CN108873864B - Test system for simulating vehicle running - Google Patents
Test system for simulating vehicle running Download PDFInfo
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- CN108873864B CN108873864B CN201810709413.5A CN201810709413A CN108873864B CN 108873864 B CN108873864 B CN 108873864B CN 201810709413 A CN201810709413 A CN 201810709413A CN 108873864 B CN108873864 B CN 108873864B
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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
- G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
- G05B23/0221—Preprocessing measurements, e.g. data collection rate adjustment; Standardization of measurements; Time series or signal analysis, e.g. frequency analysis or wavelets; Trustworthiness of measurements; Indexes therefor; Measurements using easily measured parameters to estimate parameters difficult to measure; Virtual sensor creation; De-noising; Sensor fusion; Unconventional preprocessing inherently present in specific fault detection methods like PCA-based methods
Abstract
The invention provides a test system for simulating vehicle running, which relates to the technical field of automobile tests and comprises the following components: the plurality of simulated vehicle running devices are provided with communication devices and positioning devices for acquiring the position offset of the simulated vehicle running devices relative to a preset reference point in real time; the lane platform comprises a plurality of lanes for simulating the driving of the vehicle driving equipment; the industrial control device is connected with the communication device and determines the position coordinates of the simulated vehicle running equipment according to the position offset; a plurality of OBUs provided corresponding to the simulated vehicle travel device, each OBU being connected by a DSRC; each OBU is connected with the industrial control device, and when the corresponding simulated vehicle running device is determined to collide with another simulated vehicle running device according to the position coordinates of the corresponding simulated vehicle running device sent by the industrial control device and the running information including the other simulated vehicle running device sent by other OBUs, collision early warning information is sent to the industrial control device. Avoid real vehicle test danger.
Description
Technical Field
The invention belongs to the technical field of automobile tests, and particularly relates to a test system for simulating vehicle running.
Background
In the prior art, a vehicle-to-outside information exchange (V2X for short) scene of a vehicle is generally tested by using an actual vehicle, however, the actual vehicle testing process is more dangerous, and in the actual vehicle testing process, due to various limitations of testing environment and testing conditions, the operation is still hindered, and various inconveniences exist in the debugging process, so that the testing efficiency is low, the testing cost is high, and the user is not convenient to view the testing process.
Disclosure of Invention
The embodiment of the invention aims to provide a test system for simulating vehicle running, so that the problems that in the prior art, the test cost of a V2X scene is high, danger is easy to occur, and a user cannot conveniently watch the whole test process are solved.
In order to achieve the above object, the present invention provides a test system for simulating vehicle driving, comprising:
the system comprises a plurality of simulated vehicle running devices, a communication device and a positioning device, wherein the communication device and the positioning device are arranged on each simulated vehicle running device and are used for acquiring the position offset of the current position of each simulated vehicle running device relative to a preset reference point in real time;
a lane platform including a plurality of lanes on which the simulated vehicle traveling apparatus travels;
the industrial control device is in communication connection with each communication device and is used for receiving the position offset sent by the communication device and determining the position coordinates of the simulated vehicle running equipment according to the received position offset;
the plurality of vehicle-mounted units are arranged in one-to-one correspondence with the plurality of simulated vehicle running devices and are connected through a special short-range communication technology; each vehicle-mounted unit is in communication connection with the industrial control device and receives the position coordinates of the corresponding simulated vehicle running equipment sent by the industrial control device and message information including the running information of another simulated vehicle running equipment sent by other vehicle-mounted units;
and the vehicle-mounted unit is further used for sending collision early warning information to the industrial control device when determining that the corresponding simulated vehicle running equipment collides with another simulated vehicle running equipment according to the received position coordinates and the received message information, and the industrial control device sends the collision early warning information.
The vehicle-mounted unit is used for determining the speed and the course of the corresponding simulated vehicle running equipment according to the position coordinates, and determining whether the simulated vehicle running equipment collides with another simulated vehicle running equipment or not according to the position coordinates, the speed, the course and the message information; the message information comprises position coordinates, vehicle speed and course of other simulated vehicle running equipment.
The vehicle-mounted unit is also used for sending the position coordinate, the vehicle speed and the course to the industrial control device, and the industrial control device displays the position coordinate, the vehicle speed and the course of the simulated vehicle running equipment in real time.
Wherein, the test system for simulating vehicle running further comprises: the traffic warning device is arranged above the lane platform, and the road side unit is connected with the traffic warning device and is connected with the plurality of vehicle-mounted units through a special short-range communication technology;
the road side unit is used for receiving current state information sent by the traffic warning device and sending the received current state information to the vehicle-mounted unit; and the vehicle-mounted unit is used for generating red light early warning information, green light vehicle speed guiding information and/or steering auxiliary information according to the current state information and the position coordinate, the vehicle speed and the course of the simulated vehicle running equipment corresponding to the vehicle-mounted unit.
The vehicle-mounted unit is also used for sending the red light early warning information, the green light vehicle speed guiding information and/or the steering auxiliary information to the industrial control device; and the industrial control device displays the received red light early warning information, the received green light vehicle speed guiding information and/or the received steering auxiliary information.
Wherein the current state information includes: the position coordinates of the traffic warning device, the illuminated traffic warning light, and the remaining time to maintain the illuminated state.
The industrial control device is further used for controlling the simulated vehicle running equipment to run according to a first user input instruction.
Wherein, the test system for simulating vehicle running further comprises: the panoramic camera is arranged above the lane platform and is in communication connection with the industrial control device and used for collecting test scene information on the lane platform; and the industrial control device is also used for displaying the received test scene information.
The vehicle-mounted camera is further arranged on the simulated vehicle running equipment and used for collecting the surrounding environment information of the simulated vehicle running equipment, and the industrial control device is further used for displaying the received surrounding environment information.
Wherein, the test system for simulating vehicle running further comprises: and the mobile terminals are respectively in communication connection with the plurality of simulated vehicle running devices and the plurality of vehicle-mounted units, and the vehicle-mounted units are used for simultaneously sending information to the industrial control device and the mobile terminals.
The mobile terminal is used for controlling the simulated vehicle running equipment to run according to a second user input instruction.
The technical scheme of the invention at least has the following beneficial effects:
according to the invention, the road surface on which the vehicle runs is simulated through the built lane platform, the real vehicle is simulated by using the simulated vehicle running equipment, and the simulated vehicle running equipment is controlled to run on the lane platform, so that the demonstration of the V2X scene of the vehicle is realized, the test danger is reduced, the test cost is saved, and the test efficiency is improved; the current state of the simulated vehicle running equipment is monitored in real time through the vehicle-mounted unit correspondingly connected with the simulated vehicle running equipment, and a monitoring result is displayed in real time through the industrial control device, so that a tester and a user can know the test process in real time.
Drawings
FIG. 1 is a first schematic diagram of a test system for simulating vehicle travel according to an embodiment of the present invention;
FIG. 2 is a second schematic diagram of a test system for simulating vehicle operation in accordance with an embodiment of the present invention;
fig. 3 is a third schematic diagram of a test system for simulating vehicle driving according to an embodiment of the invention.
Description of reference numerals:
the method comprises the following steps of 1-simulating vehicle running equipment, 11-a communication device, 12-a positioning device, 13-a vehicle-mounted camera, 2-an industrial control device, 3-a vehicle-mounted unit, 4-a traffic warning device, 5-a road side unit, 6-a panoramic camera and 7-a mobile terminal.
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments.
Aiming at the problems that the V2X scene is high in demonstrating risk, high in cost, low in efficiency and inconvenient for users to visit by adopting a real vehicle in the prior art, the embodiment of the invention provides the test system for simulating vehicle driving, and the simulated vehicle driving equipment is driven on a lane platform by building a test system framework, so that the V2X scene is demonstrated, the test risk and cost are reduced, the test efficiency is improved, and the users can conveniently know the whole test process in real time through a display screen of an industrial control device.
As shown in fig. 1, an embodiment of the present invention provides a test system for simulating vehicle driving, including:
the system comprises a plurality of simulated vehicle running devices 1, wherein each simulated vehicle running device 1 is provided with a communication device 11 and a positioning device 12 for acquiring the position offset of the current position of the simulated vehicle running device 1 relative to a preset reference point in real time; a lane platform including a plurality of lanes on which the simulated vehicle running apparatus 1 runs; the industrial control device 2 is in communication connection with each communication device 11, and is used for receiving the position offset sent by the communication device 11 and determining the position coordinates of the simulated vehicle running equipment 1 according to the received position offset; a plurality of On Board Units (OBUs) provided in one-to-one correspondence with the plurality of simulated vehicle running apparatuses 1, and the plurality of OBUs 3 connected by Dedicated Short Range Communication (DSRC); each OBU3 is in communication connection with the industrial control device 2 and receives the position coordinates of the corresponding simulated vehicle driving device 1 sent by the industrial control device and message information including driving information of another simulated vehicle driving device 1 sent by other OBUs 3; the OBU3 is further configured to determine that the simulated vehicle driving device 1 collides with another simulated vehicle driving device 1 according to the received position coordinates and the received message information, send collision warning information to the industrial control device 2, and the industrial control device 2 sends the collision warning information.
Here, it should be noted that the simulated vehicle running apparatus is an apparatus for simulating vehicle running, and preferably, may be a remote control vehicle capable of communicating with a control apparatus, such as a joystick or an electronic apparatus, and receiving a control command from the control apparatus.
To facilitate simulation of the application scenario for V2X while the vehicle is traveling, the lane of the lane platform includes: an accelerating road, a straight road, an intersection with a traffic warning device (such as a traffic light) and an intersection without a traffic warning device. The acceleration way is mainly designed in a peripheral ring shape and is used for accelerating the simulated vehicle running equipment 1 to a specified speed; the straight road at least comprises 3 lanes in one direction, so that the simulation of the driving of a plurality of simulated vehicle driving devices 1 on the same lane, the simulation of the driving of adjacent lanes, the simulation of blind area early warning, the simulation of lane change early warning and the like can be realized, the intersection with the traffic warning device is mainly used for realizing the scenes of red light early warning, green light vehicle speed guidance, left turn assistance and the like in V2X, and the intersection without the traffic light is mainly used for realizing the intersection collision early warning.
According to the embodiment of the invention, the simulation of the running of the real vehicle in the V2X application scene is realized by controlling the running of the plurality of simulated vehicle running devices 1 on the lane platform, the simulation demonstration of the running of the real vehicle in the V2X scene is realized by arranging the OBUs 3 corresponding to the simulated vehicle running devices 1 one by one and the industrial control device in communication connection with the simulated vehicle running devices 1 and the OBUs 3 respectively, and the demonstration information is displayed on the industrial control device 2 in real time, so that the real vehicle test is avoided, the test cost is reduced, the test efficiency is improved, and the safety of the test process is reduced.
Since the simulated vehicle traveling apparatus 1 is used for simulating a real vehicle, the simulated vehicle traveling apparatus 1 further includes, in addition to the communication device 11 and the positioning device 12: the vehicle running simulation device comprises a chassis, a driving motor and a control main board, so that the vehicle running simulation device 1 runs according to the operation of a user. Preferably, the positioning device 12 is fixedly installed on the chassis of the simulated vehicle running device 1.
Specifically, in this embodiment, the positioning device 12 uses an optical positioning module to perform millimeter-level high-precision positioning, so as to accurately position the simulated vehicle driving device 1. The positioning device 12 sends the collected position offset to the industrial control device 2 through the communication device 11, wherein a positioning module is integrated in the industrial control device 2 to drive, so that the received position offset is calculated in real time, and the position coordinate of the simulated vehicle driving device 1 is obtained. And the OBU3 calculates the running speed of the simulated vehicle running device 1 according to the continuously received position coordinates, and predicts the running track of the simulated vehicle running device 1, so as to determine the speed and the course of the simulated vehicle running device 1.
In addition, the OBU3 further determines whether the simulated vehicle driving device 1 collides with another simulated vehicle driving device 1 according to the currently acquired coordinate position, the vehicle speed, the heading, and message information containing driving information of another simulated vehicle driving device 1 transmitted by another OBU 3. The running information included in the message information specifically includes: the position coordinates, the vehicle speed, and the heading of another simulated vehicle running device 1.
Wherein, for the convenience of user or visitor know in real time the travel state of simulation vehicle equipment of traveling 1, OBU3 still be used for to industrial control device 2 sends the position coordinate the speed of a motor vehicle with the course, by industrial control device 2 shows in real time the position coordinate, the speed of a motor vehicle and the course of simulation vehicle equipment of traveling 1.
Specifically, the industrial control device 2 comprises a power control module operation interface and a test control application program; the power supply control module is used for providing voltage for the industrial control device 2 to enable the industrial control device 2 to work normally, and the operation interface is used for being connected with other equipment; the test control application is used for interacting with a user to control the simulated vehicle driving device 1.
Further, as shown in fig. 2, the test system for simulating vehicle driving further includes: the traffic warning device 4 is arranged above the lane platform, and a Road Side Unit (RSU) is connected with the traffic warning device 4, and the RSU5 is connected with the OBUs 3 through DSRC; the RSU5 is configured to receive current state information sent by the traffic warning device 4, and send the received current state information to the OBU3 through a Road Side Alert (RSA) message; the OBU3 is used for generating red light early warning information, green light vehicle speed guiding information and/or steering auxiliary information according to the current state information and the position coordinates, the vehicle speed and the course of the simulated vehicle driving device 1 corresponding to the OBU 3.
The traffic warning device 4 is connected to the RSU5 through a Controller Area Network (CAN) bus. The traffic warning device 4 includes: the traffic light is used for realizing warning and guiding of the simulated vehicle running equipment 1; the mounting bracket is used for mounting the traffic light; the timing control unit is used for circularly controlling the red light, the green light and the yellow light and sending the current state of the traffic warning device 4 to the RSU 5. Specifically, the current state information includes: the position coordinates of the traffic warning device 4, the illuminated traffic warning light and the remaining time to maintain the illuminated state.
Specifically, the process of the OBU3 generating the red light warning information, the green light vehicle speed guidance information and/or the steering assistance information is as follows: firstly, the OBU3 determines the distance between the simulated vehicle driving device 1 and the traffic warning device 4 according to the current position coordinates of the simulated vehicle driving device 1 corresponding to the OBU3 and the position coordinates of the traffic warning device 4; secondly, when the green light is determined to be in the straight-ahead driving state, determining the speed of the simulated vehicle driving equipment capable of passing through the traffic warning device 4 according to the remaining time for maintaining the green light on state and the distance between the green light and the green light; then, judging whether the calculated vehicle speed is greater than a preset vehicle speed, if so, calculating the time from the current vehicle speed of the simulated vehicle driving equipment 1 to the preset distance from the traffic warning device 4, and generating red light early warning information containing the current vehicle speed and the calculated driving time; and if the calculated vehicle speed is less than the preset vehicle speed, generating green light vehicle speed guide information containing the calculated vehicle speed.
Similarly, when it is determined that the red light is lit for the straight running at present, the speed of the simulated vehicle running device 1 is calculated according to the distance between the simulated vehicle running device 1 and the traffic warning device 4 and the remaining time for maintaining the red light lit state, and when the calculated speed is greater than the preset speed, red light warning information including the current speed and the time required for running to reach the distance from the current speed to the traffic warning device 4 as the preset distance is generated; and if the calculated vehicle speed is less than the preset vehicle speed, generating green light vehicle speed guide information containing the calculated vehicle speed.
Similarly, if the turn signal is in the green light on state, the speed of the simulated vehicle driving device 1 passing through the traffic warning device 4 is calculated according to the method, and the steering assist information is generated; and if the steering lamp is in a red lamp lighting state, obtaining the calculated vehicle speed according to the method and generating steering auxiliary information.
In the present embodiment, the calculated vehicle speed is compared with the preset vehicle speed, so that the simulated vehicle running apparatus 1 can be ensured to run safely and avoid overspeed.
Further, in order to facilitate that a tester can control the driving of the simulated vehicle driving device 1 according to the current state of the simulated vehicle driving device 1, in this embodiment, the OBU3 is further configured to send the red light warning information, the green light vehicle speed guidance information, and/or the steering assist information to the industrial control device 2; and the industrial control device 2 displays the received red light early warning information, the received green light vehicle speed guiding information and/or the received steering auxiliary information.
Specifically, the industrial control device 2 is provided with a test control application program, and a tester can input a first user input instruction in the test control application program to control the simulated vehicle driving device 1, so that the simulated vehicle driving device 1 drives on the lane platform according to the first user input instruction. It should be noted that, since a plurality of simulated vehicle driving devices 1 may run on the lane platform in this embodiment, when the tester inputs the first user input instruction, the tester needs to first select the number of the controlled simulated vehicle driving device 1, so as to avoid invalid test process caused by misoperation, and of course, the first user input instruction may also include an option of selecting the number of the simulated vehicle driving device.
As shown in fig. 2, in order to facilitate a tester and/or a user to monitor a test environment in real time, the test system for simulating vehicle driving according to the embodiment of the present invention further includes: the panoramic camera 6 is arranged above the lane platform and is in communication connection with the industrial control device 2 and is used for collecting test scene information on the lane platform; and sending the collected test scene information to the industrial control device, and displaying the received test scene information on a display screen of the industrial control device 2. Specifically, the field of view of the panoramic camera can reach 180 degrees, so that all scenes of the lane platform can be collected.
Further, as shown in fig. 2, in order to facilitate a tester and/or a user to monitor an environment around one of the simulated vehicle driving apparatuses 1, in this embodiment, each of the simulated vehicle driving apparatuses 1 is further provided with an on-board camera 13 for collecting information of the environment around the simulated vehicle driving apparatus 1. The vehicle-mounted camera 13 is in communication connection with the communication device 11, and is configured to send the acquired ambient environment information to the industrial control device 2 through the communication device 11, and the industrial control device 2 displays the ambient environment information.
Further, in order to facilitate monitoring of the test process by multiple persons at the same time and avoid crowding of multiple persons in front of the display screen of the industrial control device 2, as shown in fig. 3, the test system for simulating vehicle driving according to the embodiment of the present invention further includes: the vehicle driving simulation device comprises a plurality of vehicle driving simulation devices 1 and a plurality of mobile terminals 7 in communication connection with the OBU3, wherein the mobile terminals 7 can be mobile phones, tablet computers or notebook computers. The OBU3 is further configured to send information to the industrial control device 2 and the mobile terminal 7 at the same time.
Specifically, the mobile terminal 7 may further be provided with a simulated vehicle driving device test control application program, and a user may input a second user input instruction to the simulated vehicle driving device test control application program, so as to control the simulated vehicle driving device 1 to drive. Here, it should be noted that the second user input instruction may be a control instruction determined by the user according to information displayed on the mobile terminal. Since the process of controlling the driving of the simulated vehicle driving device 1 by the tester through the mobile terminal 7 is similar to the process of controlling the driving of the simulated vehicle driving device 1 through the industrial control device 2, detailed description of the control process is omitted here.
According to the embodiment of the invention, the system architecture of the test system for simulating vehicle running is realized by simulating the vehicle running equipment 1, the lane platform, the industrial control device 2, the OBU3, the traffic warning device 4 and the RSU5, so that a tester can simulate the V2X scene test conveniently, and the danger of real vehicle test is avoided; meanwhile, the user is facilitated to directly watch the demonstration of the V2X scene and the cognition of the V2X is deepened through the demonstration.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (9)
1. A test system for simulating vehicle travel, comprising:
the vehicle driving simulation system comprises a plurality of vehicle driving simulation devices (1), wherein each vehicle driving simulation device (1) is provided with a communication device (11) and a positioning device (12) for acquiring the position offset of the current position of the vehicle driving simulation device (1) relative to a preset reference point in real time;
a lane platform including a plurality of lanes on which the simulated vehicle travel apparatus (1) travels;
the industrial control device (2) is in communication connection with each communication device (11) and is used for receiving the position offset sent by the communication device (11) and determining the position coordinates of the simulated vehicle running equipment (1) according to the received position offset;
the plurality of vehicle-mounted units (3) are arranged in one-to-one correspondence with the plurality of simulated vehicle running devices (1), and the plurality of vehicle-mounted units (3) are connected through a special short-range communication technology; each vehicle-mounted unit (3) is in communication connection with the industrial control device (2) and receives the position coordinates of the corresponding simulated vehicle running equipment (1) sent by the industrial control device (2) and message information including the running information of the other simulated vehicle running equipment (1) sent by other vehicle-mounted units (3);
the vehicle-mounted unit (3) is further configured to send collision warning information to the industrial control device (2) when it is determined that the corresponding simulated vehicle driving device (1) collides with another simulated vehicle driving device (1) according to the received position coordinates and the received message information, and the industrial control device (2) sends the collision warning information;
the vehicle-mounted unit (3) is used for determining the speed and the course of the corresponding simulated vehicle running equipment (1) according to the position coordinates, and determining whether the simulated vehicle running equipment (1) collides with another simulated vehicle running equipment (1) or not according to the position coordinates, the speed, the course and the message information; the message information comprises the position coordinate, the vehicle speed and the course of another simulated vehicle running device (1);
the vehicle-mounted unit (3) is also used for sending the position coordinate, the vehicle speed and the course to the industrial control device (2), and the industrial control device (2) displays the position coordinate, the vehicle speed and the course of the simulated vehicle running equipment (1) in real time;
the lane of the lane platform includes: the traffic warning system comprises an accelerating road, a straight road, an intersection with a traffic warning device and an intersection without the traffic warning device.
2. The test system for simulating vehicle travel according to claim 1, further comprising: the traffic warning device (4) is arranged above the lane platform, and the road side unit (5) is connected with the traffic warning device (4), and the road side unit (5) is connected with the vehicle-mounted units (3) through a special short-range communication technology;
the road side unit (5) is used for receiving current state information sent by the traffic warning device (4) and sending the received current state information to the vehicle-mounted unit (3); the vehicle-mounted unit (3) is used for generating red light early warning information, green light vehicle speed guiding information and/or steering auxiliary information according to the current state information and the position coordinate, the vehicle speed and the course of the simulated vehicle running equipment (1) corresponding to the vehicle-mounted unit (3).
3. The test system for simulating vehicle driving according to claim 2, wherein the on-board unit (3) is further configured to send the red light warning information, the green light vehicle speed guiding information and/or the steering assistance information to the industrial control device (2); and the industrial control device (2) displays the received red light early warning information, the received green light vehicle speed guiding information and/or the received steering auxiliary information.
4. The vehicle driving simulation test system of claim 2, wherein the current state information comprises: the position coordinates of the traffic warning device (4), the illuminated traffic warning lamp and the remaining time for maintaining the illuminated state.
5. A test system for simulating the running of a vehicle according to claim 1 or 3, wherein the industrial control device (2) is further configured to control the running of the simulated vehicle running apparatus (1) according to a first user input command.
6. The system of claim 1, further comprising: the panoramic camera (6) is arranged above the lane platform and is in communication connection with the industrial control device (2) and is used for acquiring test scene information on the lane platform; and the industrial control device (2) is also used for displaying the received test scene information.
7. The system for testing the running of the simulated vehicle according to claim 1, wherein an on-board camera (13) is further arranged on the simulated vehicle running device (1) and is used for collecting the surrounding environment information of the simulated vehicle running device (1), and the industrial control device (2) is further used for displaying the received surrounding environment information.
8. The system according to claim 1 or 3, wherein the system further comprises: and the mobile terminals (7) are respectively in communication connection with the plurality of simulated vehicle running devices (1) and the plurality of vehicle-mounted units (3), and the vehicle-mounted units (3) are used for simultaneously sending information to the industrial control device (2) and the mobile terminals (7).
9. The test system for simulating vehicle driving according to claim 8, wherein the mobile terminal (7) is configured to control the driving of the simulated vehicle driving device (1) according to a second user input instruction.
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| CN110197036B (en) * | 2019-06-04 | 2023-02-28 | 云动(上海)汽车技术有限公司 | Intelligent driving evaluation system and evaluation method |
| CN114427976B (en) * | 2020-10-29 | 2023-11-28 | 华为技术有限公司 | Test method, device and system for automatic driving vehicle |
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