CN109032103A - Test method, device, equipment and the storage medium of automatic driving vehicle - Google Patents
Test method, device, equipment and the storage medium of automatic driving vehicle Download PDFInfo
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- CN109032103A CN109032103A CN201710431914.7A CN201710431914A CN109032103A CN 109032103 A CN109032103 A CN 109032103A CN 201710431914 A CN201710431914 A CN 201710431914A CN 109032103 A CN109032103 A CN 109032103A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24065—Real time diagnostics
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Abstract
The invention discloses the test method of automatic driving vehicle, device, equipment and storage mediums, and wherein method includes: test scene data collected when obtaining pilot steering vehicle driving；Test scene data are divided into input data and expected result；When the algoritic module in automatic driving vehicle updates, input data is sent to algoritic module, obtains test result, and test result is compared with expected result, tests whether to pass through according to comparison result determination.Using scheme of the present invention, test can be completed quickly and effectively.
Description
[technical field]
The present invention relates to automatic driving vehicle technology, in particular to the test method of automatic driving vehicle, device, equipment and
Storage medium.
[background technique]
Automatic driving vehicle, alternatively referred to as automatic driving vehicle etc. refer to through each sensor and perceive vehicle periphery ring
Border, and according to road, vehicle location and obstacle information obtained etc. is perceived, the steering and speed of vehicle are controlled, to make
Vehicle can be travelled reliably and securely on road.
The core of automatic driving vehicle is the algoritic module of referred to as " drive brain ", wherein may include positioning, high-precision map,
The submodules such as perception, decision and control.
Above-mentioned each submodule generally carries out exploitation maintenance by different team, integrates as entire automatic driving car
Algoritic module issued and disposed.
Due to being related to the submodule of multiple complexity, in addition existing soft project all uses the mould of quick iterative development
Formula, therefore it is short to cause algoritic module iteration cycle, updates (change) frequently.
Any modification of algoritic module may all introduce new problem, therefore after updating every time, require into
Whether row test, can be worked normally with the updated algoritic module of determination, correspondingly, how be completed quickly and effectively test,
It is then a urgent problem to be solved.
[summary of the invention]
In view of this, the present invention provides the test method of automatic driving vehicle, device, equipment and storage medium, it can
It is completed quickly and effectively test.
Specific technical solution is as follows:
A kind of test method of automatic driving vehicle, comprising:
Obtain test scene data collected when pilot steering vehicle driving；
The test scene data are divided into input data and expected result；
When the algoritic module in automatic driving vehicle updates, the input data is sent to the algorithm mould
Block obtains test result, and the test result is compared with the expected result, determines that test is according to comparison result
It is no to pass through.
According to one preferred embodiment of the present invention, test scene data collected when the acquisition pilot steering vehicle driving
Include:
For different test scenes, test scene data collected when pilot steering vehicle driving are obtained respectively；
It is described the test scene data to be divided into input data and expected result includes:
For each test scene, respectively by the corresponding test scene data of the test scene be divided into input data and
Expected result；
When the algoritic module when in automatic driving vehicle updates, the input data is sent to the algorithm
Module obtains test result, and the test result is compared with the expected result, is determined and is tested according to comparison result
Whether by including:
When the algoritic module of automatic driving vehicle updates, for each test scene, respectively by the checkout area
Input data in the corresponding test scene data of scape is sent to the algoritic module, obtains test result, and by the test
As a result the expected result in test scene data corresponding with the test scene is compared, according to comparison result determination
It tests whether to pass through under test scene.
According to one preferred embodiment of the present invention, this method further comprises:
It obtains by way of long range radio transmissions, the updated algoritic module being deployed on automatic driving vehicle.
According to one preferred embodiment of the present invention, the test scene data include: sensing data, driver's manipulation information
And vehicle driving trace information；
It is described the test scene data to be divided into input data and expected result includes:
Using the sensing data as the input data, the driver is manipulated into information and the vehicle driving
Trace information is as the expected result.
According to one preferred embodiment of the present invention, described the input data is sent to the algoritic module to include:
By each sensor on simulation automatic driving vehicle, the sensing data is sent to the algoritic module；
Described be compared the test result with the expected result include:
By in the test result vehicle performance information and the expected result in the driver manipulate information into
Row compares；
By the vehicle driving trace information in the test result and the vehicle driving trace in the expected result
Information is compared.
A kind of test device of automatic driving vehicle, comprising: pretreatment unit and test cell；
The pretreatment unit, test scene data collected when for obtaining pilot steering vehicle driving, and by institute
It states test scene data and is divided into input data and expected result；
The test cell, for when the algoritic module in automatic driving vehicle updates, by the input data
Be sent to the algoritic module, obtain test result, and the test result is compared with the expected result, according to than
The determination of relatively result tests whether to pass through.
According to one preferred embodiment of the present invention,
The pretreatment unit is further used for,
For different test scenes, test scene data collected when pilot steering vehicle driving are obtained respectively；
For each test scene, respectively by the corresponding test scene data of the test scene be divided into input data and
Expected result；
The test cell is further used for,
When the algoritic module of automatic driving vehicle updates, for each test scene, respectively by the checkout area
Input data in the corresponding test scene data of scape is sent to the algoritic module, obtains test result, and by the test
As a result the expected result in test scene data corresponding with the test scene is compared, according to comparison result determination
It tests whether to pass through under test scene.
According to one preferred embodiment of the present invention, described device further comprises: updating unit；
The updating unit, for obtaining the updated algoritic module sent by way of long range radio transmissions,
Updated algoritic module is deployed on automatic driving vehicle.
According to one preferred embodiment of the present invention, the test scene data include: sensing data, driver's manipulation information
And vehicle driving trace information；
The pretreatment unit using the sensing data as the input data, by the driver manipulate information with
And the vehicle driving trace information is as the expected result.
It according to one preferred embodiment of the present invention, include: that Sensor Analog Relay System subelement and result are tested in the test cell
Demonstrate,prove subelement；
The Sensor Analog Relay System subelement, for passing through mould when the algoritic module in automatic driving vehicle updates
Each sensor on quasi- automatic driving vehicle, is sent to the algoritic module for the sensing data；
The result verification subelement, for obtaining test result, and by the vehicle performance information in the test result
Information is manipulated with the driver in the expected result to be compared, and the vehicle driving trace in the test result is believed
Breath is compared with the vehicle driving trace information in the expected result, tests whether to lead to according to comparison result determination
It crosses.
A kind of computer equipment, including memory, processor and be stored on the memory and can be in the processor
The computer program of upper operation, the processor realize method as described above when executing described program.
A kind of computer readable storage medium is stored thereon with computer program, real when described program is executed by processor
Now method as described above.
It can be seen that using scheme of the present invention, when can obtain pilot steering vehicle driving in advance based on above-mentioned introduction
Test scene data collected, and test scene data are divided into input data and expected result, in this way, when unmanned
When algoritic module in vehicle updates, input data can be sent to algoritic module, to obtain test result, and then will
Test result is compared with expected result, determines to test whether to pass through according to comparison result, it can be seen that when each algorithm
When module updates, i.e., test can be completed quickly and effectively using test scene data, moreover, test scene collected
Data repeated multiple times can use, without reacquiring every time, to improve testing efficiency.
[Detailed description of the invention]
Fig. 1 is the flow chart of the test method first embodiment of automatic driving vehicle of the present invention.
Fig. 2 is the flow chart of the test method second embodiment of automatic driving vehicle of the present invention.
Fig. 3 is the composed structure schematic diagram of the test device embodiment of automatic driving vehicle of the present invention.
Fig. 4 shows the block diagram for being suitable for the exemplary computer system/server 12 for being used to realize embodiment of the present invention.
[specific embodiment]
Aiming at the problems existing in the prior art, a kind of test mode of automatic driving vehicle is proposed in the present invention, in advance
Test scene data are constructed, when the algoritic module in automatic driving vehicle updates, by way of long range radio transmissions,
On the updated algoritic module to automatic driving vehicle of automatic deployment, and test is completed using test scene data, to verify
Every manipulation index etc. of the automatic driving vehicle on test road, and then reach " driving for fast verification automatic driving vehicle
The purpose of brain ".
In order to be clearer and more clear technical solution of the present invention, hereinafter, referring to the drawings and the embodiments, to institute of the present invention
The scheme of stating is further described.
Obviously, described embodiments are some of the embodiments of the present invention, instead of all the embodiments.Based on the present invention
In embodiment, those skilled in the art's all other embodiment obtained without creative efforts, all
Belong to the scope of protection of the invention.
Fig. 1 is the flow chart of the test method first embodiment of automatic driving vehicle of the present invention, as shown in Figure 1, packet
Include implementation in detail below.
In 101, test scene data collected when pilot steering vehicle driving are obtained.
Experienced outstanding driver can be chosen, pilot steering data acquisition vehicle travels on real road, to adopt
Test scene data needed for collection.
It needs to be equipped in data acquisition vehicle and configures identical each sensor with automatic driving vehicle, such as: laser radar, figure
As sensor, millimetre-wave radar, ultrasonic radar, infrared sensor, global positioning system (GPS, Global Positioning
) and Inertial Measurement Unit (IMU, Inertial Measurement Unit) etc. System.
Collected test scene data can include: sensing data, driver manipulate information and vehicle driving trace
Information etc..
Wherein, sensing data may include output data and inside and outside parameter of each sensor etc., the inside and outside ginseng of sensor
Number may include sensor relative position information onboard, the model of sensor itself and functional performance parameter etc..
Driver manipulates information and refers to the information, such as steering angle such as control action and opportunity of the driver in driving procedure
Degree, brake opportunity and intensity are refueled opportunity and intensity etc..
In 102, test scene data are divided into input data and expected result.
For collected test scene data, it can further be divided into input data and expected result.
Specifically, driver can be manipulated into information and vehicle driving trace is believed using sensing data as input data
Breath is used as expected result.
In 103, when the algoritic module in automatic driving vehicle updates, input data is sent to algorithm mould
Block obtains test result.
When in the submodules such as positioning, high-precision map, perception, decision and control in algoritic module any one or it is any
It, then, correspondingly, can be by Cloud Server, by long-range it is believed that algoritic module is updated when multiple submodule has altered
Updated algoritic module is deployed on automatic driving vehicle by the mode of wireless transmission.
Later, the sensing data as input data can be sent out by each sensor on simulation automatic driving vehicle
Updated algoritic module is given, so that algoritic module carries out the operation such as Decision Control according to sensing data got etc.,
To obtain test result.
The working method etc. of each sensor i.e. in analog real work on automatic driving vehicle, sensing data is sent out
Give algoritic module.
In 104, test result is compared with expected result, tests whether to pass through according to comparison result determination.
It may include vehicle performance information and vehicle driving trace information etc. in obtained test result, it can be by test result
In vehicle performance information in expected result driver manipulate information be compared, by the vehicle driving rail in test result
Mark information is compared with the vehicle driving trace information in expected result.
It can test whether to pass through according to comparison result determination, for example, test result is consistent with expected result, then it is assumed that test
Pass through, alternatively, test result and the difference of expected result are within an acceptable range, then it is assumed that test passes through.
Can also by test related data, such as test pilot process, test log and test result be sent to Cloud Server into
Row saves.
It is adopted when can obtain pilot steering vehicle driving in advance based on above-mentioned introduction using scheme described in above-described embodiment
The test scene data of collection, and test scene data are divided into input data and expected result, in this way, working as automatic driving vehicle
In algoritic module when updating, input data can be sent to algoritic module, to obtain test result, and then will test
As a result it is compared with expected result, determines to test whether to pass through according to comparison result, it can be seen that when each algoritic module
When updating, i.e., test can be completed quickly and effectively using test scene data.
Moreover, using scheme described in above-described embodiment, test scene data collected repeated multiple times can be used, nothing
It need to reacquire every time, to improve testing efficiency.
In addition, can be not necessarily to dispose each sensor on tested automatic driving vehicle using scheme described in above-described embodiment,
To reduce cost of implementation.
Further more, using scheme described in above-described embodiment algoritic module can be updated by way of remote deployment, more just
Just quick, thus substantially increase algorithm development progress, and then shorten product release cycle etc..
On the basis of the above, different test scenes can be also divided, is tested respectively for different test scenes, from
And updated algoritic module is comprehensively tested for the applicability etc. of different test scenes.
Correspondingly, Fig. 2 is the flow chart of the test method second embodiment of automatic driving vehicle of the present invention, such as Fig. 2
It is shown, including implementation in detail below.
In 201, for different test scenes, test scene collected when pilot steering vehicle driving is obtained respectively
Data.
Different test scene can include: straight trip has obstacle Che Shichao by crossroad, the front of no vehicle and pedestrian
Vehicle has brake etc. when stopping vehicle by the bright crossing parking waiting of red light, one-way road front.
For different test scenes, test scene data are obtained respectively.
Test scene data can include: sensing data, driver manipulate information and vehicle driving trace information etc..
In 202, for each test scene, the corresponding test scene data of the test scene are divided into input respectively
Data and expected result.
For example, for " crossroad that straight trip passes through no vehicle and pedestrian " this test scene, by the test scene pair
The test scene data answered are divided into input data and expected result.
Similarly, for " overtaking other vehicles when having obstacle vehicle in front " this test scene, by the corresponding checkout area of the test scene
Scape data are divided into input data and expected result.
Specifically, can be using the sensing data in test scene data as input data, it will be in test scene data
Driver manipulates information and vehicle driving trace information as expected result.
In 203, when the algoritic module of automatic driving vehicle updates, for each test scene, respectively should
Input data in the corresponding test scene data of test scene is sent to algoritic module, obtains test result, and test is tied
Expected result in fruit test scene data corresponding with the test scene is compared, and determines the checkout area according to comparison result
It tests whether to pass through under scape.
For example, for " crossroad that straight trip passes through no vehicle and pedestrian " this test scene, it can be by simulating nobody
Each sensor on vehicle is driven, after the sensing data in the corresponding test scene data of the test scene is sent to update
Algoritic module, algoritic module can carry out the operation such as Decision Control according to sensing data got etc., to be tested
As a result, later, it can be by the driving in the vehicle performance information test scene data corresponding with the test scene in test result
Member's manipulation information is compared, by the vehicle driving trace information test scene number corresponding with the test scene in test result
Vehicle driving trace information in is compared, and then is determined according to comparison result and tested whether to lead under the test scene
It crosses.
For other test scenes, can be handled in the manner described above respectively.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, there is no the portion being described in detail in some embodiment
Point, it may refer to the associated description of other embodiments.
The introduction about embodiment of the method above, below by way of Installation practice, to scheme of the present invention carry out into
One step explanation.
Fig. 3 is the composed structure schematic diagram of the test device embodiment of automatic driving vehicle of the present invention, such as Fig. 3 institute
Show, comprising: pretreatment unit 301 and test cell 302.
Pretreatment unit 301, test scene data collected when for obtaining pilot steering vehicle driving, and will test
Contextual data is divided into input data and expected result.
Test cell 302, for will input when the algoritic module (driving brain) in automatic driving vehicle updates
Data are sent to algoritic module, obtain test result, and test result is compared with expected result, true according to comparison result
Surely it tests whether to pass through.
Experienced outstanding driver can be chosen, pilot steering data acquisition vehicle travels on real road, to adopt
Test scene data needed for collection.
It needs to be equipped in data acquisition vehicle and configures identical each sensor with automatic driving vehicle, such as: laser radar, figure
As sensor, millimetre-wave radar, ultrasonic radar, infrared sensor, GPS and IMU etc..
Collected test scene data can include: sensing data, driver manipulate information and vehicle driving trace
Information etc..
Wherein, sensing data may include output data and inside and outside parameter of each sensor etc., the inside and outside ginseng of sensor
Number may include sensor relative position information onboard, the model of sensor itself and functional performance parameter etc..
Driver manipulates information and refers to the information, such as steering angle such as control action and opportunity of the driver in driving procedure
Degree, brake opportunity and intensity are refueled opportunity and intensity etc..
Pretreatment unit 301 is got when pilot steering vehicle driving after test scene data collected, can be into one
Step is divided into input data and expected result.
Specifically, driver can be manipulated into information and vehicle driving trace is believed using sensing data as input data
Breath is used as expected result.
As shown in figure 3, can also further comprise in the device: updating unit 303, in addition, can be specific in test cell 302
It include: Sensor Analog Relay System subelement 3021 and result verification subelement 3022.
Updating unit 303 can obtain the updated algoritic module sent by way of long range radio transmissions, will more
Algoritic module after new is deployed on automatic driving vehicle.
When in the submodules such as positioning, high-precision map, perception, decision and control in algoritic module any one or it is any
It, then, correspondingly, can be by Cloud Server, by long-range it is believed that algoritic module is updated when multiple submodule has altered
Updated algoritic module is sent to updating unit 303 by the mode of wireless transmission.
Later, Sensor Analog Relay System subelement 3021 can be by each sensor on simulation automatic driving vehicle, by sensor
Data are sent to algoritic module, so that algoritic module carries out the operation such as Decision Control according to sensing data got etc., from
And obtain test result.
It may include vehicle performance information and vehicle driving trace information etc. in obtained test result, result verification is single
Vehicle performance information in test result can be manipulated information with the driver in expected result and is compared by member 3022, will be tested
As a result the vehicle driving trace information in is compared with the vehicle driving trace information in expected result, true according to comparison result
Surely it tests whether to pass through.
As can be seen that using scheme described in above-described embodiment, when each algoritic module updates, i.e., using test
Contextual data is tested to be completed quickly and effectively.
Moreover, using scheme described in above-described embodiment, test scene data collected repeated multiple times can be used, nothing
It need to reacquire every time, to improve testing efficiency.
In addition, can be not necessarily to dispose each sensor on tested automatic driving vehicle using scheme described in above-described embodiment,
To reduce cost of implementation.
Further more, using scheme described in above-described embodiment algoritic module can be updated by way of remote deployment, more just
Just quick, thus substantially increase algorithm development progress, and then shorten product release cycle etc..
On the basis of the above, different test scenes can be also divided, is tested respectively for different test scenes, from
And updated algoritic module is comprehensively tested for the applicability etc. of different test scenes.
Correspondingly, pretreatment unit 301 can be directed to different test scenes, obtain pilot steering vehicle driving when institute respectively
The test scene data of acquisition, and it is directed to each test scene, the corresponding test scene data of the test scene are divided respectively
For input data and expected result.
Different test scene can include: straight trip has obstacle Che Shichao by crossroad, the front of no vehicle and pedestrian
Vehicle has brake etc. when stopping vehicle by the bright crossing parking waiting of red light, one-way road front.
When the algoritic module of automatic driving vehicle updates, for each test scene, test cell 302 can be distinguished
Input data in the corresponding test scene data of the test scene is sent to algoritic module, obtains test result, and will survey
Expected result in test result test scene data corresponding with the test scene is compared, and determines the survey according to comparison result
It tests whether to pass through under the scape of examination hall.
The specific workflow of Fig. 3 shown device embodiment please refers to the respective description in preceding method embodiment, no longer
It repeats.
Fig. 4 shows the block diagram for being suitable for the exemplary computer system/server 12 for being used to realize embodiment of the present invention.
The computer system/server 12 that Fig. 4 is shown is only an example, should not function and use scope to the embodiment of the present invention
Bring any restrictions.
As shown in figure 4, computer system/server 12 is showed in the form of universal computing device.Computer system/service
The component of device 12 can include but is not limited to: one or more processor (processing unit) 16, memory 28, connect not homology
The bus 18 of system component (including memory 28 and processor 16).
Bus 18 indicates one of a few class bus structures or a variety of, including memory bus or Memory Controller,
Peripheral bus, graphics acceleration port, processor or the local bus using any bus structures in a variety of bus structures.It lifts
For example, these architectures include but is not limited to industry standard architecture (ISA) bus, microchannel architecture (MAC)
Bus, enhanced isa bus, Video Electronics Standards Association (VESA) local bus and peripheral component interconnection (PCI) bus.
Computer system/server 12 typically comprises a variety of computer system readable media.These media, which can be, appoints
What usable medium that can be accessed by computer system/server 12, including volatile and non-volatile media, it is moveable and
Immovable medium.
Memory 28 may include the computer system readable media of form of volatile memory, such as random access memory
Device (RAM) 30 and/or cache memory 32.Computer system/server 12 may further include it is other it is removable/no
Movably, volatile/non-volatile computer system storage medium.Only as an example, storage system 34 can be used for reading and writing
Immovable, non-volatile magnetic media (Fig. 4 do not show, commonly referred to as " hard disk drive ").Although not shown in fig 4, may be used
To provide the disc driver for reading and writing to removable non-volatile magnetic disk (such as " floppy disk "), and it is non-volatile to moving
Property CD (such as CD-ROM, DVD-ROM or other optical mediums) read and write CD drive.In these cases, each drive
Dynamic device can be connected by one or more data media interfaces with bus 18.Memory 28 may include at least one program
Product, the program product have one group of (for example, at least one) program module, these program modules are configured to perform the present invention
The function of each embodiment.
Program/utility 40 with one group of (at least one) program module 42 can store in such as memory 28
In, such program module 42 includes --- but being not limited to --- operating system, one or more application program, other programs
It may include the realization of network environment in module and program data, each of these examples or certain combination.Program mould
Block 42 usually executes function and/or method in embodiment described in the invention.
Computer system/server 12 can also be (such as keyboard, sensing equipment, aobvious with one or more external equipments 14
Show device 24 etc.) communication, it is logical that the equipment interacted with the computer system/server 12 can be also enabled a user to one or more
Letter, and/or with the computer system/server 12 any is set with what one or more of the other calculating equipment was communicated
Standby (such as network interface card, modem etc.) communicates.This communication can be carried out by input/output (I/O) interface 22.And
And computer system/server 12 can also pass through network adapter 20 and one or more network (such as local area network
(LAN), wide area network (WAN) and/or public network, such as internet) communication.As shown in figure 4, network adapter 20 passes through bus
18 communicate with other modules of computer system/server 12.It should be understood that although not shown in the drawings, computer can be combined
Systems/servers 12 use other hardware and/or software module, including but not limited to: microcode, device driver, at redundancy
Manage unit, external disk drive array, RAID system, tape drive and data backup storage system etc..
The program that processor 16 is stored in memory 28 by operation, at various function application and data
Reason, such as realize the method in embodiment illustrated in fig. 1, that is, obtain test scene number collected when pilot steering vehicle driving
According to test scene data being divided into input data and expected result, when the algoritic module in automatic driving vehicle updates
When, input data is sent to algoritic module, obtains test result, and test result is compared with expected result, according to
Comparison result determination tests whether to pass through.
Specific implementation please refers to the respective description in foregoing embodiments, repeats no more.
The present invention discloses a kind of computer readable storage mediums, are stored thereon with computer program, the program quilt
Processor will realize the method in embodiment as shown in Figure 1 when executing.
It can be using any combination of one or more computer-readable media.Computer-readable medium can be calculating
Machine readable signal medium or computer readable storage medium.Computer readable storage medium for example can be --- but it is unlimited
In system, device or the device of --- electricity, magnetic, optical, electromagnetic, infrared ray or semiconductor, or any above combination.It calculates
The more specific example (non exhaustive list) of machine readable storage medium storing program for executing includes: electrical connection with one or more conducting wires, just
Taking formula computer disk, hard disk, random access memory (RAM), read-only memory (ROM), erasable type may be programmed read-only storage
Device (EPROM or flash memory), optical fiber, portable compact disc read-only memory (CD-ROM), light storage device, magnetic memory device,
Or above-mentioned any appropriate combination.In this document, computer readable storage medium can be it is any include or storage journey
The tangible medium of sequence, the program can be commanded execution system, device or device use or in connection.
Computer-readable signal media may include in a base band or as carrier wave a part propagate data-signal,
Wherein carry computer-readable program code.The data-signal of this propagation can take various forms, including --- but
It is not limited to --- electromagnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal media can also be
Any computer-readable medium other than computer readable storage medium, which can send, propagate or
Transmission is for by the use of instruction execution system, device or device or program in connection.
The program code for including on computer-readable medium can transmit with any suitable medium, including --- but it is unlimited
In --- wireless, electric wire, optical cable, RF etc. or above-mentioned any appropriate combination.
The computer for executing operation of the present invention can be write with one or more programming languages or combinations thereof
Program code, described program design language include object oriented program language-such as Java, Smalltalk, C++,
Further include conventional procedural programming language-such as " C " language or similar programming language.Program code can be with
It fully executes, partly execute on the user computer on the user computer, being executed as an independent software package, portion
Divide and partially executes or executed on a remote computer or server completely on the remote computer on the user computer.?
Be related in the situation of remote computer, remote computer can pass through the network of any kind --- including local area network (LAN) or
Wide area network (WAN)-be connected to subscriber computer, or, it may be connected to outer computer (such as mentioned using Internet service
It is connected for quotient by internet).
In several embodiments provided by the present invention, it should be understood that disclosed device and method etc. can pass through
Other modes are realized.For example, the apparatus embodiments described above are merely exemplary, for example, the division of the unit,
Only a kind of logical function partition, there may be another division manner in actual implementation.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of hardware adds SFU software functional unit.
The above-mentioned integrated unit being realized in the form of SFU software functional unit can store and computer-readable deposit at one
In storage media.Above-mentioned SFU software functional unit is stored in a storage medium, including some instructions are used so that a computer
It is each that equipment (can be personal computer, server or the network equipment etc.) or processor (processor) execute the present invention
The part steps of embodiment the method.And storage medium above-mentioned include: USB flash disk, mobile hard disk, read-only memory (ROM,
Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic or disk etc. it is various
It can store the medium of program code.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent substitution, improvement and etc. done be should be included within the scope of the present invention.
Claims (12)
1. a kind of test method of automatic driving vehicle characterized by comprising
Obtain test scene data collected when pilot steering vehicle driving；
The test scene data are divided into input data and expected result；
When the algoritic module in automatic driving vehicle updates, the input data is sent to the algoritic module, is obtained
It is compared to test result, and by the test result with the expected result, tests whether to lead to according to comparison result determination
It crosses.
2. the method according to claim 1, wherein
Test scene data collected include: when the acquisition pilot steering vehicle driving
For different test scenes, test scene data collected when pilot steering vehicle driving are obtained respectively；
It is described the test scene data to be divided into input data and expected result includes:
For each test scene, the corresponding test scene data of the test scene are divided into input data and expectation respectively
As a result；
When the algoritic module when in automatic driving vehicle updates, the input data is sent to the algorithm mould
Block obtains test result, and the test result is compared with the expected result, determines that test is according to comparison result
It is no by including:
When the algoritic module of automatic driving vehicle updates, for each test scene, respectively by the test scene pair
The input data in test scene data answered is sent to the algoritic module, obtains test result, and by the test result
Expected result in test scene data corresponding with the test scene is compared, and determines the test according to comparison result
It tests whether to pass through under scene.
3. the method according to claim 1, wherein
This method further comprises:
It obtains by way of long range radio transmissions, the updated algoritic module being deployed on automatic driving vehicle.
4. the method according to claim 1, wherein
The test scene data include: sensing data, driver's manipulation information and vehicle driving trace information；
It is described the test scene data to be divided into input data and expected result includes:
Using the sensing data as the input data, the driver is manipulated into information and the vehicle driving trace
Information is as the expected result.
5. according to the method described in claim 4, it is characterized in that,
It is described the input data is sent to the algoritic module to include:
By each sensor on simulation automatic driving vehicle, the sensing data is sent to the algoritic module；
Described be compared the test result with the expected result include:
Vehicle performance information in the test result is manipulated information with the driver in the expected result to compare
Compared with；
By the vehicle driving trace information in the test result and the vehicle driving trace information in the expected result
It is compared.
6. a kind of test device of automatic driving vehicle characterized by comprising pretreatment unit and test cell；
The pretreatment unit, test scene data collected when for obtaining pilot steering vehicle driving, and by the survey
Examination contextual data is divided into input data and expected result；
The test cell, for when the algoritic module in automatic driving vehicle updates, the input data to be sent
To the algoritic module, test result is obtained, and the test result is compared with the expected result, is tied according to comparing
Fruit determination tests whether to pass through.
7. device according to claim 6, which is characterized in that
The pretreatment unit is further used for,
For different test scenes, test scene data collected when pilot steering vehicle driving are obtained respectively；
For each test scene, the corresponding test scene data of the test scene are divided into input data and expectation respectively
As a result；
The test cell is further used for,
When the algoritic module of automatic driving vehicle updates, for each test scene, respectively by the test scene pair
The input data in test scene data answered is sent to the algoritic module, obtains test result, and by the test result
Expected result in test scene data corresponding with the test scene is compared, and determines the test according to comparison result
It tests whether to pass through under scene.
8. device according to claim 6, which is characterized in that
Described device further comprises: updating unit；
The updating unit will more for obtaining the updated algoritic module sent by way of long range radio transmissions
Algoritic module after new is deployed on automatic driving vehicle.
9. device according to claim 6, which is characterized in that
The test scene data include: sensing data, driver's manipulation information and vehicle driving trace information；
The pretreatment unit manipulates information and institute using the sensing data as the input data, by the driver
Vehicle driving trace information is stated as the expected result.
10. device according to claim 9, which is characterized in that
It include: Sensor Analog Relay System subelement and result verification subelement in the test cell；
The Sensor Analog Relay System subelement, for passing through simulation nothing when the algoritic module in automatic driving vehicle updates
People drives each sensor on vehicle, and the sensing data is sent to the algoritic module；
The result verification subelement, for obtaining test result, and by the test result vehicle performance information and institute
State the driver in expected result and manipulate information and be compared, by the test result vehicle driving trace information with
The vehicle driving trace information in the expected result is compared, and tests whether to pass through according to comparison result determination.
11. a kind of computer equipment, including memory, processor and it is stored on the memory and can be on the processor
The computer program of operation, which is characterized in that the processor is realized when executing described program as any in Claims 1 to 5
Method described in.
12. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that described program is processed
Such as method according to any one of claims 1 to 5 is realized when device executes.
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