a certain item or A few items, other unlisted reasonable datas can also be included, the invention is not restricted to this.

For vehicle operation data, the first monitoring modular 102a can be by the value of vehicle operation data and the vehicle data It is default effectively span be compared.Wherein, if the value of vehicle operation data, which is in it, presets effective span Interior, by vehicle operation data default, effectively span characterized is vehicle operation data institute's energy under various operating modes The scope of the value enough obtained, therefore the first monitoring modular 102a is now also it is determined that the vehicle operation data is normal；And such as The value of fruit vehicle operation data is not at it and preset in effective span, then the first monitoring modular 102a also sentence by can The fixed vehicle operation data exists abnormal.

For example, for vehicle speed data, if the car speed received by the first monitoring modular 102a is 200Km/ H, and the maximal rate that automatic driving vehicle can reach is that (i.e. the car speed of automatic driving vehicle is effective by 100Km/h Span is [0,100Km/h]), it is clear that the value of the car speed received by the first monitoring modular 102a is unreasonable , therefore now the first monitoring modular 102a also it is determined that vehicle speed data exists abnormal, and then determines data acquisition The running status of subsystem exists abnormal.

Certainly, in other embodiments of the invention, according to being actually needed, the first monitoring modular 102a can also use it Its rational method determines the vehicle operation data with the presence or absence of abnormal.For example, in one embodiment of the invention, the first monitoring Module 102a can also determine the variable condition of vehicle operation data according to accessed vehicle operation data, and by the car The variable condition of data determines this compared with the default change curve of the vehicle operation data, and according to comparative result Vehicle operation data is with the presence or absence of abnormal.

For example, for vehicle geographic position data, the first monitoring modular 102a can be geographical according to received vehicle Position data generates track of vehicle curve, if track of vehicle curve is with preset vehicle geometric locus, (the preset vehicle track is bent Line can be the actual operation curve of automatic driving vehicle to be analyzed) difference it is larger, then the first monitoring modular 102a is also It is abnormal to can be determined that received vehicle geographic position data is present, and then judges that the running status of data acquisition subsystem is deposited In exception.

In another embodiment of the present invention, can be according to institute for vehicle speed data, the first monitoring modular 102a The vehicle speed data generation changes in vehicle speed curve received.If specifying the tune of changes in vehicle speed curve in duration Become number and meet or exceed preset times threshold value, so that the changes in vehicle speed curve and vehicle can show itself Speed change curves run counter to, then then the first monitoring modular 102a is also it is determined that the now operation of data acquisition subsystem State exists abnormal.

And in another embodiment of the present invention, the vehicle got can also be run number by the first monitoring modular 102a Matched according to the reference data with the vehicle operation data, and determine whether the vehicle operation data deposits according to matching result In exception.Wherein, if the two can be matched, then the first monitoring modular 102a also it is determined that the vehicle operation data just Often, otherwise also it is determined that the vehicle operation data has exception.

For example, the first monitoring modular 102a can obtain the rough position number of vehicle by the V2X interaction datas received According to, the first monitoring modular 102a can be verified the rough position data and the gps data of accessed vehicle, if The deviation of the two is larger, then the first monitoring modular 102a is also it is determined that V2X interaction datas have exception.

And the lights of vehicle status data come is transmitted for data acquisition subsystem, the first monitoring modular 102a can root The light status signal exported according to the electronic control unit of vehicle judges the above-mentioned lights of vehicle status data with the presence or absence of different Often.

Certainly, in other embodiments of the invention, according to being actually needed, the first monitoring modular 102a can also be adopted simultaneously The vehicle operation data that in fashion described above two or more are come received by comprehensive descision whether there is abnormal.

In one embodiment, the second monitoring modular 102b and the 3rd monitoring modular 102c is respectively used to monitor automatic Pilot car The running status of Test and analysis subsystem and test and appraisal displaying subsystem is with the presence or absence of abnormal in evaluation system.

Specifically, the second monitoring modular 102b is used to obtain Test and analysis subsystem institute in automatic driving vehicle evaluation system The Test and analysis data that transmission comes, and determine the running status of Test and analysis subsystem according to the Test and analysis data.

In one embodiment, in order to realize the monitoring of the running status to Test and analysis subsystem, the second monitoring modular 102b preferably periodically sends the instruction of the second data query to automatic driving vehicle evaluation system, so as to obtain automatic Pilot car Evaluation system responds above-mentioned second data query instruction and fed back to the second monitoring modular 102b on automatic Pilot to be analyzed The Test and analysis data of vehicle.

In one embodiment, the Test and analysis subsystem of automatic driving vehicle Test and analysis system can include such as driving The functional modules such as range module, Driving Scene library module, driving ability test module and comprehensive test module.Second monitoring modular 102b by Test and analysis subsystem transmit come Test and analysis data can obtain the operation shape of above-mentioned each functional module State code, and determine the running status of each functional module with the presence or absence of abnormal according to the running status code.

For example, in one embodiment, the second monitoring modular 102b realizes that step can be by the work(according to a functional module Can module running be divided into it is N number of (N value can according to be actually needed or actual functional capability module be configured to it is different Reasonable value) the sub- state of operation (each sub- state of operation can correspond to a running status code), if the functional module The running status code of the sub- state of operation of predetermined number is to characterize the abnormal numerical value (such as 0) of running status or the function When the running status of module is in a certain state for a long time, then the second monitoring modular 102b is also it is determined that the functional module Running status exist it is abnormal.

Automatic driving vehicle evaluation system test and appraisal displaying subsystem can include such as road information management module, nobody Drive the functional module such as vehicle information management module and information display module.3rd monitoring modular 102c can be according to getting Automatic driving vehicle evaluation system transmit come display state data come determine test and appraisal displaying subsystem running status.

In one embodiment, the 3rd monitoring modular 102c realizes the concrete principle and process and the above-mentioned second prison of its function It is identical to survey module 102b, therefore no longer the 3rd monitoring modular 102c related content is repeated herein.

Certainly, in other embodiments of the invention, according to being actually needed, the operation of automatic driving vehicle evaluation system is supervised Examining system can also be only to a certain subsystem in data acquisition subsystem, Test and analysis subsystem and test and appraisal displaying subsystem Running status be monitored, correspondingly, the operation monitoring system can cause corresponding monitoring modular to be in inoperative State or do not configure corresponding monitoring modular.

For example, in one embodiment of the invention, when the operation monitoring system of automatic driving vehicle evaluation system only needs When being monitored to the running status of data acquisition subsystem, the operation monitoring system can divide self-contained with test and appraisal The analysis subsystem monitoring modular corresponding with test and appraisal displaying subsystem is configured to off working state, or the operation monitoring system is very The monitoring modular corresponding with Test and analysis subsystem and/or test and appraisal displaying subsystem (the i.e. second monitoring mould can not extremely be configured Block 102b and/or the 3rd monitoring modular 102c).

In one embodiment, alternatively, exception monitoring module also has data reparation and/or alarm indicator function.

In one embodiment, exception monitoring module in step S204 by each of automatic driving vehicle evaluation system After the running status of subsystem is analyzed and obtains the running status of the evaluation system, if the running status of the evaluation system In the presence of exception, then the exception monitoring module will also repair to the abnormality of the evaluation system, so that the survey The running status of system is commented to recover normal.

Specifically, in one embodiment, the abnormal repair module 102d that exception monitoring module is included can be in step S205 The abnormality of automatic driving vehicle evaluation system in the middle S204 according to step at institute's determination come determine automatic driving vehicle survey Comment the abnormal class of system.

In step S206, abnormal repair module 102d can be according to abnormal class next life resulting in above-mentioned steps S205 Instruction is repaired into corresponding, and reparation instruction is transmitted to automatic driving vehicle evaluation system, to eliminate automatic driving vehicle The abnormality of evaluation system.

For example, the abnormal repair module 102d that exception monitoring module is included can be in step S205 according to automatic Pilot car Out-of-the way position, abnormality duration and/or the abnormal frequency of subsystems are by automatic Pilot car in evaluation system The abnormality of evaluation system is divided into the first abnormal class, the second abnormal class or the 3rd abnormal class, and in step Corresponding repair is generated in S206 according to abnormal class to instruct.

For example, if the abnormality of evaluation system belongs to the first abnormal class, then abnormal repair module 102d will Subsystem instruction of restarting is generated and sent, to restart the abnormal subsystem of automatic driving vehicle evaluation system；And if test and appraisal system The abnormality of system belongs to the second abnormal class, then and abnormal repair module 102d will generate and send system reboot instruction, To restart whole automatic driving vehicle evaluation system；And if the abnormality of evaluation system belongs to the 3rd abnormal class, then Abnormal repair module 102d will generate and send equipment instruction of restarting, to restart setting for configuration automatic driving vehicle evaluation system It is standby.

Certainly, in other embodiments of the invention, abnormal repair module 102d can also using other rational methods come Exception present in automatic driving vehicle evaluation system is repaired, the invention is not restricted to this.

In one embodiment, if abnormal repair module 102d can not be repaired present in automatic driving vehicle evaluation system It is abnormal, then abnormal repair module 102d can then generate corresponding instruction and transmit the instruction to the alarm being attached thereto and indicate Module 102e, it is artificial to prompt user to carry out to be generated by alarm indicating module 102e and be exported corresponding alarm configured information Intervene.

It is pointed out that in other embodiments of the invention, alarm indicating module 102e can also be in step S207 In when automatic driving vehicle evaluation system has abnormal according to the abnormal shape for the automatic driving vehicle evaluation system determined The corresponding alarm configured information of state generation, and in case of need transmitting the alarm configured information to user terminal, with by User terminal is presented to user.For example, alarm indicating module 102e can be occurred according to subsystems abnormal frequency, The order of severity is transmitted to user terminal to generate corresponding system restoration information or system upgrade information etc. by above-mentioned.

Further, in one embodiment, exception monitoring module also includes database.Database can be in step S208 Running log is recorded, such as the information such as the running status of automatic driving vehicle evaluation system, abnormality code are stored in local.

While it is disclosed that embodiment as above, but described content only to facilitate understand the present invention and adopt Embodiment, it is not limited to the present invention.Method of the present invention can also have other various embodiments.Without departing substantially from In the case of essence of the present invention, those skilled in the art, which work as, can make various corresponding changes or become according to the present invention Shape, but these corresponding changes or deformation should all belong to the scope of the claims of the present invention.

Claims

1. a kind of automatic driving vehicle evaluation system, it is characterised in that the system includes：

System server；

Test parameter generation module, it is configured to obtain testing requirement, is generated according to the testing requirement and export on-line testing Parameter, the on-line testing parameter include test route data and running data collection setup parameter；

Running test data acquisition module on the spot, it is configured to obtain the running data collection setup parameter, based on the row Sail data acquisition setup parameter and obtain vehicle to be measured and the traveling test result data fed back in test process and real is travelled on the spot When upload to the system server；

Test result analysis module, it is configured to download the traveling test result data in real time at the system server, Parse the traveling test result data, generation traveling test result real-time report.

2. system according to claim 1, it is characterised in that：

The test parameter generation module is additionally configured to generate and export according to the testing requirement off-line test parameter, it is described from Line test parameter includes off-line test data acquisition parameters；

The system also includes off-line test data acquisition module, and the off-line test data acquisition module is configured to obtain offline Test data collection parameter, off-line simulation survey is carried out to the vehicle to be tested based on the off-line test data acquisition parameters Examination, obtain off-line simulation test result；

The test result analysis module is additionally configured to parse the off-line simulation test result, generates off-line simulation test result Report.

3. system according to claim 2, it is characterised in that the test result analysis module is additionally configured to integration analysis The off-line simulation test result and the traveling test result data, generation traveling test result real-time report.

4. system according to claim 1, it is characterised in that the system also includes：

Information display module, it is configured to travel test result data described in real-time exhibition and/or the traveling test result is real When report.

5. system according to claim 1, it is characterised in that the system also includes data memory module, and it is configured to：

6. system according to claim 1, it is characterised in that the system also includes：

7. a kind of automatic driving vehicle assessment method, it is characterised in that methods described includes：

Testing requirement is obtained, on-line testing parameter is generated according to the testing requirement, the on-line testing parameter includes test road Line number is according to this and running data gathers setup parameter；

The test route data are sent to vehicle to be tested；

Running data collection setup parameter is sent to running test data collecting device, utilizes the running test data Collecting device obtains vehicle to be measured and the traveling test result data fed back in test process is travelled on the spot and surveys the traveling Test result data upload to system server in real time；

Download the traveling test result data in real time at the system server, parse the traveling test result data, Generation traveling test result real-time report.

8. according to the method for claim 7, it is characterised in that methods described also includes：

Off-line test parameter is generated according to the testing requirement, the off-line test parameter is joined including off-line test data acquisition Number；

The off-line test data acquisition parameters are sent to off-line test data acquisition equipment, utilize the off-line test data Collecting device carries out off-line simulation test to the vehicle to be tested, obtains off-line simulation test result；

9. according to the method for claim 8, it is characterised in that methods described also includes：

Off-line simulation test result described in integration analysis and the traveling test result data, generation traveling test result are real-time Report.

10. according to the method for claim 7, it is characterised in that monitor abnormal shape by the way of test and monitoring combine State, including：

The reliability of test system, Stability and veracity repeatedly；

Real-time monitoring system running situation, judge whether to break down.