CN108645628B - Automatic driving automobile test system based on road driving skills - Google Patents
Automatic driving automobile test system based on road driving skills Download PDFInfo
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- CN108645628B CN108645628B CN201810456127.2A CN201810456127A CN108645628B CN 108645628 B CN108645628 B CN 108645628B CN 201810456127 A CN201810456127 A CN 201810456127A CN 108645628 B CN108645628 B CN 108645628B
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Abstract
The invention provides an automatic driving automobile test system based on road driving skills, which comprises: road test scenes, automatic driving test equipment and automatic driving test site facilities; the autopilot test apparatus is provided on an autopilot vehicle, i.e., a test vehicle, to be tested, and includes: a road traffic signal acquisition system and a vehicle-mounted signal acquisition system; the automatic driving test site facility comprises a test vehicle positioning facility, a test item triggering device and a signal forwarding device. Further, the road traffic signal acquisition system is communicated with the test center in a wireless transmission mode, and receives a test task of a current test vehicle and traffic environment information associated with the test task; the vehicle-mounted signal acquisition system can communicate with the automatic driving automobile and read information of the automatic driving automobile. The invention is used for testing and verifying the safety of the automatic driving automobile on the road, and provides guidance for the technical research and development of the automatic driving automobile, the permission of the road test and the product admission certification.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to an automatic driving automobile testing system based on road driving skills.
Background
The automatic driving automobile is the strategic high point of future automobile technology, and the perfect test evaluation technology is important for improving the research and development efficiency of the automatic driving automobile, perfecting the technical standard and laws and regulations and promoting the innovation and development of industry. Research shows that the intelligent driving automobile has great potential in reducing traffic accidents, relieving traffic jam and improving the utilization rate of roads and vehicles. Military use of the automatic driving technology has started in the early 80 s in the united states, and the automatic driving technology has an explosive breakthrough in recent years along with the development of computers and the use of deep learning algorithms.
The test of the traditional automobile and the automatic driving automobile has great difference, and the test factors of the traditional automobile are single and easy to control. However, in the testing process of the automatic driving automobile, the change of the environment needs to be changed continuously to verify whether the automatic driving automobile senses correctly and judge whether the automatic driving system makes correct decision and execution on the basis of sensing. In the testing process, the situation that the aspect of the automatic driving automobile in the sensing, decision and execution links is insufficient can not be simply judged through the testing result.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides an automatic driving automobile testing system based on road driving skills, which is used for testing and verifying the road driving safety of an automatic driving automobile and provides guidance for the technical research and development of the automatic driving automobile, the road driving test permission and the product admission certification. The technical scheme adopted by the invention is as follows:
an autonomous driving vehicle testing system based on road driving skills, comprising: road test scenes, automatic driving test equipment and automatic driving test site facilities;
the autopilot test apparatus is provided on an autopilot vehicle, i.e., a test vehicle, to be tested, and includes: a road traffic signal acquisition system and a vehicle-mounted signal acquisition system;
the automatic driving test site facility comprises a test vehicle positioning facility, a test item triggering device and a signal forwarding device.
Further, the road traffic signal acquisition system is communicated with the test center in a wireless transmission mode, and receives a test task of a current test vehicle and traffic environment information associated with the test task;
the vehicle-mounted signal acquisition system comprises a traffic environment display module, a traffic information detection module and a data task processing module; the vehicle-mounted signal acquisition system can communicate with the automatic driving automobile and read the information of the automatic driving automobile;
the traffic information detection module is used for reading traffic environment information detected by the test vehicle according to the motion state and the position; comparing and analyzing the traffic environment information detected by the test vehicle with the traffic environment information received by the road traffic signal acquisition system;
the traffic environment display module is used for carrying out two-dimensional display on the three-dimensional scene acquired by the image acquisition unit of the test vehicle;
the data task processing module is used for displaying the data volume executed by the core data processing unit of the automatic driving automobile in unit time.
Further, the traffic environment information includes traffic sign information, pedestrian information, motor vehicle information, non-motor vehicle information, weather information, driving lane information, obstacle information, illumination information, signal lamp state information.
Further, the air conditioner is provided with a fan,
the test vehicle positioning facility is used for positioning the position and the running speed of a test vehicle in a test site in real time;
the test item triggering device comprises a test item triggering line and a corresponding sensor; the sensor of the test item trigger line can send out a trigger signal when the test vehicle touches the test item trigger line, so as to trigger the current test item;
the signal forwarding device is used for mutual communication between the road traffic signal acquisition system and the test center.
Further, in the present invention,
in a test field, besides a test item trigger line, a traffic signal identification line and a limit execution area are also arranged; the test item trigger line, the traffic signal identification line and the limit execution area are sequentially arranged;
a sensor is also arranged on the traffic signal identification line, and the sensor of the traffic signal identification line can send out a trigger signal when a test vehicle touches the traffic signal identification line;
the tail end boundary of the limit execution area is provided with a test item boundary triggering device which is used for judging whether the test vehicle can identify and complete the test item within the limit range of the test item;
the sensor of the test item trigger line, the sensor of the traffic signal identification line and the test item boundary trigger device are all connected with the test center through the controller.
Further, the position setting of the traffic signal identification line needs to satisfy:
s is the limit identification distance of a camera on the test vehicle; h is the installation height of the camera; s1The distance from the traffic sign or signal light to the traffic signal identification line.
The length L of the limit execution area needs to satisfy:
wherein t is1Response time, t, for an autonomous vehicle control system2For the response time of the braking system of an autonomous vehicle, u0For automatically driving the initial speed of the vehicle, amaxThe maximum braking deceleration of the automatic driving automobile.
The invention has the advantages that: the invention provides a completely set road test scene, and through the cooperation of the automatic driving test equipment and the automatic driving test site facility, whether the perception of the automatic driving automobile is accurate, whether the decision is timely and whether the execution is reasonable can be judged in real time in the test process.
Drawings
FIG. 1 is a schematic view of a road test scenario according to the present invention.
Fig. 2 is a schematic diagram of a road traffic signal acquisition system according to the present invention.
Fig. 3 is a schematic diagram of the vehicle-mounted signal acquisition system of the invention.
FIG. 4 is a schematic view of an autopilot test site facility of the present invention.
FIG. 5 is a schematic view of the vehicle right turn test of the present invention.
Detailed Description
The invention is further illustrated by the following specific figures and examples.
The invention provides an automatic driving automobile testing system based on road driving skills, which is mainly used for testing the traffic language cognition ability, the civilized driving ability, the traffic ability in a complex traffic environment and the cooperative driving ability with other road participating objects of an automatic driving automobile.
Automatic driving car test system based on road driving skill includes: road test scenes, automatic driving test equipment and automatic driving test site facilities;
a road test scene;
as shown in fig. 1, the road test scenario includes 11 test items, namely, a side-by-side parking and starting, a pedestrian crossing passing, a right turn at a front light-controlled intersection, a left turn at the front light-controlled intersection, a straight running at the front light-controlled intersection, a left turn at a signal-free intersection, a bus stop passing through an intersection, an intersection parking yielding, a roundabout, a highway running through a tunnel, which are sequentially arranged; in the test process of the automatic driving automobile, the test items are completed to verify the traffic language cognitive ability, civilized driving ability, traffic ability in a complex traffic environment and the cooperative driving ability with other road participation objects of the automatic driving automobile;
(II) automatic driving test equipment;
the autopilot test apparatus is provided on an autopilot vehicle to be tested, including: a road traffic signal acquisition system and a vehicle-mounted signal acquisition system;
as shown in fig. 2, the road traffic signal acquisition system communicates with the test center through a wireless transmission manner, and receives a test task of a current test vehicle (i.e., an autonomous automobile to be tested), and traffic environment information such as traffic sign information, pedestrian information, motor vehicle information, non-motor vehicle information, weather information, driving lane information, obstacle information, illumination information, signal lamp state information, and the like associated with the test task; wherein, pedestrians, motor vehicles and non-motor vehicles are background participation objects; the obstacle is a fixed obstacle arranged in a road test scene; the traffic environment information received by the road traffic signal acquisition system is standard information and is used for comparing with information detected by the automatic driving vehicle to judge the accuracy of the perception capability of the automatic driving vehicle;
as shown in fig. 3, the vehicle-mounted signal acquisition system comprises a traffic environment display module, a traffic information detection module and a data task processing module; the vehicle-mounted signal acquisition system can communicate with the automatic driving automobile and read the information of the automatic driving automobile; the vehicle-mounted signal acquisition system is connected with the automatic driving automobile through an OBD (on-board diagnostics) or CAN (controller area network) bus and the like;
the traffic information detection module is used for reading traffic environment information such as traffic sign information, pedestrian information, motor vehicle information, non-motor vehicle information, weather information, driving lane information, barrier information, illumination information, signal lamp state information and the like detected by the test vehicle according to the motion state and the position; comparing and analyzing the traffic environment information detected by the test vehicle with the traffic environment information received by the road traffic signal acquisition system so as to judge the accuracy of the perception capability of the test vehicle on the road test scene;
the traffic environment display module is used for carrying out two-dimensional display on the three-dimensional scene acquired by the image acquisition unit of the test vehicle so that a tester can visually judge whether the perception subsystem of the automatic driving automobile accurately acquires the key traffic environment information;
the data task processing module is used for displaying the data volume executed by the core data processing unit of the automatic driving automobile in unit time, and is used for judging whether the automatic driving automobile can correctly sense and judging the validity of decision; for example, when a test vehicle approaches an intersection with a signal light, the signal light is gradually sensed during approaching the intersection, and the motor vehicles, non-motor vehicles and the like waiting in line are sensed, the processed data volume becomes large, and if the test vehicle can accurately sense and make a decision, the data volume executed by the core data processing unit of the test vehicle is significantly increased, as shown in the lower right-hand graph in fig. 3;
(III) automatically driving a test site facility;
as shown in fig. 4, the automatic driving test site facility includes a test vehicle positioning facility, a test item triggering device, a signal forwarding device, and a test item boundary triggering device;
the test vehicle positioning facility is used for positioning the position and the running speed of a test vehicle in a test site in real time;
the test item triggering device comprises a test item triggering line and a corresponding sensor; the sensors of the test item trigger line can adopt a correlation photoelectric sensor, a gravity sensor and the like, and can send out a trigger signal when a test vehicle touches the test item trigger line so as to trigger the current test item; therefore, the signal lamp state, the background participation object and the like in the test project can be accurately controlled;
the signal forwarding device is used for mutual communication between the road traffic signal acquisition system and the test center, and plays a role in signal forwarding;
in a test field, besides a test item trigger line, a traffic signal identification line and a limit execution area are also arranged; the test item trigger line, the traffic signal identification line and the limit execution area are sequentially arranged;
a sensor is also arranged on the traffic signal identification line, and the sensor of the traffic signal identification line can send out a trigger signal when a test vehicle touches the traffic signal identification line;
the tail end boundary of the limit execution area is provided with a test item boundary triggering device which is used for judging whether the test vehicle can identify and complete the test item within the limit range of the test item; when the test vehicle triggers the test item boundary triggering device, the test center judges whether the test vehicle completes the current test item;
the sensor of the test item trigger line, the sensor of the traffic signal identification line and the test item boundary trigger device are all connected with a test center through a controller;
wherein, the position setting of traffic signal identification line needs to satisfy:
s is the limit identification distance of a camera on the test vehicle; h is the installation height of the camera; s1Identifying the distance from the traffic sign or signal lamp to the traffic signal identification line;
the length L of the limit execution area needs to satisfy:
wherein t is1Response time, t, for an autonomous vehicle control system2For the response time of the braking system of an autonomous vehicle, u0For automatically driving the initial speed of the vehicle, amaxMaximum braking deceleration for an autonomous vehicle;
one specific example of a vehicle right turn test is shown in FIG. 5; in the test process, firstly, a test center acquires traffic environment information of a test site, such as traffic signs, signal lamps, background participating objects and the like; then, the road traffic signal acquisition system on the test vehicle communicates with a test center to acquire the current test traffic environment information and a preset test task scheme; the vehicle-mounted signal acquisition system reads the traffic environment information sensed by the test vehicle, compares the traffic environment information detected by the test vehicle with the traffic environment information received by the road traffic signal acquisition system, and comprehensively judges whether the sensing of the test vehicle is accurate or not, whether the decision is in time or not and whether the execution is effective or not by matching the triggering of the test scene identification line and the action or state of the test vehicle in the limit execution area.
Finally, it should be noted that the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to examples, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.
Claims (4)
1. The utility model provides an automatic driving car test system based on road driving skill which characterized in that includes: road test scenes, automatic driving test equipment and automatic driving test site facilities;
the autopilot test apparatus is provided on an autopilot vehicle, i.e., a test vehicle, to be tested, and includes: a road traffic signal acquisition system and a vehicle-mounted signal acquisition system;
the automatic driving test site facility comprises a test vehicle positioning facility, a test item triggering device and a signal forwarding device;
the road traffic signal acquisition system is communicated with the test center in a wireless transmission mode, and receives a test task of a current test vehicle and traffic environment information associated with the test task;
the vehicle-mounted signal acquisition system comprises a traffic environment display module, a traffic information detection module and a data task processing module; the vehicle-mounted signal acquisition system can communicate with the automatic driving automobile and read the information of the automatic driving automobile;
the traffic information detection module is used for reading traffic environment information detected by the test vehicle according to the motion state and the position; comparing and analyzing the traffic environment information detected by the test vehicle with the traffic environment information received by the road traffic signal acquisition system;
the traffic environment display module is used for carrying out two-dimensional display on the three-dimensional scene acquired by the image acquisition unit of the test vehicle;
the data task processing module is used for displaying the data volume executed by the core data processing unit of the automatic driving automobile in unit time;
the test vehicle positioning facility is used for positioning the position and the running speed of a test vehicle in a test site in real time;
the test item triggering device comprises a test item triggering line and a corresponding sensor; the sensor of the test item trigger line can send out a trigger signal when the test vehicle touches the test item trigger line, so as to trigger the current test item;
the signal forwarding device is used for the mutual communication between the road traffic signal acquisition system and the test center;
in a test field, besides a test item trigger line, a traffic signal identification line and a limit execution area are also arranged; the test item trigger line, the traffic signal identification line and the limit execution area are sequentially arranged;
a sensor is also arranged on the traffic signal identification line, and the sensor of the traffic signal identification line can send out a trigger signal when a test vehicle touches the traffic signal identification line;
the tail end boundary of the limit execution area is provided with a test item boundary triggering device which is used for judging whether the test vehicle can identify and complete the test item within the limit range of the test item;
the sensor of the test item trigger line, the sensor of the traffic signal identification line and the test item boundary trigger device are all connected with a test center through a controller;
the road test scene comprises the following test items, namely, side-by-side parking and starting, right turn through a pedestrian crossing, a front lamp control intersection, left turn through the front lamp control intersection, straight running through the front lamp control intersection, left turn through a signal lamp-free intersection, bus station passing, intersection parking yielding, roundabout passing, highway running and tunnel passing which are sequentially arranged.
2. The automated driving vehicle testing system based on road driving skills of claim 1,
the traffic environment information includes traffic sign information, pedestrian information, motor vehicle information, non-motor vehicle information, weather information, driving lane information, obstacle information, illumination information, and signal lamp state information.
3. The automated driving vehicle testing system based on road driving skills of claim 1,
the position setting of the traffic signal identification line needs to satisfy:
s is the limit identification distance of a camera on the test vehicle; h is the installation height of the camera; s1The distance from the traffic sign or signal light to the traffic signal identification line.
4. The automated driving vehicle testing system based on road driving skills of claim 1,
the length L of the limit execution area needs to satisfy:
wherein t is1Response time, t, for an autonomous vehicle control system2For the response time of the braking system of an autonomous vehicle, u0For automatically driving the initial speed of the vehicle, amaxThe maximum braking deceleration of the automatic driving automobile.
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| CN109064763A (en) * | 2018-10-23 | 2018-12-21 | 百度在线网络技术（北京）有限公司 | Test method, device, test equipment and the storage medium of automatic driving vehicle |
| CN109297725B (en) * | 2018-10-29 | 2021-03-12 | 百度在线网络技术（北京）有限公司 | Vehicle boundary capability testing method, device, equipment, medium and vehicle |
| CN109765877A (en) * | 2018-12-17 | 2019-05-17 | 北京百度网讯科技有限公司 | Detection method, device, system and the storage medium of automatic Pilot process |
| CN109901549A (en) * | 2019-01-18 | 2019-06-18 | 北京百度网讯科技有限公司 | Automatic driving vehicle test processing method, device and electronic equipment |
| CN110020471A (en) * | 2019-03-28 | 2019-07-16 | 上海工程技术大学 | A kind of functional simulation detection system of autonomous driving vehicle |
| CN111947934B (en) * | 2019-05-17 | 2023-02-17 | 上汽通用汽车有限公司 | Vehicle authentication test method |
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| CN110807922A (en) * | 2019-10-29 | 2020-02-18 | 长安大学 | Unmanned vehicle intersection traffic capacity test system and test method |
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| CN110926830A (en) * | 2019-12-06 | 2020-03-27 | 上海蔚来汽车有限公司 | Automatic driving vehicle test method, device, controller and medium |
| CN110907197A (en) * | 2019-12-11 | 2020-03-24 | 北京京东乾石科技有限公司 | Vehicle testing method, device and system |
| CN111258300B (en) | 2020-01-22 | 2023-05-30 | 长安大学 | Unmanned vehicle signal lamp-free rotary island traffic capacity test system and test method |
| CN111415513B (en) * | 2020-03-26 | 2022-02-08 | 公安部交通管理科学研究所 | Method, device and system for testing driving safety of automatic driving automobile |
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| CN112665875A (en) * | 2020-12-25 | 2021-04-16 | 北京智能车联产业创新中心有限公司 | Method and device for testing reliability of automatic driving vehicle, electronic equipment and storage medium |
| CN113504056A (en) * | 2021-06-30 | 2021-10-15 | 中国科学技术大学先进技术研究院 | Test evaluation system and method for automatically-driven automobile |
| CN116647968A (en) * | 2023-05-17 | 2023-08-25 | 襄阳达安汽车检测中心有限公司 | Signal lamp control method and system for automatic driving test |
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