CN108897240A - Automatic Pilot emulation testing cloud platform and automatic Pilot emulation test method - Google Patents

Automatic Pilot emulation testing cloud platform and automatic Pilot emulation test method Download PDF

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Publication number
CN108897240A
CN108897240A CN201810915670.4A CN201810915670A CN108897240A CN 108897240 A CN108897240 A CN 108897240A CN 201810915670 A CN201810915670 A CN 201810915670A CN 108897240 A CN108897240 A CN 108897240A
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target
software
emulation testing
user
driving system
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Inventor
于静
于治楼
卞西晗
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Jinan Inspur Hi Tech Investment and Development Co Ltd
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Jinan Inspur Hi Tech Investment and Development Co Ltd
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Priority to CN201810915670.4A priority Critical patent/CN108897240A/en
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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
    • G05B17/00—Systems involving the use of models or simulators of said systems
    • G05B17/02—Systems involving the use of models or simulators of said systems electric

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  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Debugging And Monitoring (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)

Abstract

The present invention provides automatic Pilot emulation testing cloud platform and automatic Pilot emulation test method, the cloud platform, including：Configuration module, for determining the corresponding target simulator test software of software select command from simulation testing software pond, the corresponding target vehicle power model of dynamic model select command is determined from vehicle dynamic models configured pool, the corresponding sensor of interest integration program of sensed communication select command and destinations traffic scheme are determined from sensed communication configured pool, and the corresponding target scene operating condition of scene operating condition select command is determined from scene operating condition configured pool；Emulation testing module, for target vehicle power model, sensor of interest integration program, destinations traffic scheme, target scene operating condition and target automated driving system to be loaded into target simulator test software, operational objective simulation testing software carries out emulation testing to target automated driving system.Cloud platform of the invention can be more convenient realization automated driving system test.

Description

Automatic Pilot emulation testing cloud platform and automatic Pilot emulation test method
Technical field
The present invention relates to automatic Pilot technical field, in particular to automatic Pilot emulation testing cloud platform and automatic Pilot is imitative True test method.
Background technique
With the fast development of automatic Pilot technology, automated driving system it is safe and reliable more and more important.
In the prior art, the emulation testing of automated driving system is realized mainly by way of single machine test. Specifically, for the mechanism of corresponding research automated driving system, which needs oneself to build automatic Pilot emulation testing Hardware environment, if to carry out more comprehensive emulation testing to automated driving system, it is necessary to configure a greater variety of Simulation testing software, scene operating condition etc..
As can be seen from the above description, the emulation testing rate of exchange to automated driving system are complicated.
Summary of the invention
The embodiment of the invention provides automatic Pilot emulation testing cloud platform and automatic Pilot emulation test method, Neng Gougeng Add the convenient test for realizing automated driving system.
In a first aspect, the embodiment of the invention provides a kind of automatic Pilot emulation testing cloud platforms, including：
Simulation testing software pond, vehicle dynamic models configured pool, sensed communication configured pool, scene operating condition configured pool, configuration Module and emulation testing module；
The simulation testing software pond, for storing at least one simulation testing software；
The vehicle dynamic models configured pool, for storing at least one vehicle dynamic models；
The sensed communication configured pool, for storing at least one sensor integration program and at least one communication plan；
The scene operating condition configured pool, for storing at least one scene operating condition；
The configuration module, for when receiving the software select command that user sends, from the simulation testing software The corresponding target simulator test software of the software select command is determined in pond, is selected when receiving the dynamic model that user sends When order, the corresponding target vehicle power mould of the dynamic model select command is determined from the vehicle dynamic models configured pool Type determines that the sensing is logical when receiving the sensed communication select command that user sends from the sensed communication configured pool Believe the corresponding sensor of interest integration program of select command and destinations traffic scheme, is selected when receiving the scene operating condition that user sends When selecting order, the corresponding target scene operating condition of the scene operating condition select command is determined from the scene operating condition configured pool；
The emulation testing module is used for the target vehicle power model, the sensor of interest integration program, institute Stating destinations traffic scheme, the target scene operating condition and the target automated driving system to emulation testing, to be loaded into the target imitative In true test software, runs the target simulator test software and emulation testing is carried out to the target automated driving system.
Further,
The cloud platform further comprises：Virtual reality drive test management interface pond；
The virtual reality drive test management interface pond, for storing at least one virtual reality drive test management interface；
The configuration module is further used for receiving the interface select command that user sends, from the virtual reality drive test The corresponding destination virtual reality drive test management interface of the interface select command is determined in management interface pond；
The emulation testing module, be further used for by the destination virtual reality drive test management interface with it is corresponding from The dynamic actual vehicle that drives is attached, and the fortune of the automatic Pilot actual vehicle is controlled using the target automated driving system Row observes operating condition.
Further,
The cloud platform further comprises：Intellectual computing device merges pond；
The intellectual computing device merges pond, for storing the hardware configuration side inside at least one automatic driving vehicle Case；
The configuration module is further used for when receiving the hardware select command that user sends, from the intelligence meter It calculates in equipment fusion pond and determines the corresponding target hardware allocation plan of the hardware select command, when receiving the hard of user's upload When part allocation plan, using the hardware configuration scheme of user's upload as the target hardware allocation plan, and user is uploaded Hardware configuration scheme is saved in intellectual computing device fusion pond；
The emulation testing module, for using the target hardware allocation plan as the target automated driving system Hardware environment runs the target simulator test software and carries out emulation testing to the target automated driving system.
Further,
The cloud platform further comprises：Emulation testing data pool and data analysis module；
The emulation testing data pool emulates each automated driving system for storing each simulation testing software The emulation testing data generated in test process；
The data analysis module, for analyzing the emulation testing data in the emulation testing data pool, root According to analysis result and the target automated driving system, recommend the emulation testing for being directed to the target automated driving system to user The optimal simulation testing software of effect, vehicle dynamic models, sensor integration program, communication plan and preferably scene operating condition；
The emulation testing module is further used for acquiring the mistake for carrying out the target automated driving system emulation testing The target simulator test data generated in journey, by target simulator test data storage into the emulation testing data pool.
Further,
The cloud platform further comprises：Autonomous driving vehicle control algolithm pond；
Autonomous driving vehicle control algolithm pond, for storing at least one automated driving system；
The configuration module is further used for when receiving the control loop select command that user sends, from it is described from Dynamic driving control algolithm pond determines the corresponding target automated driving system of the control loop select command, works as reception When the automated driving system uploaded to user, the automated driving system that user is uploaded as the target automated driving system, And the automated driving system that user uploads is saved in autonomous driving vehicle control algolithm pond.
Further,
The simulation testing software pond is further used for storing at least one general module and general data, wherein described At least one general module and general data can be called by simulation testing software described at least one；
The emulation testing module is executing the operation target simulator test software to the target automatic Pilot When system carries out emulation testing, for running the target simulator test software, called using the target simulator test software At least one described general module and general data carry out emulation testing to the target automated driving system.
Further,
The configuration module is further used for uploading user when receiving the simulation testing software of user's upload Simulation testing software is saved in the emulation as the target simulator test software, and by the simulation testing software that user uploads In test software pond.
Further,
The configuration module is further used for uploading user when receiving the vehicle dynamic models of user's upload Vehicle dynamic models are saved in the vehicle as the target vehicle power model, and by the vehicle dynamic models that user uploads In dynamic model configured pool.
Further,
The configuration module is further used for the scene for uploading user when receiving the scene operating condition of user's upload Operating condition is saved in the scene operating condition configured pool as the target scene operating condition, and by the scene operating condition that user uploads.
Second aspect, the embodiment of the invention provides a kind of emulated based on the automatic Pilot any in first aspect to survey The automatic Pilot emulation test method of cloud platform is tried, including：
At least one simulation testing software is stored in advance in simulation testing software pond, and vehicle dynamic models configured pool is stored in advance At least one vehicle dynamic models, at least one sensor integration program is stored in advance in sensed communication configured pool and at least one is logical At least one scene operating condition is stored in advance in letter scheme, scene operating condition configured pool；
Configuration module determines institute when receiving the software select command that user sends from the simulation testing software pond State the corresponding target simulator test software of software select command；
The configuration module is matched when receiving the dynamic model select command that user sends from the vehicle dynamic models It sets and determines the corresponding target vehicle power model of the dynamic model select command in pond；
The configuration module is when receiving the sensed communication select command that user sends, from the sensed communication configured pool The corresponding sensor of interest integration program of the middle determination sensed communication select command and destinations traffic scheme；
The configuration module is when receiving the scene operating condition select command that user sends, from the scene operating condition configured pool The corresponding target scene operating condition of the middle determination scene operating condition select command；
Emulation testing module leads to the target vehicle power model, the sensor of interest integration program, the target It is soft that letter scheme, the target scene operating condition and the target automated driving system to emulation testing are loaded into the target simulator test In part；
The emulation testing module runs the target simulator test software and imitates the target automated driving system True test.
Further,
In the case where automatic Pilot emulation testing cloud platform includes virtual reality drive test management interface pond；
Further comprise：
At least one virtual reality drive test management interface is stored in advance in the virtual reality drive test management interface pond；
The configuration module receives the interface select command that user sends, from the virtual reality drive test management interface pond Determine the corresponding destination virtual reality drive test management interface of the interface select command；
The emulation testing module is practical with corresponding automatic Pilot by the destination virtual reality drive test management interface Vehicle is attached, and the operation of the automatic Pilot actual vehicle, observation operation are controlled using the target automated driving system Situation.
Further,
In the case where the automatic Pilot emulation testing cloud platform includes intellectual computing device fusion pond；
Further comprise：
The hardware configuration scheme inside at least one automatic driving vehicle is stored in advance in intellectual computing device fusion pond；
The configuration module merges pond when receiving the hardware select command that user sends, from the intellectual computing device The corresponding target hardware allocation plan of the middle determination hardware select command, when the hardware configuration scheme for receiving user's upload When, the hardware configuration scheme that user is uploaded is as the target hardware allocation plan, and the hardware configuration side that user is uploaded Case is saved in intellectual computing device fusion pond；
The emulation testing module runs the target simulator test software and imitates the target automated driving system True test, including：
The emulation testing module is using the target hardware allocation plan as the hardware of the target automated driving system Environment runs the target simulator test software and carries out emulation testing to the target automated driving system.
Further,
In the case where the automatic Pilot emulation testing cloud platform includes emulation testing data pool and data analysis module；
Further comprise：
The emulation testing data pool stores each simulation testing software and carries out emulation testing to each automated driving system The emulation testing data generated in the process；
The data analysis module analyzes the emulation testing data in the emulation testing data pool, according to analysis As a result with the target automated driving system, the emulation testing effect of the target automated driving system is directed to most to user's recommendation Excellent simulation testing software, vehicle dynamic models, sensor integration program, communication plan and preferably scene operating condition；
Further comprise：
What the emulation testing module acquisition generated during carrying out emulation testing to the target automated driving system Target simulator test data, by target simulator test data storage into the emulation testing data pool.
Further,
In the case where the automatic Pilot emulation testing cloud platform includes autonomous driving vehicle control algolithm pond；
Further comprise：
At least one automated driving system is stored in advance in autonomous driving vehicle control algolithm pond；
The configuration module is when receiving the control loop select command that user sends, from the autonomous driving vehicle control Algorithm pond processed determines the corresponding target automated driving system of the control loop select command, when receive user upload When automated driving system, the automated driving system that user is uploaded uploads user as the target automated driving system Automated driving system be saved in autonomous driving vehicle control algolithm pond.
Further,
This method further comprises：
At least one general module and general data is stored in advance in the simulation testing software pond, wherein described at least one A general module and general data can be called by simulation testing software described at least one；
The emulation testing module runs the target simulator test software and imitates the target automated driving system True test, including：
The emulation testing module runs the target simulator test software, is called using the target simulator test software At least one described general module and general data carry out emulation testing to the target automated driving system.
Further,
In the emulation testing module by the target vehicle power model, the sensor of interest integration program, described Destinations traffic scheme, the target scene operating condition and the target automated driving system to emulation testing are loaded into the target simulator Before in test software, further comprise：
The configuration module is when receiving the simulation testing software of user's upload, by the simulation testing software of user's upload The simulation testing software pond is saved in as the target simulator test software, and by the simulation testing software that user uploads In.
Further,
In the emulation testing module by the target vehicle power model, the sensor of interest integration program, described Destinations traffic scheme, the target scene operating condition and the target automated driving system to emulation testing are loaded into the target simulator Before in test software, further comprise：
The configuration module is when receiving the vehicle dynamic models of user's upload, by the vehicle dynamic models of user's upload As the target vehicle power model, and the vehicle dynamic models that user uploads are saved in the vehicle dynamic models and are configured Chi Zhong.
Further,
In the emulation testing module by the target vehicle power model, the sensor of interest integration program, described Destinations traffic scheme, the target scene operating condition and the target automated driving system to emulation testing are loaded into the target simulator Before in test software, further comprise：
For the configuration module when receiving the scene operating condition of user's upload, the scene operating condition that user is uploaded is as described in Target scene operating condition, and the scene operating condition that user uploads is saved in the scene operating condition configured pool.
In embodiments of the present invention, simulation testing software pond is deployed in cloud platform, vehicle dynamic models configured pool, is passed Sense communication configuration pond, scene operating condition configured pool, configuration module and emulation testing module, user can be in simulation testing software ponds Simulation testing software is selected, selects vehicle dynamic models in vehicle dynamic models configured pool, is selected in sensed communication configured pool Sensor integration program and communication plan select scene operating condition then to pass through emulation testing module in scene operating condition configured pool Emulation testing of the simulation testing software realization to target automated driving system is run, user is not necessarily to build the soft of emulation testing needs Hardware environment can not also prepare simulation testing software, vehicle dynamic models etc. that emulation needs, through the embodiment of the present invention Automatic Pilot emulation testing cloud platform, the test of realization automated driving system that can be more convenient.
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 schematic diagram for automatic Pilot emulation testing cloud platform that one embodiment of the invention provides；
Fig. 2 is the schematic diagram for another automatic Pilot emulation testing cloud platform that one embodiment of the invention provides；
Fig. 3 is a kind of flow chart for automatic Pilot emulation test method that one embodiment of the invention provides.
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 Pilot emulation testing cloud platforms, including：
Simulation testing software pond 101, vehicle dynamic models configured pool 102, sensed communication configured pool 103, scene operating condition are matched Set pond 104, configuration module 105 and emulation testing module 106；
The simulation testing software pond 101, for storing at least one simulation testing software；
The vehicle dynamic models configured pool 102, for storing at least one vehicle dynamic models；
The sensed communication configured pool 103, for storing at least one sensor integration program and at least one communication party Case；
The scene operating condition configured pool 104, for storing at least one scene operating condition；
The configuration module 105, it is soft from the emulation testing for when receiving the software select command that user sends The corresponding target simulator test software of the software select command is determined in part pond, is selected when receiving the dynamic model that user sends When selecting order, the corresponding target vehicle power of the dynamic model select command is determined from the vehicle dynamic models configured pool Model determines the sensing when receiving the sensed communication select command that user sends from the sensed communication configured pool The corresponding sensor of interest integration program of select command and destinations traffic scheme are communicated, when the scene operating condition for receiving user and sending When select command, the corresponding target scene operating condition of the scene operating condition select command is determined from the scene operating condition configured pool；
The emulation testing module 106 is used for the target vehicle power model, the sensor of interest fusion side Case, the destinations traffic scheme, the target scene operating condition and the target automated driving system to emulation testing are loaded into described In target simulator test software, runs the target simulator test software and emulation survey is carried out to the target automated driving system Examination.
In embodiments of the present invention, simulation testing software pond is deployed in cloud platform, vehicle dynamic models configured pool, is passed Sense communication configuration pond, scene operating condition configured pool, configuration module and emulation testing module, user can be in simulation testing software ponds Simulation testing software is selected, selects vehicle dynamic models in vehicle dynamic models configured pool, is selected in sensed communication configured pool Sensor integration program and communication plan select scene operating condition then to pass through emulation testing module in scene operating condition configured pool Emulation testing of the simulation testing software realization to target automated driving system is run, user is not necessarily to build the soft of emulation testing needs Hardware environment can not also prepare simulation testing software, vehicle dynamic models etc. that emulation needs, through the embodiment of the present invention Automatic Pilot emulation testing cloud platform, the test of realization automated driving system that can be more convenient.
In an embodiment of the present invention, which further comprises：Virtual reality drive test management interface pond；
The virtual reality drive test management interface pond, for storing at least one virtual reality drive test management interface；
The configuration module is further used for receiving the interface select command that user sends, from the virtual reality drive test The corresponding destination virtual reality drive test management interface of the interface select command is determined in management interface pond；
The emulation testing module, be further used for by the destination virtual reality drive test management interface with it is corresponding from The dynamic actual vehicle that drives is attached, and the fortune of the automatic Pilot actual vehicle is controlled using the target automated driving system Row observes operating condition.
In embodiments of the present invention, user can choose the virtual reality drive test pipe in virtual reality drive test management interface pond Interface is managed, and then determines the automatic Pilot actual vehicle for needing to connect, utilizes the automatic of target automated driving system control selections The operation of actual vehicle is driven, observed object automated driving system can be realized to mesh the control situation of actual vehicle Mark the more comprehensive test of automated driving system.For example, target automated driving system is suitble to control lorry, then, it uses Family can select the corresponding virtual reality drive test management interface of lorry in virtual reality drive test management interface pond.
In embodiments of the present invention, it is held in the mouth using destination virtual reality drive test management interface and the remote control of automatic Pilot actual vehicle It connects, to verify the operating condition error of analog simulation environment Yu practical drive test vehicle, improves testing reliability.
In an embodiment of the present invention, which further comprises：Intellectual computing device merges pond；
The intellectual computing device merges pond, for storing the hardware configuration side inside at least one automatic driving vehicle Case；
The configuration module is further used for when receiving the hardware select command that user sends, from the intelligence meter It calculates in equipment fusion pond and determines the corresponding target hardware allocation plan of the hardware select command, when receiving the hard of user's upload When part allocation plan, using the hardware configuration scheme of user's upload as the target hardware allocation plan, and user is uploaded Hardware configuration scheme is saved in intellectual computing device fusion pond；
The emulation testing module, for using the target hardware allocation plan as the target automated driving system Hardware environment runs the target simulator test software and carries out emulation testing to the target automated driving system.
In embodiments of the present invention, when being operated in due to the same automated driving system in different hardware environment, operation Effect also can be different, in emulation testing, can will merge the target hardware allocation plan that select in pond from intellectual computing device As the hardware environment of target automated driving system, according to the computing capability that target hardware allocation plan provides, analog simulation is real Border application effect and calculating power support, it is whether reliable in order to verify target automated driving system, in such manner, it is possible to survey emulation The result of examination is more accurate.For example, target automated driving system will practical application hardware environment be the first processing Device, then, when carrying out emulation testing, so that it may select the corresponding hardware configuration scheme of the first processor.
In addition, if the hardware configuration scheme for not having user to need in intellectual computing device fusion pond, at this moment, user is not necessarily to Hardware select command is sent, hardware configuration scheme can be directly uploaded, carries out emulation testing using the hardware configuration scheme of upload, The hardware configuration scheme of the upload is saved in intellectual computing device fusion pond, in this way, the hardware in intellectual computing device fusion pond Allocation plan will be more and more, and more and more comprehensively, the selection of user is also more and more, realize that emulation testing is also more and more square Just.
In an embodiment of the present invention, which further comprises：Emulation testing data pool and data analysis module；
The emulation testing data pool emulates each automated driving system for storing each simulation testing software The emulation testing data generated in test process；
The data analysis module, for analyzing the emulation testing data in the emulation testing data pool, root According to analysis result and the target automated driving system, recommend the emulation testing for being directed to the target automated driving system to user The optimal simulation testing software of effect, vehicle dynamic models, sensor integration program, communication plan and preferably scene operating condition；
The emulation testing module is further used for acquiring the mistake for carrying out the target automated driving system emulation testing The target simulator test data generated in journey, by target simulator test data storage into the emulation testing data pool.
In embodiments of the present invention, emulation testing module is in the process for carrying out emulation testing to each automated driving system In, it will record the emulation testing data of generation, and be saved in emulation testing data pool, in this way, in emulation testing data pool just Store the emulation testing data largely from each different automated driving system.Emulation in emulation testing data pool is surveyed Data are tried, data analysis module can be analyzed, and then provide the more optimization for target automated driving system for user Simulation testing software, vehicle dynamic models, sensor integration program, communication plan and preferably scene operating condition.
In addition, by the analysis to these emulation testing data, it can derive and be conducive to optimize various test emulations and match It sets and the algorithm of model, updates the various correlation modules of cloud platform.
In an embodiment of the present invention, which further comprises：Autonomous driving vehicle control algolithm pond；
Autonomous driving vehicle control algolithm pond, for storing at least one automated driving system；
The configuration module is further used for when receiving the control loop select command that user sends, from it is described from Dynamic driving control algolithm pond determines the corresponding target automated driving system of the control loop select command, works as reception When the automated driving system uploaded to user, the automated driving system that user is uploaded as the target automated driving system, And the automated driving system that user uploads is saved in autonomous driving vehicle control algolithm pond.
In embodiments of the present invention, when the target automatic Pilot system for thering is user to need in autonomous driving vehicle control algolithm pond When system, user can send control loop select command selection target automated driving system, when autonomous driving vehicle control algolithm When the target automated driving system for not having user to need in pond, user can directly upload automated driving system, by upload from Control loop is moved as target automated driving system, and is saved in autonomous driving vehicle control algolithm pond, in this way, automatic Pilot Automated driving system in automobile control algolithm pond will be more and more, and more and more comprehensively, the selection of user is also more and more, real Existing emulation testing is also more and more convenient.
In an embodiment of the present invention, the simulation testing software pond is further used for storing at least one general module And general data, wherein at least one described general module and general data can be by simulation testing softwares described at least one It calls；
The emulation testing module is executing the operation target simulator test software to the target automatic Pilot When system carries out emulation testing, for running the target simulator test software, called using the target simulator test software At least one described general module and general data carry out emulation testing to the target automated driving system.
In embodiments of the present invention, each simulation testing software in simulation testing software pond can share each Universal Die Block and general data greatly reduce the workload of emulation testing, realization emulation testing that can be more convenient.
In an embodiment of the present invention, the configuration module is further used for when the emulation testing for receiving user's upload When software, the simulation testing software that user is uploaded is as the target simulator test software, and the emulation that user is uploaded is surveyed Examination software is saved in the simulation testing software pond.
In embodiments of the present invention, it when the target simulator test software for thering is user to need in simulation testing software pond, uses Family can send software select command selection target simulation testing software, when the mesh for not having user to need in simulation testing software pond When marking simulation testing software, user can directly upload simulation testing software, and the simulation testing software of upload is imitated as target True test software, and be saved in simulation testing software pond, in this way, the simulation testing software in simulation testing software pond will be got over Come more, more and more comprehensively, the selection of user is also more and more, realizes that emulation testing is also more and more convenient.
In an embodiment of the present invention, the configuration module is further used for when the vehicle power for receiving user's upload When model, the vehicle dynamic models that user is uploaded are moved as the target vehicle power model, and by the vehicle that user uploads Power model is saved in the vehicle dynamic models configured pool.
In embodiments of the present invention, when the target vehicle power model for thering is user to need in vehicle dynamic models configured pool When, user can send dynamic model select command selection target vehicle dynamic models, not have when in vehicle dynamic models configured pool When the target vehicle power model for having user to need, user can directly upload vehicle dynamic models, by the vehicle power of upload Model is saved in vehicle dynamic models configured pool as target vehicle power model, in this way, vehicle dynamic models configured pool In vehicle dynamic models will be more and more, more and more comprehensively, the selection of user is also more and more, realize emulation testing also get over It is more convenient to come.
In an embodiment of the present invention, the configuration module is further used for when the scene operating condition for receiving user's upload When, the scene operating condition that user uploads is saved in described by the scene operating condition that user is uploaded as the target scene operating condition In scene operating condition configured pool.
In embodiments of the present invention, when the target scene operating condition for thering is user to need in scene operating condition configured pool, Yong Huke To send scene operating condition select command selection target scene operating condition, when the target field for not having user to need in scene operating condition configured pool When scape operating condition, user can directly upload scene operating condition, using the scene operating condition of upload as target scene operating condition, and save and show up In scape operating condition configured pool, in this way, the scene operating condition in scene operating condition configured pool will be more and more, more and more comprehensively, user's Selection is also more and more, realizes that emulation testing is also more and more convenient.
In embodiments of the present invention, simulation testing software pond can use container technique, at least one emulation testing is soft Part is configured and is managed using container technique, and user can select the one or more emulation for being suitble to oneself to survey according to the actual situation Software is tried, such as：The corresponding automated driving system of truck is preferable using 1 effect of simulation testing software, and passenger car is corresponding automatic Control loop is relatively good using 2 effect of simulation testing software.
In embodiments of the present invention, at least one vehicle dynamic models is stored in vehicle dynamic models configured pool, user makes Used time can select the vehicle dynamic models needed from vehicle dynamic models configured pool, and which guarantees the consistent of data standard Property, it can be improved test effect.
In embodiments of the present invention, the sensor integration program in sensed communication configured pool includes：Camera, laser thunder It reaches, the configuration of millimetre-wave radar, GPS, IMU (Inertial measurement unit, Inertial Measurement Unit) etc..
In embodiments of the present invention, scene operating condition may include：Road curvature, inclination, overhead, weather, high-precision ground artwork Type etc..
As shown in Fig. 2, a kind of automatic Pilot emulation testing cloud platform provided in an embodiment of the present invention, including：
Simulation testing software pond 201, vehicle dynamic models configured pool 202, sensed communication configured pool 203, scene operating condition are matched Set pond 204, virtual reality drive test management interface pond 205, intellectual computing device fusion pond 206, emulation testing data pool 207, number According to analysis module 208, autonomous driving vehicle control algolithm pond 209, configuration module 210 and emulation testing module 211.
A kind of course of work of automatic Pilot emulation testing cloud platform provided in an embodiment of the present invention is as follows：
Configuration module determines software choosing when receiving the software select command that user sends from simulation testing software pond The corresponding target simulator test software of order is selected, when receiving the simulation testing software of user's upload, user is uploaded imitative True test software is as target simulator test software；
Configuration module is when receiving the dynamic model select command that user sends, from vehicle dynamic models configured pool really The corresponding target vehicle power model of determined power model select command will when receiving the vehicle dynamic models of user's upload The vehicle dynamic models that user uploads are as target vehicle power model；
Configuration module is determined from sensed communication configured pool and is passed when receiving the sensed communication select command that user sends The corresponding sensor of interest integration program of sense communication select command and destinations traffic scheme；
Configuration module determines field when receiving the scene operating condition select command that user sends from scene operating condition configured pool The corresponding target scene operating condition of scape operating condition select command, when receiving the scene operating condition of user's upload, by the field of user's upload Scape operating condition is as target scene work；
Configuration module is when receiving the control loop select command that user sends, from autonomous driving vehicle control algolithm pond Determine the corresponding target automated driving system of control loop select command, when receiving the automated driving system of user's upload, The automated driving system that user is uploaded is as target automated driving system；
Emulation testing module is by target vehicle power model, sensor of interest integration program, destinations traffic scheme, target field Scape operating condition and target automated driving system are loaded into target simulator test software；
Emulation testing module operational objective simulation testing software carries out emulation testing to target automated driving system, will generate Target simulator test data store into emulation testing data pool.
Further, target automated driving system is emulated in emulation testing module operational objective simulation testing software It tests, before the target simulator test data of generation is stored into emulation testing data pool, further includes：
Configuration module determines hard when receiving the hardware select command that user sends from intellectual computing device fusion pond The corresponding target hardware allocation plan of part select command uploads user when receiving the hardware configuration scheme of user's upload Hardware configuration scheme as target hardware allocation plan；
Emulation testing module is using target hardware allocation plan as the hardware environment of target automated driving system, operational objective Simulation testing software carries out emulation testing to target automated driving system.
Further, configuration module receives the interface select command that user sends, from virtual reality drive test management interface pond The corresponding destination virtual reality drive test management interface of middle determining interface select command；
Emulation testing module is carried out by destination virtual reality drive test management interface with corresponding automatic Pilot actual vehicle Connection observes operating condition using the operation of target automated driving system control automatic Pilot actual vehicle.
In automatic Pilot emulation testing cloud platform provided in an embodiment of the present invention, be integrated with a variety of simulation testing softwares, Vehicle dynamic models, scene operating condition etc., user can select according to the demand of emulation testing, and can use cloud platform On emulation testing data carry out tune ginseng, simulation testing software, vehicle dynamic models, scene operating condition etc. can be many in cloud platform Packet iteration, this makes cloud platform more and more perfect, is able to carry out more safe and reliable, significantly more efficient emulation testing from this.
As shown in figure 3, the embodiment of the invention provides a kind of based on the automatic Pilot any in the embodiment of the present invention The automatic Pilot emulation test method of emulation testing cloud platform, including：
Step 301：At least one simulation testing software, vehicle dynamic models configured pool is stored in advance in simulation testing software pond It is stored in advance at least one vehicle dynamic models, at least one sensor integration program and extremely is stored in advance in sensed communication configured pool At least one scene operating condition is stored in advance in a few communication plan, scene operating condition configured pool；
Step 302：Configuration module is when receiving the software select command that user sends, from the simulation testing software pond The corresponding target simulator test software of the middle determination software select command；
Step 303：The configuration module is dynamic from the vehicle when receiving the dynamic model select command that user sends The corresponding target vehicle power model of the dynamic model select command is determined in power model configured pool；
Step 304：The configuration module is logical from the sensing when receiving the sensed communication select command that user sends Believe and determines the corresponding sensor of interest integration program of the sensed communication select command and destinations traffic scheme in configured pool；
Step 305：The configuration module is when receiving the scene operating condition select command that user sends, from the scene work The corresponding target scene operating condition of the scene operating condition select command is determined in condition configured pool；
Step 306：Emulation testing module is by the target vehicle power model, the sensor of interest integration program, institute Stating destinations traffic scheme, the target scene operating condition and the target automated driving system to emulation testing, to be loaded into the target imitative In true test software；
Step 307：The emulation testing module runs the target simulator test software to target automatic Pilot system System carries out emulation testing.
It in an embodiment of the present invention, include virtual reality drive test management interface pond in automatic Pilot emulation testing cloud platform In the case where；
This method further comprises：
At least one virtual reality drive test management interface is stored in advance in the virtual reality drive test management interface pond；
The configuration module receives the interface select command that user sends, from the virtual reality drive test management interface pond Determine the corresponding destination virtual reality drive test management interface of the interface select command；
The emulation testing module is practical with corresponding automatic Pilot by the destination virtual reality drive test management interface Vehicle is attached, and the operation of the automatic Pilot actual vehicle, observation operation are controlled using the target automated driving system Situation.
It in an embodiment of the present invention, include intellectual computing device fusion pond in the automatic Pilot emulation testing cloud platform In the case where；
This method further comprises：
The hardware configuration scheme inside at least one automatic driving vehicle is stored in advance in intellectual computing device fusion pond；
The configuration module merges pond when receiving the hardware select command that user sends, from the intellectual computing device The corresponding target hardware allocation plan of the middle determination hardware select command, when the hardware configuration scheme for receiving user's upload When, the hardware configuration scheme that user is uploaded is as the target hardware allocation plan, and the hardware configuration side that user is uploaded Case is saved in intellectual computing device fusion pond；
The emulation testing module runs the target simulator test software and imitates the target automated driving system True test, including：
The emulation testing module is using the target hardware allocation plan as the hardware of the target automated driving system Environment runs the target simulator test software and carries out emulation testing to the target automated driving system.
It in an embodiment of the present invention, include emulation testing data pool sum number in the automatic Pilot emulation testing cloud platform In the case where analysis module；
This method further comprises：
The emulation testing data pool stores each simulation testing software and carries out emulation testing to each automated driving system The emulation testing data generated in the process；
The data analysis module analyzes the emulation testing data in the emulation testing data pool, according to analysis As a result with the target automated driving system, the emulation testing effect of the target automated driving system is directed to most to user's recommendation Excellent simulation testing software, vehicle dynamic models, sensor integration program, communication plan and preferably scene operating condition；
Further comprise：
What the emulation testing module acquisition generated during carrying out emulation testing to the target automated driving system Target simulator test data, by target simulator test data storage into the emulation testing data pool.
It in an embodiment of the present invention, include that autonomous driving vehicle control is calculated in the automatic Pilot emulation testing cloud platform In the case where method pond；
This method further comprises：
At least one automated driving system is stored in advance in autonomous driving vehicle control algolithm pond；
The configuration module is when receiving the control loop select command that user sends, from the autonomous driving vehicle control Algorithm pond processed determines the corresponding target automated driving system of the control loop select command, when receive user upload When automated driving system, the automated driving system that user is uploaded uploads user as the target automated driving system Automated driving system be saved in autonomous driving vehicle control algolithm pond.
In an embodiment of the present invention, this method further comprises：
At least one general module and general data is stored in advance in the simulation testing software pond, wherein described at least one A general module and general data can be called by simulation testing software described at least one；
The emulation testing module runs the target simulator test software and imitates the target automated driving system True test, including：
The emulation testing module runs the target simulator test software, is called using the target simulator test software At least one described general module and general data carry out emulation testing to the target automated driving system.
In an embodiment of the present invention, in the emulation testing module by the target vehicle power model, the target Sensor integration program, the destinations traffic scheme, the target scene operating condition and the target automatic Pilot system to emulation testing Before system is loaded into the target simulator test software, further comprise：
The configuration module is when receiving the simulation testing software of user's upload, by the simulation testing software of user's upload The simulation testing software pond is saved in as the target simulator test software, and by the simulation testing software that user uploads In.
In an embodiment of the present invention, in the emulation testing module by the target vehicle power model, the target Sensor integration program, the destinations traffic scheme, the target scene operating condition and the target automatic Pilot system to emulation testing Before system is loaded into the target simulator test software, further comprise：
The configuration module is when receiving the vehicle dynamic models of user's upload, by the vehicle dynamic models of user's upload As the target vehicle power model, and the vehicle dynamic models that user uploads are saved in the vehicle dynamic models and are configured Chi Zhong.
In an embodiment of the present invention, in the emulation testing module by the target vehicle power model, the target Sensor integration program, the destinations traffic scheme, the target scene operating condition and the target automatic Pilot system to emulation testing Before system is loaded into the target simulator test software, further comprise：
For the configuration module when receiving the scene operating condition of user's upload, the scene operating condition that user is uploaded is as described in Target scene operating condition, and the scene operating condition that user uploads is saved in the scene operating condition configured pool.
The each embodiment of the present invention at least has the advantages that：
1, in embodiments of the present invention, deployed in cloud platform simulation testing software pond, vehicle dynamic models configured pool, Sensed communication configured pool, scene operating condition configured pool, configuration module and emulation testing module, user can be in simulation testing software ponds Middle selection simulation testing software, selects vehicle dynamic models in vehicle dynamic models configured pool, selects in sensed communication configured pool Sensor integration program and communication plan are selected, selects scene operating condition then to pass through emulation testing mould in scene operating condition configured pool Block runs emulation testing of the simulation testing software realization to target automated driving system, and user is not necessarily to build emulation testing needs Hardware environment can not also prepare simulation testing software, vehicle dynamic models etc. that emulation needs, through the embodiment of the present invention Automatic Pilot emulation testing cloud platform, the test of realization automated driving system that can be more convenient.
2, in embodiments of the present invention, user can choose the virtual reality drive test in virtual reality drive test management interface pond Management interface, and then determine and need the automatic Pilot actual vehicle that connects, using target automated driving system control selections from The dynamic operation for driving actual vehicle, observed object automated driving system can be realized pair the control situation of actual vehicle The more comprehensive test of target automated driving system.
3, when in embodiments of the present invention, being operated in due to the same automated driving system in different hardware environment, fortune Row effect also can be different, in emulation testing, can will merge the target hardware configuration side that select in pond from intellectual computing device Hardware environment of the case as target automated driving system, according to the computing capability that target hardware allocation plan provides, analog simulation Practical application effect and calculating power support, it is whether reliable in order to verify target automated driving system, in such manner, it is possible to emulate The result of test is more accurate.
4, in embodiments of the present invention, if the hardware configuration side for not having user to need in intellectual computing device fusion pond Case, at this moment, user can directly upload hardware configuration scheme, utilize the hardware configuration of upload without sending hardware select command Scheme carries out emulation testing, and the hardware configuration scheme of the upload is saved in intellectual computing device fusion pond, in this way, intelligence computation is set Hardware configuration scheme in standby fusion pond will be more and more, and more and more comprehensively, the selection of user is also more and more, realizes emulation Test is also more and more convenient.
5, in embodiments of the present invention, when the target automatic Pilot for thering is user to need in autonomous driving vehicle control algolithm pond When system, user can send control loop select command selection target automated driving system, calculate when autonomous driving vehicle controls When the target automated driving system for not having user to need in method pond, user can directly upload automated driving system, by upload Automated driving system is saved in autonomous driving vehicle control algolithm pond as target automated driving system, in this way, driving automatically The automated driving system sailed in automobile control algolithm pond will be more and more, and more and more comprehensively, the selection of user is also more and more, Realize that emulation testing is also more and more convenient.
6, in embodiments of the present invention, when the target simulator test software for thering is user to need in simulation testing software pond, User can send software select command selection target simulation testing software, when do not have in simulation testing software pond user need When target simulator test software, user can directly upload simulation testing software, using the simulation testing software of upload as target Simulation testing software, and be saved in simulation testing software pond, in this way, the simulation testing software in simulation testing software pond will More and more, more and more comprehensively, the selection of user is also more and more, realizes that emulation testing is also more and more convenient.
7, in embodiments of the present invention, when the target vehicle power model for thering is user to need in vehicle dynamic models configured pool When, user can send dynamic model select command selection target vehicle dynamic models, not have when in vehicle dynamic models configured pool When the target vehicle power model for having user to need, user can directly upload vehicle dynamic models, by the vehicle power of upload Model is saved in vehicle dynamic models configured pool as target vehicle power model, in this way, vehicle dynamic models configured pool In vehicle dynamic models will be more and more, more and more comprehensively, the selection of user is also more and more, realize emulation testing also get over It is more convenient to come.
8, in embodiments of the present invention, when the target scene operating condition for thering is user to need in scene operating condition configured pool, user Scene operating condition select command selection target scene operating condition can be sent, when the target for not having user to need in scene operating condition configured pool When scene operating condition, user can directly upload scene operating condition, using the scene operating condition of upload as target scene operating condition, and be saved in In scene operating condition configured pool, in this way, the scene operating condition in scene operating condition configured pool will be more and more, more and more comprehensively, user Selection it is also more and more, realize that emulation testing is also more and more convenient.
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 Pilot emulation testing cloud platform, which is characterized in that including：
Simulation testing software pond, vehicle dynamic models configured pool, sensed communication configured pool, scene operating condition configured pool, configuration module With emulation testing module；
The simulation testing software pond, for storing at least one simulation testing software；
The vehicle dynamic models configured pool, for storing at least one vehicle dynamic models；
The sensed communication configured pool, for storing at least one sensor integration program and at least one communication plan；
The scene operating condition configured pool, for storing at least one scene operating condition；
The configuration module, for when receiving the software select command that user sends, from the simulation testing software pond The corresponding target simulator test software of the software select command is determined, when the dynamic model select command for receiving user and sending When, the corresponding target vehicle power model of the dynamic model select command is determined from the vehicle dynamic models configured pool, When receiving the sensed communication select command that user sends, the sensed communication choosing is determined from the sensed communication configured pool The corresponding sensor of interest integration program of order and destinations traffic scheme are selected, is ordered when receiving the scene operating condition selection that user sends When enabling, the corresponding target scene operating condition of the scene operating condition select command is determined from the scene operating condition configured pool；
The emulation testing module is used for the target vehicle power model, the sensor of interest integration program, the mesh Mark communication plan, the target scene operating condition and the target automated driving system to emulation testing are loaded into the target simulator and survey It tries in software, runs the target simulator test software and emulation testing is carried out to the target automated driving system.
2. cloud platform according to claim 1, which is characterized in that
Further comprise：Virtual reality drive test management interface pond；
The virtual reality drive test management interface pond, for storing at least one virtual reality drive test management interface；
The configuration module is further used for receiving the interface select command that user sends, from the virtual reality drive test management The corresponding destination virtual reality drive test management interface of the interface select command is determined in interface repository；
The emulation testing module is further used for driving automatically by the destination virtual reality drive test management interface with corresponding It sails actual vehicle to be attached, the operation of the automatic Pilot actual vehicle is controlled using the target automated driving system, see Survey operating condition.
3. cloud platform according to claim 1, which is characterized in that
Further comprise：Intellectual computing device merges pond；
The intellectual computing device merges pond, for storing the hardware configuration scheme inside at least one automatic driving vehicle；
The configuration module is further used for setting when receiving the hardware select command that user sends from the intelligence computation The corresponding target hardware allocation plan of the hardware select command is determined in standby fusion pond, when the hardware for receiving user's upload is matched When setting scheme, the hardware configuration scheme that user is uploaded is as the target hardware allocation plan, and the hardware that user is uploaded Allocation plan is saved in intellectual computing device fusion pond；
The emulation testing module, for the hardware using the target hardware allocation plan as the target automated driving system Environment runs the target simulator test software and carries out emulation testing to the target automated driving system.
4. cloud platform according to claim 1, which is characterized in that
Further comprise：Emulation testing data pool and data analysis module；
The emulation testing data pool carries out emulation testing to each automated driving system for storing each simulation testing software The emulation testing data generated in the process；
The data analysis module, for analyzing the emulation testing data in the emulation testing data pool, according to point Result and the target automated driving system are analysed, recommends the emulation testing effect for being directed to the target automated driving system to user Optimal simulation testing software, vehicle dynamic models, sensor integration program, communication plan and preferably scene operating condition；
The emulation testing module, during being further used for acquisition to target automated driving system progress emulation testing The target simulator test data of generation, by target simulator test data storage into the emulation testing data pool.
5. cloud platform according to claim 1, which is characterized in that
Further comprise：Autonomous driving vehicle control algolithm pond；
Autonomous driving vehicle control algolithm pond, for storing at least one automated driving system；
The configuration module is further used for when receiving the control loop select command that user sends, and drives automatically from described It sails automobile control algolithm pond and determines the corresponding target automated driving system of the control loop select command, when receiving use When the automated driving system that family uploads, using the automated driving system of user's upload as the target automated driving system, and will The automated driving system that user uploads is saved in autonomous driving vehicle control algolithm pond；
And/or
The simulation testing software pond is further used for storing at least one general module and general data, wherein it is described at least One general module and general data can be called by simulation testing software described at least one；
The emulation testing module is executing the operation target simulator test software to the target automated driving system When carrying out emulation testing, for running the target simulator test software, called at least using the target simulator test software One general module and general data carry out emulation testing to the target automated driving system.
6. any cloud platform in -5 according to claim 1, which is characterized in that
The configuration module is further used for the emulation for uploading user when receiving the simulation testing software of user's upload Test software is saved in the emulation testing as the target simulator test software, and by the simulation testing software that user uploads In software pond；
And/or
The configuration module is further used for the vehicle for uploading user when receiving the vehicle dynamic models of user's upload Dynamic model is saved in the vehicle power as the target vehicle power model, and by the vehicle dynamic models that user uploads In model configured pool；
And/or
The configuration module is further used for the scene operating condition for uploading user when receiving the scene operating condition of user's upload It is saved in the scene operating condition configured pool as the target scene operating condition, and by the scene operating condition that user uploads.
7. a kind of automatic Pilot emulation testing based on automatic Pilot emulation testing cloud platform as claimed in any one of claims 1 to 6 Method, which is characterized in that including：
At least one simulation testing software is stored in advance in simulation testing software pond, and vehicle dynamic models configured pool is stored in advance at least At least one sensor integration program and at least one communication party is stored in advance in one vehicle dynamic models, sensed communication configured pool At least one scene operating condition is stored in advance in case, scene operating condition configured pool；
For configuration module when receiving the software select command that user sends, determination is described soft from the simulation testing software pond The corresponding target simulator test software of part select command；
The configuration module is when receiving the dynamic model select command that user sends, from the vehicle dynamic models configured pool The corresponding target vehicle power model of the middle determination dynamic model select command；
The configuration module is when receiving the sensed communication select command that user sends, from the sensed communication configured pool really Determine the corresponding sensor of interest integration program of the sensed communication select command and destinations traffic scheme；
The configuration module is when receiving the scene operating condition select command that user sends, from the scene operating condition configured pool really Determine the corresponding target scene operating condition of the scene operating condition select command；
Emulation testing module is by the target vehicle power model, the sensor of interest integration program, the destinations traffic side Case, the target scene operating condition and the target automated driving system to emulation testing are loaded into the target simulator test software In；
The emulation testing module runs the target simulator test software and carries out emulation survey to the target automated driving system Examination.
8. the method according to the description of claim 7 is characterized in that
In the case where automatic Pilot emulation testing cloud platform includes virtual reality drive test management interface pond；
Further comprise：
At least one virtual reality drive test management interface is stored in advance in the virtual reality drive test management interface pond；
The configuration module receives the interface select command that user sends, and determines from the virtual reality drive test management interface pond The corresponding destination virtual reality drive test management interface of the interface select command；
The emulation testing module passes through the destination virtual reality drive test management interface and corresponding automatic Pilot actual vehicle It is attached, the operation of the automatic Pilot actual vehicle is controlled using the target automated driving system, observe operating condition.
9. the method according to the description of claim 7 is characterized in that
In the case where the automatic Pilot emulation testing cloud platform includes intellectual computing device fusion pond；
Further comprise：
The hardware configuration scheme inside at least one automatic driving vehicle is stored in advance in intellectual computing device fusion pond；
The configuration module is when receiving the hardware select command that user sends, from intellectual computing device fusion pond really Determine the corresponding target hardware allocation plan of the hardware select command, it, will when receiving the hardware configuration scheme of user's upload The hardware configuration scheme that user uploads is as the target hardware allocation plan, and the hardware configuration scheme that user is uploaded saves Into intellectual computing device fusion pond；
The emulation testing module runs the target simulator test software and carries out emulation survey to the target automated driving system Examination, including：
The emulation testing module using the target hardware allocation plan as the hardware environment of the target automated driving system, It runs the target simulator test software and emulation testing is carried out to the target automated driving system.
10. according to the method any in claim 7-9, which is characterized in that
In the case where the automatic Pilot emulation testing cloud platform includes emulation testing data pool and data analysis module；
Further comprise：
The emulation testing data pool stores each simulation testing software and carries out emulation testing process to each automated driving system The emulation testing data of middle generation；
The data analysis module analyzes the emulation testing data in the emulation testing data pool, based on the analysis results With the target automated driving system, recommend the emulation testing effect for the target automated driving system optimal to user Simulation testing software, vehicle dynamic models, sensor integration program, communication plan and preferably scene operating condition；
Further comprise：
The target that the emulation testing module acquisition generates during carrying out emulation testing to the target automated driving system Emulation testing data, by target simulator test data storage into the emulation testing data pool；
And/or
In the case where the automatic Pilot emulation testing cloud platform includes autonomous driving vehicle control algolithm pond；
Further comprise：
At least one automated driving system is stored in advance in autonomous driving vehicle control algolithm pond；
The configuration module is controlled from the autonomous driving vehicle and is calculated when receiving the control loop select command that user sends Method pond determines the corresponding target automated driving system of the control loop select command, when receive user upload it is automatic When control loop, using user upload automated driving system as the target automated driving system, and by user upload from Dynamic control loop is saved in autonomous driving vehicle control algolithm pond；
And/or
Further comprise：
At least one general module and general data is stored in advance in the simulation testing software pond, wherein described at least one is logical It can be called by simulation testing software described at least one with module and general data；
The emulation testing module runs the target simulator test software and carries out emulation survey to the target automated driving system Examination, including：
The emulation testing module runs the target simulator test software, is called at least using the target simulator test software One general module and general data carry out emulation testing to the target automated driving system；
And/or
In the emulation testing module by the target vehicle power model, the sensor of interest integration program, the target Communication plan, the target scene operating condition and the target automated driving system to emulation testing are loaded into the target simulator test Before in software, further comprise：
The configuration module when receive user upload simulation testing software when, using user upload simulation testing software as The target simulator test software, and the simulation testing software that user uploads is saved in the simulation testing software pond；
And/or
In the emulation testing module by the target vehicle power model, the sensor of interest integration program, the target Communication plan, the target scene operating condition and the target automated driving system to emulation testing are loaded into the target simulator test Before in software, further comprise：
The configuration module when receive user upload vehicle dynamic models when, using user upload vehicle dynamic models as The target vehicle power model, and the vehicle dynamic models that user uploads are saved in the vehicle dynamic models configured pool In；
And/or
In the emulation testing module by the target vehicle power model, the sensor of interest integration program, the target Communication plan, the target scene operating condition and the target automated driving system to emulation testing are loaded into the target simulator test Before in software, further comprise：
For the configuration module when receiving the scene operating condition of user's upload, the scene operating condition that user is uploaded is as the target Scene operating condition, and the scene operating condition that user uploads is saved in the scene operating condition configured pool.
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