CN108845556A - A kind of automatic driving vehicle test method and test device - Google Patents
A kind of automatic driving vehicle test method and test device Download PDFInfo
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- CN108845556A CN108845556A CN201810398058.4A CN201810398058A CN108845556A CN 108845556 A CN108845556 A CN 108845556A CN 201810398058 A CN201810398058 A CN 201810398058A CN 108845556 A CN108845556 A CN 108845556A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24065—Real time diagnostics
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Abstract
The present invention provides a kind of automatic driving vehicle test methods and test device, this method to include：Test data set is created, and obtains standard control command corresponding with test data set；It calls the decision system of automatic driving vehicle to be tested to handle test data set, obtains control command；Judge whether control command is identical as standard control command, if so, determining that decision system is normal, otherwise determines that decision system is abnormal；After determining that decision system is normal, control command is sent to the control system of automatic driving vehicle to be tested, so that control system is controlled automatic driving vehicle to be tested according to control command and runs；Obtain the status data of automatic driving vehicle；Judge whether status data is corresponding with standard control command, if so, determining that control system is normal, otherwise determines that control system is abnormal.This programme can be improved the efficiency tested the Function for Automatic Pilot of automatic driving vehicle.
Description
Technical field
The present invention relates to Vehicle Engineering technical field, in particular to a kind of automatic driving vehicle test method and test dress
It sets.
Background technique
Automatic driving vehicle is also known as automatic driving vehicle, computer drives vehicle or wheeled mobile robot, is that one kind passes through
Computer system realizes unpiloted intelligent vehicle.Automatic driving vehicle include sensor for being perceived to environment,
By the way that the acquired data of sensor are carried out with the decision system of processing generation control command and generates control according to decision system
The control system that system order controls vehicle.In order to guarantee the safety of automatic driving vehicle, in automatic driving vehicle
It needs to test its Function for Automatic Pilot in development process.
Currently, when the Function for Automatic Pilot to automatic driving vehicle is tested, it is main that test is run using practical examination, i.e.,
Simulated roadway environment is built on closed experimental site, travels automatic driving vehicle in simulated roadway environment, according to certainly
Whether the dynamic driving condition for driving vehicle is normal come the automatic control function for testing automatic driving vehicle.
For the method that target tests automatic driving vehicle, due to testing with result as guiding, when test is found
When the Function for Automatic Pilot exception of automatic driving vehicle, can not determine causes the reason of Function for Automatic Pilot exception to be decision system
Or control system, therefore tester also needs to take a significant amount of time to position pathological system, so as to automatic Pilot
The efficiency that the Function for Automatic Pilot of vehicle is tested is lower.
Summary of the invention
The embodiment of the invention provides a kind of automatic driving vehicle test method and test device, can be improved to driving automatically
Sail the efficiency that the Function for Automatic Pilot of vehicle is tested.
In a first aspect, test data set is created the embodiment of the invention provides a kind of automatic driving vehicle test method, and
Standard control command corresponding with the test data set is obtained, further includes：
It calls the decision system of automatic driving vehicle to be tested to handle the test data set, obtains control life
It enables；
Judge whether the control command and the standard control command are identical, if so, determining the decision system just
Often, otherwise determine that the decision system is abnormal；
After determining that the decision system is normal, the control command is sent to the automatic driving vehicle to be tested
Control system runs the control system according to the control command control automatic driving vehicle to be tested；
Obtain the status data of the automatic driving vehicle；
Judge whether the status data and the standard control command are corresponding, if so, determining the control system just
Often, otherwise determine that the control system is abnormal.
Optionally, the decision system for calling automatic driving vehicle to be tested handle to the test data set and be obtained
Control command is obtained, including：
The environment sensing data that the vehicle localization module for calling the decision system to include includes to the test data set
It is handled with positioning data of vehicles, obtains vehicle station-keeping data；
The Route Planning Data that the path planning module for calling the decision system to include includes to the test data set
It is handled with the positioning data of vehicles, obtains route or travel by vehicle data；
The intelligent decision module for calling the decision system to include is to the vehicle station-keeping data and the vehicle row
It sails route data to be handled, obtains the control command.
Optionally, the control system that the control command is sent to the automatic driving vehicle to be tested, including：
By controller local area network's CAN bus, the course changing control order for including by the control command, Throttle Opening Control life
It enables and control for brake order is sent respectively to course changing control module, Throttle Opening Control module and braking control that the control system includes
Molding block, wherein the course changing control module be used for according to receive the course changing control order control it is described it is to be tested from
The dynamic turning machine for driving vehicle, the Throttle Opening Control module be used for according to the Throttle Opening Control order control received it is described to
The throttle of automatic driving vehicle is tested, the brake control module is used for according to the control for brake order control institute received
State the brake of automatic driving vehicle to be tested.
Optionally, after the determination decision system exception, further comprise：
Content different from the standard control command in the control command is marked；
Alert, and the control command after label is shown.
Optionally, the status data for obtaining the automatic driving vehicle, including：
Obtain the collected steering data of rotation direction sensor on the chassis of the automatic driving vehicle to be tested；
Obtain the collected throttle data of throttle sensor on the chassis of the automatic driving vehicle to be tested；
Obtain the collected braking-distance figures of braking sensor on the chassis of the automatic driving vehicle to be tested；
The steering data, the throttle data and the braking-distance figures are determined as the status data.
Second aspect, the embodiment of the invention also provides a kind of automatic driving vehicle test devices, including：Creating unit,
Decision system test cell and control system test cell；
The creating unit for creating test data set, and obtains standard control corresponding with the test data set
System order；
The decision system test cell, for calling the decision system of automatic driving vehicle to be tested single to the creation
The test data set of member creation is handled, and control command is obtained, and judges that the control command and the standard control
Whether order is identical, if so, determining that the decision system is normal, otherwise determines that the decision system is abnormal；
The control system test cell, for determining that the decision system is normal in the decision system test cell
Afterwards, the control command is sent to the control system of the automatic driving vehicle to be tested, makes the control system according to institute
The control command control automatic driving vehicle operation to be tested is stated, and obtains the status data of the automatic driving vehicle,
And judge whether the status data and the standard control command are corresponding, if so, determining that the control system is normal, otherwise
Determine that the control system is abnormal.
Optionally, the decision system test cell is executing the decision system for calling automatic driving vehicle to be tested
When carrying out processing acquisition control command to the test data set, it is specifically used for：
The environment sensing data that the vehicle localization module for calling the decision system to include includes to the test data set
It is handled with positioning data of vehicles, obtains vehicle station-keeping data；
The Route Planning Data that the path planning module for calling the decision system to include includes to the test data set
It is handled with the positioning data of vehicles, obtains route or travel by vehicle data；
The intelligent decision module for calling the decision system to include is to the vehicle station-keeping data and the vehicle row
It sails route data to be handled, obtains the control command.
Optionally, the control system test cell execute it is described by the control command be sent to it is described it is to be tested from
When the dynamic control system for driving vehicle, it is specifically used for：
By controller local area network's CAN bus, the course changing control order for including by the control command, Throttle Opening Control life
It enables and control for brake order is sent respectively to course changing control module, Throttle Opening Control module and braking control that the control system includes
Molding block, wherein the course changing control module be used for according to receive the course changing control order control it is described it is to be tested from
The dynamic turning machine for driving vehicle, the Throttle Opening Control module be used for according to the Throttle Opening Control order control received it is described to
The throttle of automatic driving vehicle is tested, the brake control module is used for according to the control for brake order control institute received
State the brake of automatic driving vehicle to be tested.
Optionally, the decision system test cell is further used for being controlled with the standard in the control command
It orders different contents to be marked and alert, and the control command after label is shown.
Optionally, the control system test cell is executing the status data for obtaining the automatic driving vehicle
When, it is specifically used for：
Obtain the collected steering data of rotation direction sensor on the chassis of the automatic driving vehicle to be tested；
Obtain the collected throttle data of throttle sensor on the chassis of the automatic driving vehicle to be tested；
Obtain the collected braking-distance figures of braking sensor on the chassis of the automatic driving vehicle to be tested；
The steering data, the throttle data and the braking-distance figures are determined as the status data.
Automatic driving vehicle test method and test device provided in an embodiment of the present invention, are pre-created test data set simultaneously
After obtaining corresponding standard control command, call the decision system of automatic driving vehicle to be tested to the test data created
Collection carries out processing acquisition control command and says if control command obtained is identical as the standard control command got in advance
The decision system of bright automatic driving vehicle to be tested can carry out data processing according to scheduled logic and obtain corresponding control life
It enables, and then determines that the decision system of automatic driving vehicle to be tested is normal, otherwise determine the decision of automatic driving vehicle to be tested
System exception.After the decision system for determining automatic driving vehicle to be tested is normal, control command is sent to be tested automatic
The control system for driving vehicle makes control system control automatic driving vehicle to be tested according to control command and runs, and obtain to
Test automatic driving vehicle status data, if accessed status data is corresponding with standard control command, illustrate to
The control system for testing automatic driving vehicle can be according to the operation of scheduled logic control automatic driving vehicle to be tested, in turn
It determines that the control system of automatic driving vehicle to be tested is normal, otherwise determines that the control system of automatic driving vehicle to be tested is different
Often.It can be seen that successively the decision system and control system of automatic driving vehicle to be tested are detected step by step, if to
Test automatic driving vehicle Function for Automatic Pilot exist it is abnormal, can directly determine cause abnormal reason be decision system also
Control system, to expend the time again without tester carry out abnormal positioning, so as to improve to automatic driving vehicle from
The dynamic efficiency for driving function and being tested.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is the present invention
Some embodiments for those of ordinary skill in the art without creative efforts, can also basis
These attached drawings obtain other attached drawings.
Fig. 1 is a kind of flow chart of automatic driving vehicle test method provided by one embodiment of the present invention；
Fig. 2 is the flow chart of another automatic driving vehicle test method provided by one embodiment of the present invention；
Fig. 3 is the schematic diagram of equipment where a kind of automatic driving vehicle test device provided by one embodiment of the present invention；
Fig. 4 is a kind of schematic diagram of automatic driving vehicle test device provided by one embodiment of the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments, based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
As shown in Figure 1, the embodiment of the invention provides a kind of automatic driving vehicle test method, this method may include with
Lower step：
Step 101：Test data set is created, and obtains standard control command corresponding with test data set；
Step 102：It calls the decision system of automatic driving vehicle to be tested to handle test data set, is controlled
Order；
Step 103：Judge whether control command is identical as standard control command, if so, executing step 105, otherwise holds
Row step 104；
Step 104：It determines decision system exception, and terminates current process；
Step 105：Determine that decision system is normal；
Step 106：Control command is sent to the control system of automatic driving vehicle to be tested, makes control system according to control
System order controls automatic driving vehicle operation to be tested；
Step 107：Obtain the status data of automatic driving vehicle；
Step 108：Judge whether status data is corresponding with standard control command, if so, executing step 109, otherwise holds
Row step 110；
Step 109：It determines that control system is normal, and terminates current process；
Step 110：Determine control system exception.
The embodiment of the invention provides a kind of automatic driving vehicle test methods, and test data set is pre-created and obtains phase
After corresponding standard control command, the decision system of automatic driving vehicle to be tested is called to carry out the test data set created
Processing obtains control command and illustrates to be measured if control command obtained is identical as the standard control command got in advance
The decision system for trying automatic driving vehicle can carry out data processing according to scheduled logic and obtain corresponding control command, in turn
It determines that the decision system of automatic driving vehicle to be tested is normal, otherwise determines that the decision system of automatic driving vehicle to be tested is different
Often.After the decision system for determining automatic driving vehicle to be tested is normal, control command is sent to automatic Pilot vehicle to be tested
Control system, so that control system is controlled automatic driving vehicle to be tested according to control command and run, and obtain it is to be tested from
The dynamic status data for driving vehicle, if accessed status data is corresponding with standard control command, illustrate it is to be tested oneself
The dynamic control system for driving vehicle can according to the operation of scheduled logic control automatic driving vehicle to be tested, and then determine to
The control system for testing automatic driving vehicle is normal, otherwise determines that the control system of automatic driving vehicle to be tested is abnormal.Thus
As it can be seen that successively detected step by step to the decision system and control system of automatic driving vehicle to be tested, if it is to be tested from
There is exception in the dynamic Function for Automatic Pilot for driving vehicle, can directly determine causes abnormal reason to be decision system or control
System expends the abnormal positioning of time progress, again without tester so as to improve the automatic Pilot to automatic driving vehicle
The efficiency that function is tested.
Optionally, the test data set being pre-created may include environment sensing data, positioning data of vehicles and path
Layout data etc..Correspondingly, the decision system of automatic driving vehicle to be tested is being called to carry out processing acquisition to test data set
When control command, the environment sensing data and vehicle of calling the decision system vehicle localization module that includes to include to test data set
Location data is handled, and corresponding vehicle station-keeping data is obtained, the path planning module for calling decision system to include
The Route Planning Data and positioning data of vehicles for include to test data set are handled, and obtain corresponding route or travel by vehicle
Data, vehicle station-keeping data and route or travel by vehicle of the intelligent decision module for finally decision system being called to include to acquisition
Data are handled, and control command is obtained.
In actual use, the various kinds of sensors on automatic driving vehicle can acquire around automatic driving vehicle
Environment sensing data (road width, spacing, road curvature degree, signal information etc.), the locating module on automatic driving vehicle
(such as GPS positioning module, Beidou positioning module etc.) can obtain the positioning data of vehicles (longitude and latitude etc.) of automatic driving vehicle,
In addition automatic driving vehicle can receive the Route Planning Data of user's input.The decision system of automatic driving vehicle can basis
Environment sensing data, positioning data of vehicles and Route Planning Data generate corresponding control command, and control system is according to control
Order controls the diverter, throttle, brake etc. of automatic driving vehicle accordingly, realizes automatic Pilot.In order to guarantee
The validity of test, the test data set being pre-created will include environment sensing data, positioning data of vehicles and path planning
Data etc., with the collected data of institute match in actual use with automatic driving vehicle.
After creating test data set, need to concentrate included environment sensing data, vehicle location for test data
Data and Route Planning Data obtain corresponding standard control command, i.e., according to the decision system of exploitation automatic driving vehicle when
Based on logic, according to test data concentrate include environment sensing data, positioning data of vehicles and Route Planning Data can
To obtain unique standard control command, that is to say, that if the decision system of automatic driving vehicle is normal, by test number
Standard control life can be obtained by carrying out processing according to environment sensing data, positioning data of vehicles and the Route Planning Data that collection includes
It enables.
The environment sensing data and vehicle for calling the decision system vehicle localization module that includes to include to test data set are fixed
Position data are handled, i.e., the environment sensing data and positioning data of vehicles for including by test data set are replaced by various kinds of sensors
It is sent to vehicle localization module with the collected environment sensing data of locating module and positioning data of vehicles and is handled, vehicle is fixed
Position module still carries out data processing according to the state of automatic driving vehicle in actual use.Similarly, path planning in decision system
Module and intelligent decision module also carry out data processing according to the state of automatic driving vehicle in actual use, thus test process
Middle decision system is identical as the state of automatic driving vehicle in actual use, ensure that test decision system and be surveyed
The accuracy of test result.
Optionally, control command may include course changing control order, Throttle Opening Control order and control for brake order etc., accordingly
Ground when control command is sent to the control system of automatic driving vehicle to be tested by step 106, can will be controlled by CAN bus
Course changing control order, Throttle Opening Control order and the control for brake order that system order includes are sent respectively to turn that control system includes
To control module, Throttle Opening Control module and brake control module.Wherein, in the control system of automatic driving vehicle, control is turned to
Molding block is used for the turning machine according to the course changing control order control automatic driving vehicle received, to change automatic driving vehicle
The turning of automatic driving vehicle is realized in the direction of upper steered wheel；Throttle Opening Control module is used for according to the Throttle Opening Control received
The throttle of order control automatic driving vehicle, realizes the acceleration or deceleration of automatic driving vehicle；Brake control module is used for basis
The brake of the control for brake order control automatic driving vehicle received, to realize the deceleration and parking of automatic driving vehicle.
Automatic driving vehicle in actual use, decision system control command generated is sent to control system
Afterwards, the steering by course changing control module, Throttle Opening Control module and brake control module according to control command to automatic driving vehicle
Device, throttle and brake are controlled, and realize Function for Automatic Pilot.When testing the control system of automatic driving vehicle, instead of
Course changing control order, Throttle Opening Control order and control for brake order are respectively issued to course changing control module, throttle control by decision system
Molding block and brake control module, modules included by control system still according to automatic driving vehicle in actual use
State orders control automatic driving vehicle based on the received, ensure that test control system and be surveyed
The accuracy of test result.
In addition, due to the ECU (electronic control unit), sensor, the locating module, camera that include on automatic driving vehicle
Etc. the equipment course changing control that passes through CAN bus and communicated, therefore include by control command with can be convenient by CAN bus
Order, Throttle Opening Control order and control for brake order are sent to course changing control module, the Throttle Opening Control module that control system includes
And brake control module, it is convenient that control system on automatic driving vehicle is tested without in addition setting interface.
Optionally, when step 103 judges whether control command and standard control command are identical, by control command and standard control
Order carry out sequence comparison processed, when finding in control command different from standard control command content at there are one, it can
Determine that the decision system of automatic driving vehicle is abnormal.By the process of control command and standard control command carry out sequence comparison
In, the content different from standard control command to everywhere is marked in control command, after the completion of comparison to label after
Control command be shown, and alert.
It, will be so not in control command when decision system control command generated and standard control command difference
It is marked and is shown with point, and issue alarm message reminding tester, tester is controlled according to showing
Label in system order quickly determines the reason of decision system exception, is handled with facilitating decision system exception.
Optionally, since the component that automatic driving vehicle realizes that Function for Automatic Pilot is controlled is located at car steering vehicle mostly
Chassis on, such as diverter, throttle and brake, therefore the vehicle-state that can be fed back according to automatic driving vehicle chassis
Whether data are normal come the control system for judging automatic driving vehicle.Specifically, step 107 obtains the state of automatic driving vehicle
When data, the collected steering data of available rotation direction sensor, the collected throttle data of throttle sensor and braking are passed
The collected braking-distance figures of sensor, status data of these data that will acquire as automatic driving vehicle.Wherein, it turns to and passes
Sensor, throttle sensor and braking sensor are respectively positioned on the chassis of automatic driving vehicle to be tested.
Automatic driving vehicle realizes Function for Automatic Pilot, mainly realizes the automatic control of steering, throttle and braking, therefore
It can be using the steering data, throttle data and braking-distance figures that automatic driving vehicle chassis is fed back as the state of automatic driving vehicle
Data.Turn to data, throttle data and braking-distance figures reflect the working condition of turning machine, throttle and brake, and turning machine,
The working condition of throttle and brake is by course changing control module, Throttle Opening Control module and brake control module according to control command
(standard control command) and control, so if the control system of automatic driving vehicle is normal, then turn to data, throttle data
There is determining corresponding relationship with braking-distance figures and standard control command, so as to according to steering data, throttle data and system
Whether dynamic data are normal come the control system for judging automatic driving vehicle.
Sentenced by turning to the corresponding relationship of multiple data such as data, throttle data and braking-distance figures and standard control command
Whether whether the control system of disconnected automatic driving vehicle is normal, can normal from the operation of many aspects test control system, protects
Demonstrate,proved the control system of automatic driving vehicle is tested it is comprehensive.
Below for not carrying out the automatic driving vehicle of road test, automatic driving vehicle provided in an embodiment of the present invention is surveyed
Method for testing is described in further detail, as shown in Fig. 2, this method may comprise steps of：
Step 201：Test data set is created, and obtains standard control command corresponding with test data set.
In embodiments of the present invention, creation includes environment sensing data, positioning data of vehicles and Route Planning Data etc.
The test data set of data, and according to the design logic of decision system in automatic driving vehicle to be tested, it obtains and creates survey
Try the corresponding standard control command of data set.
Step 202：It calls the decision system of automatic driving vehicle to be tested to handle test data set, is controlled
Order.
In embodiments of the present invention, the environment sense for calling the vehicle localization module in decision system to include to test data set
Primary data and positioning data of vehicles are handled, and vehicle station-keeping data is obtained；The path planning for calling decision system to include
The Route Planning Data and positioning data of vehicles that module includes to test data set are handled, and obtain route or travel by vehicle number
According to；The intelligent decision module for calling decision system to include is to the vehicle station-keeping data and route or travel by vehicle got
Data are handled, and control command is obtained.Wherein, control command includes the course changing control life for being controlled diverter
It enables, the Throttle Opening Control order for being controlled throttle and the control for brake order for being controlled brake.
Step 203：Judge whether control command is identical as standard control command, if so, executing step 206, otherwise holds
Row step 204.
In embodiments of the present invention, after obtaining decision system control command generated, by control command and standard control
Order carry out sequence comparison processed, if existed at least one in control command, content is different from standard control command, determines to control
System order it is different from standard control command, correspondingly execution step 204, if content all in control command with standard control
System order is identical, then determines that control command is identical as standard control command, correspondingly executes step 206.By control command with
During standard control command carry out sequence comparison, to the everywhere content different from standard control command in control command
It is marked.Specifically, the control command that the standard control command and decision system obtained in advance generates is to order including multirow
Code is enabled, when control command to be compared with standard control command, control command can be compared line by line and standard control is ordered
It enables.
Step 204：Determine that the decision system of automatic driving vehicle to be tested is abnormal.
Step 205：Alert, and the control command after label is shown, terminate current process later.
In embodiments of the present invention, after determining the decision system exception of automatic driving vehicle, alert prompt
Tester, and the control command after label is shown,
Step 206：Determine that the decision system of automatic driving vehicle to be tested is normal.
Step 207：Control command is sent to the control system of automatic driving vehicle to be tested.
In embodiments of the present invention, by the CAN bus on automatic driving vehicle to be tested, by control command (standard control
System order) in include course changing control order, Throttle Opening Control order and control for brake order, be sent respectively to be tested drive automatically
Sail course changing control module, Throttle Opening Control module and brake control module that control system on vehicle includes.Wherein, course changing control mould
Block can control the turning machine of automatic driving vehicle to be tested according to course changing control order is received, Throttle Opening Control module
The throttle of automatic driving vehicle to be tested can be controlled according to the Throttle Opening Control order received, brake control module can
To be controlled according to the control for brake order received the brake of automatic driving vehicle to be tested.
Step 208：Obtain the status data of automatic driving vehicle chassis feedback to be tested.
In embodiments of the present invention, rotation direction sensor turning machine during course changing control module controls turning machine is obtained
Data are turned to, the throttle data of throttle sensor throttle during Throttle Opening Control module controls throttle are obtained, braking is obtained and passes
The braking-distance figures of sensor brake during brake control module control brake, the steering data that will acquire, throttle number
According to the status data with braking-distance figures as automatic driving vehicle to be tested.
Step 209：Judge whether status data is corresponding with standard control command, if so, executing step 210, otherwise holds
Row step 211.
In embodiments of the present invention, will acquire automatic driving vehicle to be tested status data and standard control command into
Row compares, and judges whether the working condition of turning machine, throttle and brake on automatic driving vehicle to be tested controls with standard and orders
Enable it is corresponding, if so, illustrating that the control system of automatic driving vehicle to be tested can complete corresponding control according to control command
System processing, correspondingly executes step 210, otherwise illustrates that the control system of automatic driving vehicle to be tested can not be according to control command
Corresponding control processing is completed, step 211 is correspondingly executed.
Step 210：It determines that the control system of automatic driving vehicle to be tested is normal, and terminates current process.
Step 211：Determine that the control system of automatic driving vehicle to be tested is abnormal, and alert.
As shown in Figure 3, Figure 4, the embodiment of the invention provides a kind of automatic driving vehicle test devices.Installation practice can
Can also be realized by way of hardware or software and hardware combining by software realization.For hardware view, such as Fig. 3 institute
Show, is a kind of hardware structure diagram of equipment where automatic driving vehicle test device provided in an embodiment of the present invention, in addition to Fig. 3 institute
Except the processor, memory, network interface and the nonvolatile memory that show, the equipment in embodiment where device is usually also
It may include other hardware, such as be responsible for the forwarding chip of processing message.Taking software implementation as an example, as shown in figure 4, as one
Device on a logical meaning is to be referred to computer program corresponding in nonvolatile memory by the CPU of equipment where it
It enables and is read into memory what operation was formed.Automatic driving vehicle test device provided in this embodiment, including：Creating unit 401,
Decision system test cell 402 and control system test cell 403；
Creating unit 401 for creating test data set, and obtains standard control life corresponding with test data set
It enables；
Decision system test cell 402, for calling the decision system of automatic driving vehicle to be tested to creating unit 401
The test data set of creation is handled, and obtains control command, and judge whether control command is identical as standard control command, such as
Fruit is to determine that decision system is normal, otherwise determines that decision system is abnormal；
Control system test cell 403, for will control after decision system test cell 402 determines that decision system is normal
System order is sent to the control system of automatic driving vehicle to be tested, keeps control system to be tested automatic according to control command control
Vehicle operation is driven, and obtains the status data of automatic driving vehicle, and judges whether are status data and standard control command
It is corresponding, if so, determining that control system is normal, otherwise determine that control system is abnormal.
Optionally, on the basis of automatic driving vehicle test device shown in Fig. 4, decision system test cell 402 is being held
It is specific to use when row calls the decision system of automatic driving vehicle to be tested to carry out processing acquisition control command to test data set
In：
The environment sensing data and vehicle for calling the decision system vehicle localization module that includes to include to test data set are fixed
Position data are handled, and vehicle station-keeping data is obtained；
The Route Planning Data and vehicle for calling the decision system path planning module that includes to include to test data set are fixed
Position data are handled, and route or travel by vehicle data are obtained；
Call the decision system intelligent decision module that includes to vehicle station-keeping data and route or travel by vehicle data into
Row processing, obtains control command.
Optionally, on the basis of automatic driving vehicle test device shown in Fig. 4, control system test cell 403 is being held
When being about to control command and being sent to the control system of automatic driving vehicle to be tested, it is specifically used for：
By controller local area network's CAN bus, the course changing control order for including by control command, Throttle Opening Control order and
Control for brake order is sent respectively to course changing control module, Throttle Opening Control module and the brake control module that control system includes,
Wherein, course changing control module is used to control the turning machine of automatic driving vehicle to be tested according to the course changing control order received,
Throttle Opening Control module is used to control the throttle of automatic driving vehicle to be tested, control for brake according to the Throttle Opening Control order received
Module is used to control the brake of automatic driving vehicle to be tested according to the control for brake order received.
Optionally, on the basis of automatic driving vehicle test device shown in Fig. 4, decision system test cell 402 into one
Step is for being marked content different from standard control command in control command and alert, and to label
Control command afterwards is shown.
Optionally, on the basis of automatic driving vehicle test device shown in Fig. 4, control system test cell 403 is being held
When row obtains the status data of automatic driving vehicle, it is specifically used for：
Obtain the collected steering data of rotation direction sensor on the chassis of automatic driving vehicle to be tested；
Obtain the collected throttle data of throttle sensor on the chassis of automatic driving vehicle to be tested；
Obtain the collected braking-distance figures of braking sensor on the chassis of automatic driving vehicle to be tested；
Data, throttle data and braking-distance figures will be turned to and be determined as status data.
The contents such as the information exchange between each unit, implementation procedure in above-mentioned apparatus, due to implementing with the method for the present invention
Example is based on same design, and for details, please refer to the description in the embodiment of the method for the present invention, and details are not described herein again.
The embodiment of the invention also provides a kind of readable mediums, including execute instruction, when the processor of storage control is held
When executing instruction described in row, the storage control executes the automatic driving vehicle test method that above-mentioned each embodiment provides.
The embodiment of the invention also provides a kind of storage controls, including：Processor, memory and bus；
The memory is executed instruction for storing, and the processor is connect with the memory by the bus, when
When the storage control is run, the processor executes the described of memory storage and executes instruction, so that the storage
Controller executes the automatic driving vehicle test method that above-mentioned each embodiment provides.
In conclusion automatic driving vehicle test method and test device that each embodiment of the present invention provides, at least have
It has the advantages that：
1, it after test data set in embodiments of the present invention, is pre-created and obtains corresponding standard control command, adjusts
Processing is carried out to the test data set created with the decision system of automatic driving vehicle to be tested and obtains control command, if institute
The control command of acquisition is identical as the standard control command got in advance, illustrates the decision system of automatic driving vehicle to be tested
Data processing can be carried out according to scheduled logic and obtains corresponding control command, and then determines automatic driving vehicle to be tested
Decision system is normal, otherwise determines that the decision system of automatic driving vehicle to be tested is abnormal.Determining automatic Pilot vehicle to be tested
Decision system it is normal after, control command is sent to the control system of automatic driving vehicle to be tested, makes control system root
Automatic driving vehicle operation to be tested is controlled according to control command, and obtains the status data of automatic driving vehicle to be tested, if
Accessed status data is corresponding with standard control command, illustrates that the control system of automatic driving vehicle to be tested can be by
According to the operation of scheduled logic control automatic driving vehicle to be tested, and then determine the control system of automatic driving vehicle to be tested
Normally, otherwise determine that the control system of automatic driving vehicle to be tested is abnormal.It can be seen that step by step successively to be tested automatic
The decision system and control system for driving vehicle are detected, if the Function for Automatic Pilot of automatic driving vehicle to be tested exists
Abnormal, can directly determine causes abnormal reason to be decision system or control system, expends the time again without tester
Carry out abnormal positioning, the efficiency that the Function for Automatic Pilot so as to improve to automatic driving vehicle is tested.
2, the ring that the vehicle localization module in embodiments of the present invention, decision system being called to include includes to test data set
Border perception data and positioning data of vehicles are handled, i.e., the environment sensing data and vehicle location number for including by test data set
Vehicle location is sent to by various kinds of sensors and the collected environment sensing data of locating module and positioning data of vehicles according to replacement
Module is handled, and vehicle localization module still carries out data processing according to the state of automatic driving vehicle in actual use.Similarly,
Path planning module and intelligent decision module are also counted according to the state of automatic driving vehicle in actual use in decision system
According to processing, so that decision system is identical as the state of automatic driving vehicle in actual use in test process, ensure that decision
System is tested the accuracy of obtained test result.
3, it in embodiments of the present invention, when testing the control system of automatic driving vehicle, will be turned to instead of decision system
Control command, Throttle Opening Control order and control for brake order are respectively issued to course changing control module, Throttle Opening Control module and braking control
Molding block, modules included by control system are still according to automatic driving vehicle state in actual use according to being received
To order automatic driving vehicle is controlled, ensure that and the accurate of obtained test result is tested to control system
Property.
4, in embodiments of the present invention, due to include on automatic driving vehicle ECU (electronic control unit), sensor,
The equipment such as locating module, camera pass through CAN bus and are communicated, therefore are ordered control with can be convenient by CAN bus
Course changing control order, Throttle Opening Control order and the control for brake order that order includes are sent to the course changing control mould that control system includes
Block, Throttle Opening Control module and brake control module, without in addition setting interface, it is convenient to control system on automatic driving vehicle into
Row test.
5, in embodiments of the present invention, by turning to multiple data and the standard controls such as data, throttle data and braking-distance figures
Whether the corresponding relationship for making order is normal come the control system for judging automatic driving vehicle, can be from many aspects testing and control system
Whether the operation of system normal, ensure that the control system of automatic driving vehicle is tested it is comprehensive.
6, in embodiments of the present invention, the application layer of automatic driving vehicle can be controlled by decision system test module
Interface is tested, and can be controlled the physical layer logic of automatic driving vehicle and be tested by control system test module,
Application layer control interface and physical layer logic control are subjected to test step by step in this way, can detecte out interface between software and hardware and module control
The failure of system improves the safety of automatic driving vehicle.
It should be noted that, in this document, such as first and second etc relational terms are used merely to an entity
Or operation is distinguished with another entity or operation, is existed without necessarily requiring or implying between these entities or operation
Any actual relationship or order.Moreover, the terms "include", "comprise" or its any other variant be intended to it is non-
It is exclusive to include, so that the process, method, article or equipment for including a series of elements not only includes those elements,
It but also including other elements that are not explicitly listed, or further include solid by this process, method, article or equipment
Some elements.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including
There is also other identical factors in the process, method, article or equipment of the element.
Those of ordinary skill in the art will appreciate that：Realize that all or part of the steps of above method embodiment can pass through
The relevant hardware of program instruction is completed, and program above-mentioned can store in computer-readable storage medium, the program
When being executed, step including the steps of the foregoing method embodiments is executed；And storage medium above-mentioned includes：ROM, RAM, magnetic disk or light
In the various media that can store program code such as disk.
Finally, it should be noted that：The foregoing is merely presently preferred embodiments of the present invention, is merely to illustrate skill of the invention
Art scheme, is not intended to limit the scope of the present invention.Any modification for being made all within the spirits and principles of the present invention,
Equivalent replacement, improvement etc., are included within the scope of protection of the present invention.
Claims (10)
1. a kind of automatic driving vehicle test method, which is characterized in that creation test data set, and obtain and the test data
Collect corresponding standard control command, further includes：
It calls the decision system of automatic driving vehicle to be tested to handle the test data set, obtains control command；
Judge whether the control command and the standard control command are identical, if so, determine that the decision system is normal, it is no
Then determine that the decision system is abnormal；
After determining that the decision system is normal, the control command is sent to the control of the automatic driving vehicle to be tested
System runs the control system according to the control command control automatic driving vehicle to be tested；
Obtain the status data of the automatic driving vehicle；
Judge whether the status data and the standard control command are corresponding, if so, determine that the control system is normal, it is no
Then determine that the control system is abnormal.
2. the method according to claim 1, wherein the decision system for calling automatic driving vehicle to be tested
Processing is carried out to the test data set and obtains control command, including：
The environment sensing data and vehicle that the vehicle localization module for calling the decision system to include includes to the test data set
Location data is handled, and vehicle station-keeping data is obtained；
The Route Planning Data and institute that the path planning module for calling the decision system to include includes to the test data set
It states positioning data of vehicles to be handled, obtains route or travel by vehicle data；
The intelligent decision module for calling the decision system to include is to the vehicle station-keeping data and the vehicle driving road
Line number obtains the control command according to being handled.
3. the method according to claim 1, wherein it is described by the control command be sent to it is described it is to be tested from
The dynamic control system for driving vehicle, including：
By controller local area network's CAN bus, the course changing control order for including by the control command, Throttle Opening Control order and
Control for brake order is sent respectively to course changing control module, Throttle Opening Control module and the control for brake mould that the control system includes
Block, wherein the course changing control module is used to be tested drive automatically according to the course changing control order control received is described
The turning machine of vehicle is sailed, the Throttle Opening Control module is used for described to be tested according to the Throttle Opening Control order control received
The throttle of automatic driving vehicle, the brake control module be used for according to the control for brake order control received it is described to
Test the brake of automatic driving vehicle.
4. the method according to claim 1, wherein after the determination decision system exception, into one
Step includes：
Content different from the standard control command in the control command is marked；
Alert, and the control command after label is shown.
5. according to claim 1 to any method in 4, which is characterized in that the acquisition automatic driving vehicle
Status data, including：
Obtain the collected steering data of rotation direction sensor on the chassis of the automatic driving vehicle to be tested；
Obtain the collected throttle data of throttle sensor on the chassis of the automatic driving vehicle to be tested；
Obtain the collected braking-distance figures of braking sensor on the chassis of the automatic driving vehicle to be tested；
The steering data, the throttle data and the braking-distance figures are determined as the status data.
6. a kind of automatic driving vehicle test device, which is characterized in that including：Creating unit, decision system test cell and control
System testing unit processed；
The creating unit for creating test data set, and obtains standard control life corresponding with the test data set
It enables；
The decision system test cell, for calling the decision system of automatic driving vehicle to be tested to create the creating unit
The test data set built is handled, and obtains control command, and judge the control command and the standard control command
It is whether identical, if so, determining that the decision system is normal, otherwise determine that the decision system is abnormal；
The control system test cell, for inciting somebody to action after the decision system test cell determines that the decision system is normal
The control command is sent to the control system of the automatic driving vehicle to be tested, makes the control system according to the control
The order control automatic driving vehicle operation to be tested, and the status data of the automatic driving vehicle is obtained, and judge
Whether the status data and the standard control command are corresponding, if so, determining that the control system is normal, otherwise determine institute
State control system exception.
7. device according to claim 6, which is characterized in that
The decision system test cell is executing the decision system for calling automatic driving vehicle to be tested to the test
When data set carries out processing acquisition control command, it is specifically used for：
The environment sensing data and vehicle that the vehicle localization module for calling the decision system to include includes to the test data set
Location data is handled, and vehicle station-keeping data is obtained；
The Route Planning Data and institute that the path planning module for calling the decision system to include includes to the test data set
It states positioning data of vehicles to be handled, obtains route or travel by vehicle data；
The intelligent decision module for calling the decision system to include is to the vehicle station-keeping data and the vehicle driving road
Line number obtains the control command according to being handled.
8. device according to claim 6, which is characterized in that
The control command described is sent to the automatic driving vehicle to be tested executing by the control system test cell
Control system when, be specifically used for：
By controller local area network's CAN bus, the course changing control order for including by the control command, Throttle Opening Control order and
Control for brake order is sent respectively to course changing control module, Throttle Opening Control module and the control for brake mould that the control system includes
Block, wherein the course changing control module is used to be tested drive automatically according to the course changing control order control received is described
The turning machine of vehicle is sailed, the Throttle Opening Control module is used for described to be tested according to the Throttle Opening Control order control received
The throttle of automatic driving vehicle, the brake control module be used for according to the control for brake order control received it is described to
Test the brake of automatic driving vehicle.
9. device according to claim 6, which is characterized in that
The decision system test cell is further used for in different from the standard control command in the control command
Appearance is marked and alert, and is shown to the control command after label.
10. according to the device any in claim 6 to 9, which is characterized in that
The control system test cell is specifically used for when executing the status data for obtaining the automatic driving vehicle：
Obtain the collected steering data of rotation direction sensor on the chassis of the automatic driving vehicle to be tested；
Obtain the collected throttle data of throttle sensor on the chassis of the automatic driving vehicle to be tested；
Obtain the collected braking-distance figures of braking sensor on the chassis of the automatic driving vehicle to be tested；
The steering data, the throttle data and the braking-distance figures are determined as the status data.
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