CN109164785A - Emulation test method, device, equipment and the storage medium of automatic driving vehicle - Google Patents
Emulation test method, device, equipment and the storage medium of automatic driving vehicle Download PDFInfo
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- CN109164785A CN109164785A CN201810971546.XA CN201810971546A CN109164785A CN 109164785 A CN109164785 A CN 109164785A CN 201810971546 A CN201810971546 A CN 201810971546A CN 109164785 A CN109164785 A CN 109164785A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
Abstract
The present invention proposes emulation test method, device, equipment and the storage medium of a kind of automatic driving vehicle, and wherein method includes: and obtains the initial road that Lu Caizhu vehicle acquires to adopt data；Data are adopted using the initial road and decision rule control algolithm to be tested carries out emulation testing, determine the first driving track mark of main vehicle to be tested；The first driving track mark of the main vehicle to be tested and the driving trace of the Lu Caizhu vehicle are compared, data are adopted to the initial road according to comparing result and are corrected；Data are adopted using the road after correction and decision rule control algolithm to be tested carries out emulation testing, determine the second driving trace of main vehicle to be tested.The embodiment of the present invention can delete initial road and adopt barrier in data around main vehicle to be tested, the scene for guaranteeing that the road of main vehicle to be tested after calibration is adopted in data is reasonable, and for main vehicle determination to be tested and driving trace is controlled when carrying out emulation testing again, to guarantee the project of emulation testing inspection more fully.
Description
Technical field
The present invention relates to intelligent automobile technical field more particularly to a kind of emulation test methods of automatic driving vehicle, dress
It sets, equipment and computer readable storage medium.
Background technique
Autonomous driving vehicle is one kind of intelligent automobile, also referred to as wheeled mobile robot, is relied primarily on interior in terms of
Intelligent driving instrument based on calculation machine system realizes unpiloted target.
Current autonomous driving vehicle is also in continuous research and development and test phase.Test can be divided into two parts, offline to survey
Examination and the examination of upper drive test.Off-line test part can make full use of emulator to carry out emulation testing, and input is a series of emulation field
Scape, output are reality output behavior of the vehicle in emulator, target be judge vehicle agenda and expected behavior whether
It is consistent.
Simulating scenes include two kinds from major class.One is the scenes for passing through editing machine manual construction；Another kind is by road
The vehicle real scene that on the way actual acquisition obtains is adopted, i.e. data are adopted on road.It is a kind of video data that data are adopted on road, it has recorded
Adopt vehicle collected road and situations such as surrounding vehicles in the process of moving in road.
Currently, two different modes can be used when adopting data progress emulation testing using road.One is masters to be tested
Vehicle continues to use the driving trace of Lu Caizhu vehicle, is in real time that main vehicle to be tested plans new trajectory line by decision rule control algolithm,
But the driving trace for not changing main vehicle to be tested assesses the good of the decision rule control algolithm by assessing new trajectory line
It is bad.Another kind is that main vehicle to be tested does not use Lu Caizhu vehicle driving trace, is in real time to be tested by decision rule control algolithm
Main vehicle plans new driving trace, and controls main vehicle to be tested and travel according to the new driving trace.
Above two mode haves the defects that certain.It is specific:
First way, since main vehicle to be tested uses the driving trace of Lu Caizhu vehicle, the road Zhu Cheyu to be tested
The relationship of other upper vehicles (i.e. obstacle vehicle) is always correct, so there is no problem for the reasonability of scene；But due to can only
The driving trace of Lu Caizhu vehicle is continued to use, so the content that can be checked is extremely limited.
The second way, due to controlling main vehicle to be tested, the item that can be checked using decision rule control algolithm
Very much, it for example collides, crimping, the problem of rule are handed in the various violations such as make a dash across the red light can detected.But due to directly abandoning
The driving trace of Lu Caizhu vehicle, when main vehicle to be tested is from the speed of Lu Caizhu vehicle or track difference (a possibility that different
It is very big), it is unreasonable to there is a situation where that some scenes in data are adopted on the road Zhu Che to be tested, such as can by car rear-end,
Or with the collision of the emergent barrier in front etc..
Summary of the invention
The embodiment of the invention provides a kind of emulation test method of automatic driving vehicle, device, equipment and computers can
Storage medium is read, at least to solve the above technical problem in the prior art.
In a first aspect, the embodiment of the invention provides a kind of emulation test methods of automatic driving vehicle, this method comprises:
Adopt data in the initial road for obtaining the acquisition of Lu Caizhu vehicle；
Data are adopted using the initial road and decision rule control algolithm to be tested carries out emulation testing, are determined to be tested
The first driving track mark of main vehicle；
The first driving track mark of the main vehicle to be tested and the driving trace of the Lu Caizhu vehicle are compared, according to comparing result
Data are adopted to the initial road to be corrected；
Data are adopted using the road after correction and decision rule control algolithm to be tested carries out emulation testing, are determined to be tested
Second driving trace of main vehicle.
With reference to first aspect, the present invention compares the main vehicle to be tested in the first implementation of first aspect
The driving trace of first driving track mark and the Lu Caizhu vehicle is adopted data to the initial road according to comparing result and is corrected,
Include:
The driving trace for adopting main vehicle to the road first driving track Ji He of the main vehicle to be tested respectively samples, and obtains more
Adopt main wheel paths point in a road main wheel paths Dian He to be tested；
When main wheel paths point to be tested and Lu Caizhu wheel paths point are identical in the position along track direction, and perpendicular to
When the position difference of track direction, deletes the initial road and adopt obstacle in the respective frame of data around main wheel paths point to be tested
Object.
The first implementation with reference to first aspect, the present invention in second of implementation of first aspect, when to
It tests main wheel paths point and Lu Caizhu wheel paths point is identical in the position along track direction, and in the position perpendicular to track direction
When setting different, deletes the initial road and adopts barrier in the respective frame of data around main wheel paths point to be tested, comprising:
Following steps are executed respectively for each main wheel paths point to be tested:
It searches in Lu Caizhu wheel paths point identical with main wheel paths point position to be tested in track direction；
When the main wheel paths point to be tested with the Lu Caizhu wheel paths point perpendicular to the position phase in track direction
Meanwhile the respective frame that data are adopted on the initial road is extracted, the respective frame of data is adopted as the road after correction；
When the main wheel paths point to be tested and the Lu Caizhu wheel paths point perpendicular to the position in track direction not
Meanwhile the barrier around the corresponding frame deletion of the data main wheel paths point to be tested is adopted according to the initial road.
Second of implementation with reference to first aspect, the present invention in the third implementation of first aspect, according to
Adopt the barrier around the corresponding frame deletion of the data main wheel paths point to be tested in the initial road, comprising:
Judge that the initial road adopts around the main wheel paths point to be tested of this in the respective frame of data that whether there are obstacles；
If it does not exist, then extracting the respective frame that data are adopted on the initial road, the corresponding of data is adopted as the road after correction
Frame；
If it is present extracting the respective frame that data are adopted on the initial road, delete the barrier, will delete barrier it
The respective frame that data are adopted on initial road afterwards adopts the respective frame of data as the road after correction.
Second aspect, the embodiment of the invention provides a kind of simulation testing device of automatic driving vehicle, which includes:
First emulation module, the initial road for obtaining the acquisition of Lu Caizhu vehicle adopt data, adopt data using the initial road
And decision rule control algolithm to be tested carries out emulation testing, determines the first driving track mark of main vehicle to be tested；
Correction module, for comparing the first driving track mark of the main vehicle to be tested and the traveling rail of the Lu Caizhu vehicle
Mark is adopted data to the initial road according to comparing result and is corrected；
Second emulation module, for adopting data using the road after correction and decision rule control algolithm to be tested is imitated
True test, determines the second driving trace of main vehicle to be tested.
In conjunction with second aspect, in the first implementation of second aspect, which includes: the present invention
Submodule is sampled, the driving trace of main vehicle is adopted for the road first driving track Ji He respectively to the main vehicle to be tested
It is sampled, obtains multiple roads main wheel paths Dian He to be tested and adopt main wheel paths point；
Submodule is deleted, for working as main wheel paths point to be tested with Lu Caizhu wheel paths point in the position phase along track direction
Together, it and when perpendicular to the position difference of track direction, deletes the initial road and adopts main vehicle to be tested in the respective frame of data
Barrier around tracing point.
In conjunction with the first implementation of second aspect, in second of implementation of second aspect, this is deleted the present invention
Except submodule is used to perform the following operation respectively for each main wheel paths point to be tested:
It searches in Lu Caizhu wheel paths point identical with main wheel paths point position to be tested in track direction；
When the main wheel paths point to be tested with the Lu Caizhu wheel paths point perpendicular to the position phase in track direction
Meanwhile the respective frame that data are adopted on the initial road is extracted, the respective frame of data is adopted as the road after correction；
When the main wheel paths point to be tested and the Lu Caizhu wheel paths point perpendicular to the position in track direction not
Meanwhile the barrier around the corresponding frame deletion of the data main wheel paths point to be tested is adopted according to the initial road.
In conjunction with second of implementation of second aspect, in the third implementation of second aspect, this is deleted the present invention
Except submodule is used for:
When the main wheel paths point to be tested and the Lu Caizhu wheel paths point perpendicular to the position in track direction not
Meanwhile judging that the initial road adopts around the main wheel paths point to be tested of this in the respective frame of data that whether there are obstacles；
If it does not exist, then extracting the respective frame that data are adopted on the initial road, the corresponding of data is adopted as the road after correction
Frame；
If it is present extracting the respective frame that data are adopted on the initial road, delete the barrier, will delete barrier it
The respective frame that data are adopted on initial road afterwards adopts the respective frame of data as the road after correction.
The function of the simulation testing device of the automatic driving vehicle can also be held by hardware realization by hardware
The corresponding software realization of row.The hardware or software include one or more modules corresponding with above-mentioned function.
It include processor and storage in the structure of the simulation testing device of automatic driving vehicle in a possible design
Device, the memory, which is used to store, supports the simulation testing device of automatic driving vehicle to execute automatic Pilot in above-mentioned first aspect
The program of the emulation test method of vehicle, the processor is configured to for executing the program stored in the memory.Institute
The simulation testing device for stating automatic driving vehicle can also include communication interface, the simulation testing device for automatic driving vehicle
With other equipment or communication.
The third aspect, the embodiment of the invention provides a kind of computer readable storage mediums, for storing automatic Pilot vehicle
Simulation testing device used in computer software instructions comprising for executing automatic driving vehicle in above-mentioned first aspect
Emulation test method be automatic driving vehicle simulation testing device involved in program.
A technical solution in above-mentioned technical proposal has the following advantages that or the utility model has the advantages that adopting data using initial road
And after decision rule control algolithm to be tested determines the first driving track mark of main vehicle to be tested, main vehicle to be tested is compared
The driving trace of first driving track mark and Lu Caizhu vehicle, and data are adopted to initial road according to comparing result and are corrected, to protect
It is reasonable to demonstrate,prove the scene that the road of main vehicle to be tested after calibration is adopted in data；Also, when carrying out emulation testing again, master to be tested
Vehicle does not use the driving trace of Lu Caizhu vehicle, but is determined by decision rule control algolithm and controlled the second row of main vehicle to be tested
Track is sailed, to guarantee the project checked more fully.
Above-mentioned general introduction is merely to illustrate that the purpose of book, it is not intended to be limited in any way.Except foregoing description
Schematical aspect, except embodiment and feature, by reference to attached drawing and the following detailed description, the present invention is further
Aspect, embodiment and feature, which will be, to be readily apparent that.
Detailed description of the invention
In the accompanying drawings, unless specified otherwise herein, otherwise indicate the same or similar through the identical appended drawing reference of multiple attached drawings
Component or element.What these attached drawings were not necessarily to scale.It should be understood that these attached drawings depict only according to the present invention
Disclosed some embodiments, and should not serve to limit the scope of the present invention.
Fig. 1 is the step flow chart of the emulation test method of the automatic driving vehicle of the embodiment of the present invention one；
Driving trace schematic diagram one of the Fig. 2A by the main vehicle to be tested that decision rule control algolithm is planned and is controlled；
Driving trace schematic diagram two of Fig. 2 B by the main vehicle to be tested that decision rule control algolithm is planned and is controlled；
Fig. 3 is the implementation flow chart of the step S130 of the embodiment of the present invention one；
Fig. 4 illustrates for a position of main wheel paths point to be tested in the embodiment of the present invention one and Lu Caizhu wheel paths point
Figure；
Fig. 5 is the implementation flow chart of the embodiment of the present invention two；
Fig. 6 is the implementation flow chart of the embodiment of the present invention three；
Fig. 7 is the simulation testing device structural schematic diagram of the automatic driving vehicle of the embodiment of the present invention four；
Fig. 8 is the simulated test device structural schematic diagram of the automatic driving vehicle of the embodiment of the present invention five.
Specific embodiment
Hereinafter, certain exemplary embodiments are simply just described.As one skilled in the art will recognize that
Like that, without departing from the spirit or scope of the present invention, described embodiment can be modified by various different modes.
Therefore, attached drawing and description are considered essentially illustrative rather than restrictive.The embodiment of the present invention mainly provides one kind
The emulation test method and device of automatic driving vehicle are retouched by the expansion that following embodiment carries out technical solution separately below
It states.
Embodiment one
It is the step flow chart of the emulation test method of the automatic driving vehicle of the embodiment of the present invention one referring to Fig. 1.This
Embodiment one provides a kind of emulation test method of automatic driving vehicle, method includes the following steps:
S110: data are adopted in the initial road for obtaining the acquisition of Lu Caizhu vehicle.
S120: data are adopted using the initial road and decision rule control algolithm to be tested carries out emulation testing, are determined
The first driving track mark of main vehicle to be tested.
In the step s 120, the initial driving trace of Lu Caizhu vehicle is not continued to use, but the decision by being arranged in emulator
Planning control algorithmic rule and the first driving track mark for controlling main vehicle to be tested.
If Fig. 2A and Fig. 2 B is shown in one embodiment, decision rule control algolithm is planned and is controlled to be tested
The driving trace schematic diagram of main vehicle.Fig. 2A indicates that the driving trace of previous moment, Fig. 2 B indicate the driving trace of later moment in time.?
In Fig. 2A and Fig. 2 B, that the automobile on road indicates is the master to be tested directly controlled by decision rule control algolithm to be tested
Vehicle, what the round shadow positions of main front side to be tested indicated is the position of Lu Caizhu vehicle at that time, it can be seen that main vehicle to be tested
The driving trace of Lu Caizhu vehicle is not used.
At the time of comparison diagram 2A and Fig. 2 B can be seen that corresponding to Fig. 2A, decision rule control algolithm to be tested is
What main vehicle to be tested was planned slows.Therefore, at later moment in time (i.e. at the time of shown by Fig. 2 B), main vehicle to be tested with
The distance between Lu Caizhu vehicle is more farther than the distance in Fig. 2A.However, during emulation testing, if no longer perceived one time
Whether there are also vehicles for surrounding, but adopt data using the road that Lu Caizhu vehicle is perceived, it may appear that scene below.The scene is:
If having the vehicle followed behind Lu Caizhu vehicle at that time, since the speed of road at that time is very fast, then this is followed
Vehicle can knock present main vehicle to be tested, this scene is unreasonable.
In order to solve this problem, the present embodiment is adopted data to initial road using step S130 and is corrected, and uses later
It adopts data and re-starts emulation testing in road after correction.It specifically includes:
S130: the first driving track mark of the comparison main vehicle to be tested and the driving trace of the Lu Caizhu vehicle, according to right
Data are adopted to the initial road than result to be corrected.
S140: data are adopted using the road after correction and decision rule control algolithm to be tested carries out emulation testing, are determined
Second driving trace of main vehicle to be tested.
As shown in figure 3, above-mentioned steps S130 may comprise steps of:
S131: the driving trace for adopting main vehicle to the road first driving track Ji He of main vehicle to be tested respectively samples, and obtains
Adopt main wheel paths point in multiple roads main wheel paths Dian He to be tested.
It in one embodiment of the invention, can be according to preset time interval respectively to the of main vehicle to be tested
As soon as the driving trace of driving trace and the main vehicle of Lu Cai is sampled, in this way, a continuous driving trace obtained by sampling it is more
The tracing point of a location interval.Sampling interval can be configured according to the actual situation, and the sampling interval is smaller, number to be treated
It is bigger according to measuring, but the precision handled is higher.Therefore, the setting in sampling interval needs to combine the processing capacity and processing of equipment
The demand of precision.
S132: when main wheel paths point to be tested and Lu Caizhu wheel paths point are identical in the position along track direction, and
Perpendicular to track direction position difference when, delete initial road and adopt barrier in the respective frame of data around main wheel paths point to be tested
Hinder object.
As Fig. 4 illustrates for a position of main wheel paths point to be tested in the embodiment of the present invention one and Lu Caizhu wheel paths point
Figure.In Fig. 4, the position of tracing point can be determined using a two-dimensional coordinate system, wherein the direction L indicates along track direction,
The direction S is indicated perpendicular to track direction.In Fig. 4, the circle in the second lane of left side indicates one of main vehicle to be tested
Tracing point, the square in the second lane of right side indicate a tracing point of Lu Caizhu vehicle.It can be seen that the two tracks
Point is identical along the position of track direction (direction L) and different in the position perpendicular to track direction (direction S).It is adopted on road
In the respective frame (such as the frame for adopting main wheel paths point comprising the road main wheel paths Dian He to be tested) of data, if main vehicle to be tested
There are barriers around tracing point, then delete the barrier.By executing such behaviour for each main wheel paths point to be tested
Make, realization, which is satisfied the need, adopts the correction of data.
In Fig. 4, vehicle is according to direction running from top to bottom.S coordinate is lateral coordinates, is indicated perpendicular to lane side
To；L coordinate is longitudinal coordinate, is indicated along track direction.Main wheel paths point to be tested and Lu Caizhu wheel paths point are in longitudinal coordinate
Position it is identical and in the position difference of lateral coordinates, delete initial road and adopt main track to be tested in the respective frame of data
Barrier around mark point.
Road after calibration is adopted in data, due to deleting the barrier around main wheel paths point to be tested, to avoid
Main vehicle to be tested and barrier bumps against or hypotelorism, therefore avoid and the unreasonable situation of scene occur.
Later, data and decision rule control algolithm to be tested are adopted in the road after correction can be used, to main vehicle to be tested
Emulation testing is carried out again, determines the second driving trace of main vehicle to be tested.This emulation testing can both avoid the occurrence of to be measured
The unreasonable situation such as main vehicle and barrier collision is tried, and master to be tested can be controlled by decision rule control algolithm to be tested
Second driving trace of vehicle, therefore the project that can be checked is more, including collision, crimping, the various violation traffic rule such as make a dash across the red light
Then the problem of, can detected.
Embodiment two
A kind of implementation of above-mentioned steps S132 is discussed in detail in the present embodiment.Such as the reality that Fig. 5 is the embodiment of the present invention two
Existing flow chart, executes following steps for each main wheel paths point to be tested respectively:
Step S501: it searches in Lu Caizhu wheel paths identical with main wheel paths point position to be tested in track direction
Point.
Step S502: when the main wheel paths point to be tested and the Lu Caizhu wheel paths point are on perpendicular to track direction
Position it is identical when, extract the respective frame that data are adopted on the initial road, the respective frame of data adopted as the road after correction.
Step S503: when the main wheel paths point to be tested and the Lu Caizhu wheel paths point are on perpendicular to track direction
Position difference when, the barrier around the corresponding frame deletion of the data main wheel paths point to be tested is adopted according to the initial road.
In above-mentioned steps S503, " around main wheel paths point to be tested " is not a changeless range, but
The range that may be set according to actual conditions.For example, can be by 3 meters of the front and back of main wheel paths point to be tested, two lanes in left and right
As surrounding range；The point centered on main wheel paths point to be tested, by within 3 meters before and after central point and left and right two
Range within lane is determined as the range around main wheel paths point to be tested.There are obstacles around main wheel paths point to be tested
When object, show that the hypotelorism of the barrier and main vehicle to be tested or even the two have bumped against, such case be it is unreasonable,
Therefore it needs to adopt initial road into the barrier in the respective frame of data and delete.
Embodiment three
Another implementation of above-mentioned steps S132 is discussed in detail in the present embodiment.Relative to embodiment two, the present embodiment
Describe a kind of realization process of step S503 in detail.If Fig. 6 be the embodiment of the present invention three implementation flow chart, for it is each to
It tests main wheel paths point and executes following steps respectively:
Step S601: it searches identical as main wheel paths point position to be tested along track direction (direction L in such as Fig. 4)
Lu Caizhu wheel paths point.
Step S602: judge main wheel paths point to be tested and Lu Caizhu wheel paths point perpendicular to track direction (in such as Fig. 4
The direction S) on position it is whether identical；If it is different, then executing step S603；If identical, S604 is thened follow the steps.
Step S603: judge that initial road is adopted around the main wheel paths point to be tested of this in the respective frame of data with the presence or absence of obstacle
Object, if it does not exist, then executing step S604；If it is present executing step S605.
Step S604: the respective frame that data are adopted on initial road is directly extracted, the respective frame of data is adopted as the road after correction.It should
The respective frame that data are adopted on road after correction adopts data at the road after correction for subsequent combination.Terminate current process.
Step S605: extracting the respective frame that data are adopted on initial road, delete the barrier, will be first after deletion barrier
The respective frame that data are adopted on beginning road adopts the respective frame of data as the road after correction.The respective frame that data are adopted on road after the correction is used for
Subsequent combination adopts data at the road after correction.Terminate current process.
Likewise, " around main wheel paths point to be tested " is not a changeless model in above-mentioned steps S603
The range enclosed, but may be set according to actual conditions.There are when barrier around main wheel paths point to be tested, show the barrier
Object is hindered even to bump against with main vehicle hypotelorism to be tested, such case is unreasonable, it is therefore desirable to which number is adopted on initial road
According to respective frame in the barrier delete.
In addition, the frame of data is adopted on the road after obtaining multiple corrections by the above process in one embodiment of the present of invention, and
And after these frames combine, it can be smoothed, so as to adopt data image more smooth for the road after correction
It is smooth.
Example IV
The present embodiment four provides a kind of simulation testing device of automatic driving vehicle.It is that the present invention is real referring to Fig. 7, Fig. 7
The simulation testing device structural schematic diagram of the automatic driving vehicle of example four is applied, which includes:
First emulation module 710, the initial road for obtaining the acquisition of Lu Caizhu vehicle adopt data, adopt number using the initial road
According to and decision rule control algolithm to be tested carry out emulation testing, determine the first driving track mark of main vehicle to be tested；
Correction module 720, for comparing the first driving track mark of the main vehicle to be tested and the traveling of the Lu Caizhu vehicle
Track is adopted data to the initial road according to comparing result and is corrected；
Second emulation module 730, for using the road after correction adopt data and decision rule control algolithm to be tested into
Row emulation testing determines the second driving trace of main vehicle to be tested.
Wherein, the first emulation module 710 does not continue to use the driving trace of Lu Caizhu vehicle, but by decision rule to be tested
Control algolithm is planned and controls the driving trace of main vehicle to be tested.During the emulation testing of the first emulation module 710, due to
Can't go around perception one time whether there are also vehicles again, but adopt data using the initial road that Lu Caizhu vehicle is perceived, this is just
Cause if having the vehicle followed behind Lu Caizhu vehicle at that time, since the speed of road at that time is very fast, then this
The vehicle followed will knock present main vehicle to be tested certainly, and this scene is unreasonable.In order to avoid this unreasonable
Situation needs correction module 720 to adopt data to initial road and is corrected.
Correction module 720 may include:
Submodule 721 is sampled, the traveling of main vehicle is adopted for the road first driving track Ji He respectively to the main vehicle to be tested
Track is sampled, and is obtained multiple roads main wheel paths Dian He to be tested and is adopted main wheel paths point；
Submodule 722 is deleted, for working as main wheel paths point to be tested and Lu Caizhu wheel paths point in the position along track direction
Set it is identical, and when perpendicular to the position difference of track direction, delete the initial road adopt it is to be tested in the respective frame of data
Barrier around main wheel paths point.
Specifically, above-mentioned sampling submodule 721 can be according to preset time interval respectively to main vehicle to be tested
The driving trace of driving trace and the main vehicle of Lu Cai is sampled, in this way, a continuous driving trace just obtained by sampling it is multiple
The tracing point of location interval.Wherein, the sampling interval can be configured according to the actual situation, and the sampling interval is smaller, need to handle
Data volume it is bigger, but handle precision it is higher；Therefore, the setting in sampling interval need to combine equipment processing capacity and
The demand of processing accuracy.
Above-mentioned deletion submodule 722 can be used for performing the following operation respectively for each main wheel paths point to be tested:
It searches in Lu Caizhu wheel paths point identical with main wheel paths point position to be tested in track direction；
When the main wheel paths point to be tested with the Lu Caizhu wheel paths point perpendicular to the position phase in track direction
Meanwhile the respective frame that data are adopted on the initial road is extracted, the respective frame of data is adopted as the road after correction；
When the main wheel paths point to be tested and the Lu Caizhu wheel paths point perpendicular to the position in track direction not
Meanwhile the barrier around the corresponding frame deletion of the data main wheel paths point to be tested is adopted according to the initial road.
Specifically, when the main wheel paths point to be tested and the Lu Caizhu wheel paths point are on perpendicular to track direction
When the difference of position, above-mentioned deletion submodule 722 is used for, and judges that the main track to be tested of this in the respective frame of data is adopted on the initial road
Whether there are obstacles around mark point；
If it does not exist, then extracting the respective frame that data are adopted on the initial road, the corresponding of data is adopted as the road after correction
Frame；
If it is present extracting the respective frame that data are adopted on the initial road, delete the barrier, will delete barrier it
The respective frame that data are adopted on initial road afterwards adopts the respective frame of data as the road after correction.
Wherein, it can be set according to the actual situation " around main wheel paths point to be tested ".For example, with master to be tested
Range within 3 meters before and after central point and within two lanes in left and right is determined as master to be tested by point centered on wheel paths point
Range around wheel paths point.There are when barrier around main wheel paths point to be tested, show the barrier and master to be tested
The hypotelorism or even the two of vehicle have bumped against, and such case is unreasonable, therefore delete submodule 722 and adopt initial road
The barrier in the respective frame of data is deleted.The respective frame that data are adopted on initial road is referred to comprising the main wheel paths point to be tested
The frame of data track point is adopted with road.
As it can be seen that the barrier to conflict can be had with Lu Caizhu wheel paths point for adopting in data with initial road by deleting submodule 722
Hinder object to be deleted, bump against so as to avoid main vehicle to be tested and barrier or hypotelorism, therefore avoids that scene occur unreasonable
The case where.
In addition, deleting the road that submodule 722 is handled after obtaining multiple corrections adopts the frame of data, and these frame groups are closed
It after coming, can be smoothed, so that data image more smooth flow is adopted on the road after correction.
In the present embodiment, the function of the simulation testing device of automatic driving vehicle can also be led to by hardware realization
It crosses hardware and executes corresponding software realization.The hardware or software include one or more modules corresponding with above-mentioned function.
Embodiment five
The embodiment of the present invention five provides a kind of simulated test device of automatic driving vehicle, as shown in figure 8, the equipment packet
Include: memory 810 and processor 820, memory 810 are stored with the computer program that can be run on processor 820.The place
Reason device 820 realizes the emulation test method of the automatic driving vehicle in above-described embodiment when executing the computer program.It is described
The quantity of memory 810 and processor 820 can be one or more.
The equipment can also include:
Communication interface 830 carries out data exchange transmission for being communicated with external device.
Memory 810 may include high speed RAM memory, it is also possible to further include nonvolatile memory (non-
Volatile memory), a for example, at least magnetic disk storage.
If memory 810, processor 820 and the independent realization of communication interface 830, memory 810,820 and of processor
Communication interface 830 can be connected with each other by bus and complete mutual communication.The bus can be industrial standard body
Architecture (ISA, Industry Standard Architecture) bus, external equipment interconnection (PCI, Peripheral
Component Interconnect) bus or extended industry-standard architecture (EISA, Extended Industry
Standard Architecture) etc..The bus can be divided into address bus, data/address bus, control bus etc..For convenient for
It indicates, is only indicated with a thick line in Fig. 7, be not offered as only a bus or a type of bus.
Optionally, in specific implementation, if memory 810, processor 820 and communication interface 830 are integrated in one piece of core
On piece, then memory 810, processor 820 and communication interface 830 can complete mutual communication by internal interface.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.Moreover, particular features, structures, materials, or characteristics described
It may be combined in any suitable manner in any one or more of the embodiments or examples.In addition, without conflicting with each other, this
The technical staff in field can be by the spy of different embodiments or examples described in this specification and different embodiments or examples
Sign is combined.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic." first " is defined as a result, the feature of " second " can be expressed or hidden
It include at least one this feature containing ground.In the description of the present invention, the meaning of " plurality " is two or more, unless otherwise
Clear specific restriction.
Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes
It is one or more for realizing specific logical function or process the step of executable instruction code module, segment or portion
Point, and the range of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discussed suitable
Sequence, including according to related function by it is basic simultaneously in the way of or in the opposite order, to execute function, this should be of the invention
Embodiment person of ordinary skill in the field understood.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (such as computer based system, including the system of processor or other can be held from instruction
The instruction fetch of row system, device or equipment and the system executed instruction) it uses, or combine these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium ", which can be, any may include, stores, communicates, propagates or pass
Defeated program is for instruction execution system, device or equipment or the dress used in conjunction with these instruction execution systems, device or equipment
It sets.The more specific example (non-exhaustive list) of computer-readable medium include the following: there is the electricity of one or more wirings
Interconnecting piece (electronic device), portable computer diskette box (magnetic device), random access memory (RAM), read-only memory
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable read-only memory
(CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other suitable Jie
Matter, because can then be edited, be interpreted or when necessary with other for example by carrying out optical scanner to paper or other media
Suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each section of the invention can be realized with hardware, software, firmware or their combination.Above-mentioned
In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage
Or firmware is realized.It, and in another embodiment, can be under well known in the art for example, if realized with hardware
Any one of column technology or their combination are realized: having a logic gates for realizing logic function to data-signal
Discrete logic, with suitable combinational logic gate circuit specific integrated circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
Those skilled in the art are understood that realize all or part of step that above-described embodiment method carries
It suddenly is that relevant hardware can be instructed to complete by program, the program can store in a kind of computer-readable storage medium
In matter, which when being executed, includes the steps that one or a combination set of embodiment of the method.
It, can also be in addition, each functional unit in each embodiment of the present invention can integrate in a processing module
It is that each unit physically exists alone, can also be integrated in two or more units in a module.Above-mentioned integrated mould
Block both can take the form of hardware realization, can also be realized in the form of software function module.The integrated module is such as
Fruit is realized and when sold or used as an independent product in the form of software function module, also can store in a computer
In readable storage medium storing program for executing.The storage medium can be read-only memory, disk or CD etc..
In conclusion the embodiment of the present invention can adopt data on use road and decision rule control algolithm to be tested determines
Out after the first driving track mark of main vehicle to be tested, the first driving track mark of main vehicle to be tested and the traveling rail of Lu Caizhu vehicle are compared
Mark, and data are adopted to initial road according to comparing result and are corrected, delete initial road adopt in data with main wheel paths point to be tested
The barrier of conflict, so that the scene for guaranteeing that main vehicle to be tested is adopted in data on initial road is reasonable.Later, using the road after correction
It adopts data and decision rule control algolithm to be tested re-starts emulation testing, planned and controlled by decision rule control algolithm
Second driving trace of main vehicle to be tested, to realize more comprehensively emulation testing.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can readily occur in its various change or replacement,
These should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with the guarantor of the claim
It protects subject to range.
Claims (10)
1. a kind of emulation test method of automatic driving vehicle, which is characterized in that the described method includes:
Adopt data in the initial road for obtaining the acquisition of Lu Caizhu vehicle；
Data are adopted using the initial road and decision rule control algolithm to be tested carries out emulation testing, determine main vehicle to be tested
First driving track mark；
The first driving track mark of the main vehicle to be tested and the driving trace of the Lu Caizhu vehicle are compared, according to comparing result to institute
It states initial road and adopts data and be corrected；
Data are adopted using the road after correction and decision rule control algolithm to be tested carries out emulation testing, determine main vehicle to be tested
The second driving trace.
2. the method according to claim 1, wherein first driving track mark and the institute of the comparison main vehicle to be tested
The driving trace for stating Lu Caizhu vehicle is adopted data to the initial road according to comparing result and is corrected, comprising:
The driving trace for adopting main vehicle to the road first driving track Ji He of the main vehicle to be tested respectively samples, obtain it is multiple to
It tests the road main wheel paths Dian He and adopts main wheel paths point；
When main wheel paths point to be tested and Lu Caizhu wheel paths point are identical in the position along track direction, and perpendicular to lane
When the position difference in direction, deletes the initial road and adopt barrier in the respective frame of data around main wheel paths point to be tested.
3. according to the method described in claim 2, it is characterized in that, when main wheel paths point to be tested and Lu Caizhu wheel paths point exist
Position along track direction is identical, and when perpendicular to the position difference of track direction, deletes the initial road and adopts data
Barrier in respective frame around main wheel paths point to be tested, comprising:
Following steps are executed respectively for each main wheel paths point to be tested:
It searches in Lu Caizhu wheel paths point identical with main wheel paths point position to be tested in track direction；
When the main wheel paths point to be tested with the Lu Caizhu wheel paths point when identical perpendicular to the position in track direction,
The respective frame that data are adopted on the initial road is extracted, the respective frame of data is adopted as the road after correction；
When the main wheel paths point to be tested and the Lu Caizhu wheel paths point are when perpendicular to position difference in track direction,
The barrier around the corresponding frame deletion of the data main wheel paths point to be tested is adopted according to the initial road.
4. according to the method described in claim 3, it is characterized in that, should be to according to the corresponding frame deletion that data are adopted on the initial road
Test the barrier around main wheel paths point, comprising:
Judge that the initial road adopts around the main wheel paths point to be tested of this in the respective frame of data that whether there are obstacles；
If it does not exist, then extracting the respective frame that data are adopted on the initial road, the respective frame of data is adopted as the road after correction；
If it is present extracting the respective frame that data are adopted on the initial road, the barrier is deleted, after deleting barrier
The respective frame that data are adopted on initial road adopts the respective frame of data as the road after correction.
5. a kind of simulation testing device of automatic driving vehicle, which is characterized in that described device includes:
First emulation module, for obtain Lu Caizhu vehicle acquisition initial road adopt data, using the initial road adopt data and to
The decision rule control algolithm of test carries out emulation testing, determines the first driving track mark of main vehicle to be tested；
Correction module, for comparing the first driving track mark of the main vehicle to be tested and the driving trace of the Lu Caizhu vehicle, root
Data are adopted to the initial road according to comparing result to be corrected；
Second emulation module, for adopting data using the road after correction and decision rule control algolithm to be tested carries out emulation survey
Examination, determines the second driving trace of main vehicle to be tested.
6. device according to claim 5, which is characterized in that the correction module includes:
Submodule is sampled, the driving trace for adopting main vehicle for the road first driving track Ji He respectively to the main vehicle to be tested carries out
Sampling, obtains multiple roads main wheel paths Dian He to be tested and adopts main wheel paths point；
Submodule is deleted, it is identical in the position along track direction for working as main wheel paths point to be tested and Lu Caizhu wheel paths point,
And when perpendicular to the position difference of track direction, deletes the initial road and adopt main wheel paths to be tested in the respective frame of data
Barrier around point.
7. device according to claim 6, which is characterized in that the deletion submodule is used to be directed to each main vehicle to be tested
Tracing point performs the following operation respectively:
It searches in Lu Caizhu wheel paths point identical with main wheel paths point position to be tested in track direction；
When the main wheel paths point to be tested with the Lu Caizhu wheel paths point when identical perpendicular to the position in track direction,
The respective frame that data are adopted on the initial road is extracted, the respective frame of data is adopted as the road after correction；
When the main wheel paths point to be tested and the Lu Caizhu wheel paths point are when perpendicular to position difference in track direction,
The barrier around the corresponding frame deletion of the data main wheel paths point to be tested is adopted according to the initial road.
8. device according to claim 7, which is characterized in that the deletion submodule is used for:
When the main wheel paths point to be tested and the Lu Caizhu wheel paths point are when perpendicular to position difference in track direction,
Judge that the initial road adopts around the main wheel paths point to be tested of this in the respective frame of data that whether there are obstacles；
If it does not exist, then extracting the respective frame that data are adopted on the initial road, the respective frame of data is adopted as the road after correction；
If it is present extracting the respective frame that data are adopted on the initial road, the barrier is deleted, after deleting barrier
The respective frame that data are adopted on initial road adopts the respective frame of data as the road after correction.
9. a kind of simulated test device of automatic driving vehicle, which is characterized in that the equipment includes:
One or more processors；
Storage device, for storing one or more programs；
When one or more of programs are executed by one or more of processors, so that one or more of processors
Realize the method as described in any in Claims 1-4.
10. a kind of computer readable storage medium, is stored with computer program, which is characterized in that the program is held by processor
The method as described in any in Claims 1-4 is realized when row.
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Application publication date: 20190108 Assignee: Apollo Zhixing Technology (Guangzhou) Co.,Ltd. Assignor: BEIJING BAIDU NETCOM SCIENCE AND TECHNOLOGY Co.,Ltd. Contract record no.: X2022990000671 Denomination of invention: Simulation test method, device, equipment and storage medium for autonomous vehicle Granted publication date: 20190830 License type: Common License Record date: 20220919 |