CN109187048A - Automatic Pilot performance test methods and automatic Pilot performance testing device - Google Patents
Automatic Pilot performance test methods and automatic Pilot performance testing device Download PDFInfo
- Publication number
- CN109187048A CN109187048A CN201811073446.1A CN201811073446A CN109187048A CN 109187048 A CN109187048 A CN 109187048A CN 201811073446 A CN201811073446 A CN 201811073446A CN 109187048 A CN109187048 A CN 109187048A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- automatic pilot
- map
- information
- road
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
Abstract
The application provides automatic Pilot performance test methods and automatic Pilot performance testing device, and method includes: the map environment based on map datum building automatic Pilot performance test；The running data of the video pictures and minute book vehicle in this vehicle driving process is shot by photographic device；According to the running data of nearby vehicle, the video pictures of traffic scene and this vehicle, the driving status of nearby vehicle and the variable condition of traffic scene are simulated in map environment in conjunction with map environment, constructs the test scene of automatic Pilot performance test；Automatic Pilot performance is tested in the test scene of building.The application can be realized the simulation of automatic Pilot performances areas performance, the traffic safety problem and legal issue for avoiding leaving on the vehicle of automatic Pilot test automatic Pilot performance on highway and causing, and the test environment and true traffic scene being consistent can be simulated, keep test result more acurrate.
Description
Technical field
This application involves automatic Pilot field more particularly to automatic Pilot performance test methods and automatic Pilot performance to survey
Trial assembly is set.
Background technique
It is typically necessary before road on automatic driving vehicle and carries out a large amount of automatic Pilot performance test.And the prior art
In, general automatic Pilot performance test methods are to leave for the vehicle of automatic Pilot on highway, according to actual traffic conditions
To test the automatic Pilot performance of vehicle.But if making to need costly cost in this way, and can
Traffic accidents can be caused, also do not allowed by law temporarily.And some companies pass through software analog simulation automatic Pilot vehicle
Test environment come for developer run automatic Pilot algorithm, but simulate come test environment and true traffic scene
It is not inconsistent, also results in test result inaccuracy.
Summary of the invention
The application provides a kind of automatic Pilot performance test methods and automatic Pilot performance testing device, can be realized automatic
The simulation test of driving performance can be removed from and need to carry out automatic driving vehicle into automatic Pilot on highway in the prior art
Can test has that testing cost is high and risk is big and tests automatic Pilot by the test environment of software simulation
The accuracy problem of the reduced performance test result of algorithm.
According to a first aspect of the present application, the application provides a kind of automatic Pilot performance test methods, and method includes: to be based on
The map environment of map datum building automatic Pilot performance test；The video in this vehicle driving process is shot by photographic device to draw
The running data of face and minute book vehicle, video pictures include: nearby vehicle and traffic scene change in this vehicle driving process
The video pictures of change, running data include: geographical location information, speed and the acceleration of vehicle, wherein traffic scene packet
It includes: information, road information and the video information of both sides of the road of traffic sign；According to nearby vehicle, the video of traffic scene
The running data of picture and this vehicle simulates the driving status and traffic of nearby vehicle in conjunction with map environment in map environment
The variable condition of scene constructs the test scene of automatic Pilot performance test；Automatic Pilot is tested in the test scene of building
Performance.
Preferably, construct automatic Pilot performance test test scene the step of in, comprising: crossed according to this garage
The video pictures of nearby vehicle in journey and the running data of vehicle, are calculated the running data of nearby vehicle；According to week
The running data of side vehicle and the video pictures of nearby vehicle construct the driving status of nearby vehicle in map environment；According to
The video pictures of traffic environment construct the variable condition of traffic environment in map environment.
Preferably, in the step of constructing the map environment of automatic Pilot performance test based on map datum, comprising: obtain
The profile information and characteristic information of building in map datum, wherein the profile information of building is building in map number
The characteristic information of coordinate points in, building includes the number of plies of building；Obtain map datum in road profile information with
And characteristic information, wherein the profile information of road is coordinate points of the road in map datum, and the characteristic information of road includes
The width information on road；According to the profile information and road in the profile information of building, the characteristic information of building, road information
Map datum is carried out three-dimensional modelling to form map environment to construct by the characteristic information in information.
Preferably, in the traveling number for shooting video pictures and minute book vehicle in this vehicle driving process by photographic device
According to the step of in, further includes: pass through the traffic information in sensor collection this vehicle driving process, wherein sensor includes: weather
Sensor and/or tyre pressure sensor；In the step of constructing the test scene of automatic Pilot performance test, further includes: according to biography
The traffic information that sensor is collected constructs weather conditions and/or surface evenness situation in map environment.
Preferably, in the step of constructing the test scene of automatic Pilot performance test, further includes: when setting for map environment
When positioning is set in the presence of at least two test scene, the optional wherein test scene of user is for automatic Pilot performance test.
According to the second aspect of application, the application provides a kind of automatic Pilot performance testing device, and device includes: map structure
Block is modeled, the plane for obtaining map constitutes data, constructs the map environment of automatic Pilot performance test；Photographing module is used
The running data of video pictures and minute book vehicle in shooting this vehicle driving process, video pictures include: that this garage crosses
The video pictures of nearby vehicle and traffic scene variation in journey, running data include: the geographical location information of vehicle, traveling
Track, speed and acceleration, wherein traffic scene includes: information, road information and the view of both sides of the road of traffic sign
Frequency information；Scenario simulation module, for according to the video pictures of nearby vehicle, traffic scene and the running data of this vehicle, knot
It closes map environment and simulates the driving status of nearby vehicle and the variable condition of traffic scene in map environment, building is driven automatically
Sail the test scene of performance test；Performance test module, for testing automatic Pilot performance in the test scene of building.
Preferably, scenario simulation module includes: running data computing unit, for according to the periphery in this vehicle driving process
The video pictures of vehicle and the running data of vehicle, are calculated the running data of nearby vehicle；Driving status construction unit,
For the row of nearby vehicle to be constructed in map environment according to the running data of nearby vehicle and the video pictures of nearby vehicle
Sail state；Traffic scene changes construction unit, and traffic ring is constructed in map environment for the video pictures according to traffic environment
The variable condition in border.
Preferably, map structuring module includes: building construction unit, for obtaining the profile of building in map datum
Information and characteristic information, wherein the profile information of building is coordinate points of the building in map datum, the spy of building
Reference breath includes the number of plies of building；Road construction unit, for obtaining the profile information and feature of road in map datum
Information, wherein the profile information of road is coordinate points of the road in map datum, and the characteristic information of road includes the width of road
Spend information；Map constructing unit, for according to the profile information of building, the characteristic information of building, road profile information
Map datum is carried out three-dimensional modelling to form map environment to construct with the characteristic information of road.
Preferably, image processing apparatus further include: sensor detection module is crossed for this garage by sensor collection
Traffic information in journey, wherein sensor includes: weather sensor and/or tyre pressure sensor；Map structuring module also to:
According to the traffic information of sensor collection, weather conditions and/or surface evenness situation are constructed in map environment.
Preferably, performance test module is used for: when there is at least two test scene in the setting position of map environment, user
An optional wherein test scene is for automatic Pilot performance test.
The beneficial effects of the present application are as follows: the map environment based on map datum building automatic Pilot performance test, and lead to
The running data for crossing video pictures and minute book vehicle that photographic device is shot in this vehicle driving process according to nearby vehicle, is handed over
Lead to the video pictures of scene and the running data of this vehicle, and simulates the row of nearby vehicle in map environment in conjunction with map environment
The variable condition for sailing state and traffic scene, by constructing the test scene of automatic Pilot performance test, in the test of building
Automatic Pilot simulation is carried out in scene, tests automatic Pilot performance, so as to not have to as it is by by automatic Pilot
Vehicle leaves for carrying out automatic Pilot performance test on highway, saves great cost and does not also avoid carrying out on highway
Because of the not perfect caused safety problem of automatic Pilot algorithm when drive test, in addition, the test that the technical solution of the application is simulated
Environmental sources are true, can truly simulation test environment so that test result is more accurate.
Detailed description of the invention
Fig. 1 is the flow chart of the automatic Pilot performance test methods of one embodiment of the application；
Fig. 2 is the schematic diagram of the automatic Pilot performance testing device of another embodiment of the application；
Specific embodiment
The present invention is further described with exemplary embodiment with reference to the accompanying drawing, the examples of the embodiments are attached
It is shown in figure, in which the same or similar labels are throughly indicated same or similar element or there is same or like function
Element.The embodiments described below with reference to the accompanying drawings are exemplary, for explaining only the invention, and cannot be construed to pair
Limitation of the invention.In addition, if the detailed description of known technology is for showing the invention is characterized in that unnecessary, then by it
It omits.
Those skilled in the art of the present technique are appreciated that unless expressly stated, singular " one " used herein, " one
It is a ", " described " and "the" may also comprise plural form.It is to be further understood that being arranged used in specification of the invention
Taking leave " comprising " is
Refer to there are the feature, integer, step, operation, element and/or component, but it is not excluded that in the presence of or addition one
Other a or multiple features, integer, step, operation, element, component and/or their group.It should be understood that when we claim element
It is " connected " or when " coupled " to another element, it can be directly connected or coupled to other elements, or there may also be in
Between element.In addition, " connection " used herein or " coupling " may include being wirelessly connected or wirelessly coupling.Wording used herein
"and/or" includes one or more associated wholes for listing item or any cell and all combinations.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein (including technology art
Language and scientific term), there is meaning identical with the general understanding of those of ordinary skill in fields of the present invention.Should also
Understand, those terms such as defined in the general dictionary, it should be understood that have in the context of the prior art
The consistent meaning of meaning, and unless idealization or meaning too formal otherwise will not be used by specific definitions as here
To explain.
Referring to Fig. 1, the automatic Pilot performance test methods applied to picture pick-up device of the application, method include:
Step S101: the map environment based on map datum building automatic Pilot performance test.
In the present embodiment, step S101 includes:
Step S1011: the profile information and characteristic information of building in map datum are obtained, wherein the building
Profile information be coordinate points of the building in map datum, the characteristic information of the building includes the building
The number of plies.
In the present embodiment, the profile information of building be shown in map datum by way of coordinate points, for example,
The profile of certain mansion the projection of plane be square, by its coordinate points on map be (0,0), (0,1), (1,
0), (1,1) indicates its profile.
Step S1012: the profile information and characteristic information of road in map datum are obtained, wherein the profile of road is believed
Breath is coordinate points of the road in map datum, and the characteristic information of road includes the width information of road.
In the present embodiment, road can also indicate the shape of its road by its coordinate points on map, in conjunction with
The width information of road, so that it may draw out the truth of road.
Step S1013: according to the profile information of building, the characteristic information of building, road profile information and road
Characteristic information map datum is carried out three-dimensional modelling to construct to form map environment.
In the present embodiment, according to the profile information of building and the number of plies of building, the three-dimensional mould of building can be established
Type can draw the truth of road according to the shape of road and width information, because what is drawn is threedimensional model, so that
Map environment and actual environment have similar effect.
Step S102: the video pictures in this vehicle driving process are shot by photographic device and record the row of described vehicle
Data are sailed, the video pictures include: that the video of the nearby vehicle and traffic scene variation in described vehicle driving process is drawn
Face, the running data include: geographical location information, speed and the acceleration of vehicle, wherein the traffic scene includes:
Information, road information and the video information of both sides of the road of traffic sign.
It, can be by obtaining periphery according to the photographic device on the direction of front, rear, left and right on vehicle in the present embodiment
Vehicle and the video pictures of traffic environment variation, can obtain the geographical location information and row of vehicle by GPS positioning
Track is sailed, the speed and acceleration of vehicle can be obtained by gravity sensor.
Step S103: according to video pictures and the running data of this vehicle, the row in map environment inner periphery vehicle is simulated
State and traffic environment variation are sailed, test scene is constructed.
In the present embodiment, step S103 is specifically included:
Step S1031: according to the video pictures of the nearby vehicle in this vehicle driving process and the running data of vehicle, meter
Calculate the running data for obtaining nearby vehicle.In the present embodiment, pass through the running data of this vehicle vehicle and the video of nearby vehicle
Picture, which converts, obtains the running data of nearby vehicle.
Step S1032: the structure in map environment according to the running data of nearby vehicle and the video pictures of nearby vehicle
Build the driving status of nearby vehicle.In the present embodiment, driving status includes: that the travel speed of nearby vehicle, nearby vehicle are opposite
In the position of this vehicle and the driving direction of nearby vehicle.
Step S1033: the variable condition of traffic environment is constructed in map environment according to the video pictures of traffic environment.This
In embodiment, the variable condition of traffic environment include: the variation of the information of traffic sign, periphery road surface information variation and
The variation of the video information of both sides of the road.
For example, user has taken one section of video in Universities Road, include in captured video pictures nearby vehicle and
The video pictures of periphery traffic environment.According to running data of this vehicle vehicle, such as velocity information etc., nearby vehicle is calculated
Running data, according to the image scaled of video pictures calculate nearby vehicle and this vehicle vehicle positional distance, drawn according to video
The variation of variation such as traffic sign, the variation on road surface of traffic environment are simulated in map environment in face.
In the present embodiment, the traffic information in sensor collection this vehicle driving process can also be passed through, wherein sensor packet
It includes: weather sensor and/or tyre pressure sensor.
Further, in the step of constructing test scene, further includes: according to the traffic information of sensor collection, on ground
Weather conditions and/or surface evenness situation are constructed in figure environment.The wet and slippery degree of weather road pavement is also influential, road surface
Wet and slippery degree and the flatness on road surface vehicle driving can all be impacted, pass through the wet and slippery degree of simulated roadway and road
The flatness in face is capable of the situation of further simulated roadway, so that the running environment of vehicle is truer.
It, can be by the driving status of the nearby vehicle in captured video pictures, traffic environment by above-mentioned simulation
Variation be dissolved into the three-dimensional map environment that front constructs, this makes it possible to truly simulate the driving environment of vehicle.
Step S104: automatic Pilot performance is tested in the test scene of building.
In the present embodiment, when the setting position of map environment has at least two test scene, user may be selected wherein one
Test scene is for automatic Pilot performance test.Because the video pictures in the same place may be what different user uploaded, this
The case where resulting in the same location that may correspond to multiple test scenes, user only need to select one of test scene i.e.
It can.
Correspondingly, the function modoularization thinking according to computer software, referring to Fig. 2, the application proposition is opened based on vehicle
Barrier prior-warning device, device include: before dynamic
Map structuring module 201 constructs the map environment of automatic Pilot performance test for obtaining map datum.Map
Constructing module 201 includes:
Computing unit, for obtaining the profile information and characteristic information of building in map datum, wherein building
Profile information is coordinate points of the building in map datum, and the characteristic information of building includes the number of plies of building.
In the present embodiment, the profile information of building be shown in map datum by way of coordinate points, for example,
The profile of certain mansion the projection of plane be square, by its coordinate points on map be (0,0), (0,1), (1,
0), (1,1) indicates its profile.
Vehicle simulation unit, for obtaining the profile information and characteristic information of road in map datum, wherein road
Profile information is coordinate points of the road in map datum, and the characteristic information of road includes the width information of road.
In the present embodiment, road can also indicate the shape of its road by its coordinate points on map, in conjunction with
The width information of road, so that it may draw out the truth of road.
Traffic scene unit, for according to the profile information of building, the characteristic information of building, road profile information
Map datum is carried out three-dimensional modelling to form map environment to construct with the characteristic information of road.
In the present embodiment, according to the profile information of building and the number of plies of building, the three-dimensional mould of building can be established
Type can draw the truth of road according to the shape of road and width information, because what is drawn is threedimensional model, so that
Map environment and actual environment have similar effect.
Photographing module 202, for shooting video pictures and minute book vehicle in this vehicle driving process by photographic device
Running data, video pictures include: the video pictures of nearby vehicle in this vehicle driving process and traffic environment variation, row
Sail the geographical location information, speed and acceleration that data include: vehicle, wherein traffic environment variation video pictures include:
Information, the information on periphery road surface and the video information of both sides of the road of traffic sign.
It, can be by obtaining periphery according to the photographic device on the direction of front, rear, left and right on vehicle in the present embodiment
Vehicle and the video pictures of traffic environment variation, can obtain the geographical location information and row of vehicle by GPS positioning
Track is sailed, the speed and acceleration of vehicle can be obtained by gravity sensor.
Scenario simulation module 203, for according to the video pictures of nearby vehicle, traffic scene and the traveling number of this vehicle
According to, the driving status of nearby vehicle and the variable condition of traffic scene are simulated in map environment in conjunction with map environment, construct
The test scene of automatic Pilot performance test.
Scenario simulation module 203 includes:
Building construction unit, for according to the video pictures of the nearby vehicle in this vehicle driving process and the row of vehicle
Data are sailed, the running data of nearby vehicle is calculated；
Road construction unit, for according to the running data of nearby vehicle and the video pictures of nearby vehicle in map ring
The driving status of nearby vehicle is constructed in border；
Map constructing unit constructs the variation of traffic environment for the video pictures according to traffic environment in map environment
State.
For example, user has taken one section of video in Universities Road, include in captured video pictures nearby vehicle and
The video pictures of periphery traffic environment.According to running data of this vehicle vehicle, such as velocity information etc., nearby vehicle is calculated
Running data, according to the image scaled of video pictures calculate nearby vehicle and this vehicle vehicle positional distance, drawn according to video
The variation of variation such as traffic sign, the variation on road surface of traffic environment are simulated in map environment in face.
In the present embodiment, the traffic information in sensor collection this vehicle driving process can also be passed through, wherein sensor packet
It includes: weather sensor and/or tyre pressure sensor.
Further, in the step of constructing test scene, further includes: according to the traffic information of sensor collection, on ground
Weather conditions and/or surface evenness situation are constructed in figure environment.The wet and slippery degree of weather road pavement is also influential, road surface
Wet and slippery degree and the flatness on road surface vehicle driving can all be impacted, pass through the wet and slippery degree of simulated roadway and road
The flatness in face is capable of the situation of further simulated roadway, so that the running environment of vehicle is truer.
Performance test module 204, for testing automatic Pilot performance in the test scene of building.
In the present embodiment, when the setting position of map environment has at least two test scene, user may be selected wherein one
Test scene is for automatic Pilot performance test.Because the video pictures in the same place may be what different user uploaded, this
The case where resulting in the same location that may correspond to multiple test scenes, user only need to select one of test scene i.e.
It can.
It, can be by the driving status of the nearby vehicle in captured video pictures, traffic environment by above-mentioned simulation
Variation be dissolved into the three-dimensional map environment that front constructs, this makes it possible to truly simulate the driving environment of vehicle, make
Automatic Pilot performance test can be more applicable for by obtaining.
The working principle of the application is described in detail below with reference to Fig. 1 to Fig. 2.
Map environment is constructed based on map datum, specifically, obtains profile information, the building of building in map datum
Characteristic information, the profile information of road and the characteristic information of road, then according to the profile information of building, building
Map datum is carried out three-dimensional modelling to form map ring to construct by the characteristic information of characteristic information, the profile information of road and road
Border.
The running data of the video pictures and minute book vehicle in this vehicle driving process is shot by photographic device, video is drawn
Face includes: the video pictures of the nearby vehicle and traffic environment variation in this vehicle driving process, and running data includes: vehicle
Geographical location information, speed and acceleration, wherein the video pictures of traffic environment variation include: the information of traffic sign, week
The information in wing face and the video information of both sides of the road.
For example, by automobile data recorder shooting video pictures in the process of moving, it is capable of the row of nearby vehicle when driving
The changing condition of situation and traffic environment is sailed, the running data of this vehicle being then recorded by automobile data recorder shifts out week onto
The relative position and running data of side vehicle and this vehicle.
According to video pictures and the running data of this vehicle, simulate map environment inner periphery vehicle driving status and
Traffic environment variation, constructs test scene.Specifically, the variation of vehicle, traffic scene in captured video pictures is melted
Enter in the three-dimensional map environment constructed to front, this makes it possible to truly simulate the driving environment of vehicle, so that it may apply
In the scene of automatic Pilot performance test.
Automatic Pilot performance is tested in the test scene of building, and automatic Pilot vehicle is simulated specifically in test scene
, which runs the algorithm of automatic Pilot.
The disclosure proposes a kind of computer readable storage medium, and computer-readable recording medium storage has computer program,
The step of automatic Pilot performance test methods as described above are realized when computer program is executed by processor.
If module/unit of the equipment be realized in the form of SFU software functional unit and as independent product sale or
In use, can store in a computer readable storage medium.Based on this understanding, the present invention realizes above-mentioned implementation
All or part of the process in example method, can also instruct relevant hardware to complete, the meter by computer program
Calculation machine program can be stored in a computer readable storage medium, the computer program when being executed by processor, it can be achieved that on
The step of stating each embodiment of the method.Wherein, the computer program includes computer program code, the computer program generation
Code can be source code form, object identification code form, executable file or certain intermediate forms etc..The computer-readable medium
It may include: any entity or device, recording medium, USB flash disk, mobile hard disk, magnetic that can carry the computer program code
Dish, CD, computer storage, read-only memory (ROM, Read-Only Memory), random access memory (RAM,
Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium etc..It should be noted that described
The content that computer-readable medium includes can carry out increasing appropriate according to the requirement made laws in jurisdiction with patent practice
Subtract, such as does not include electric carrier signal and electricity according to legislation and patent practice, computer-readable medium in certain jurisdictions
Believe signal.
The beneficial effects of the present application are as follows: the map environment based on map datum building automatic Pilot performance test, and lead to
The running data for crossing video pictures and minute book vehicle that photographic device is shot in this vehicle driving process according to nearby vehicle, is handed over
Lead to the video pictures of scene and the running data of this vehicle, and simulates the row of nearby vehicle in map environment in conjunction with map environment
The variable condition for sailing state and traffic scene, by constructing the test scene of automatic Pilot performance test, in the test of building
Automatic Pilot simulation is carried out in scene, tests automatic Pilot performance, so as to not have to as it is by by automatic Pilot
Vehicle leaves for carrying out automatic Pilot performance test on highway, saves great cost and does not also avoid carrying out on highway
Because of the not perfect caused safety problem of automatic Pilot algorithm when drive test, in addition, the test that the technical solution of the application is simulated
Environmental sources are true, can truly simulation test environment so that test result is more accurate.
It will be understood by those skilled in the art that all or part of the steps of various methods can pass through in above embodiment
Program instructs related hardware to complete, which can be stored in a computer readable storage medium, storage medium can wrap
It includes: read-only memory, random access memory, disk or CD etc..
The foregoing is a further detailed description of the present application in conjunction with specific implementation manners, and it cannot be said that this Shen
Specific implementation please is only limited to these instructions.For those of ordinary skill in the art to which this application belongs, it is not taking off
Under the premise of from the present application design, a number of simple deductions or replacements can also be made.
Claims (10)
1. a kind of automatic Pilot performance test methods, which is characterized in that the described method includes:
The map environment of the automatic Pilot performance test is constructed based on map datum；
The video pictures in this vehicle driving process are shot by photographic device and record the running data of described vehicle, the view
Frequency picture includes: the video pictures of the nearby vehicle and traffic scene variation in described vehicle driving process, the traveling number
According to geographical location information, speed and the acceleration for including: vehicle, wherein the traffic scene includes: the letter of traffic sign
Breath, road information and the video information of both sides of the road；
According to the running data of the nearby vehicle, the video pictures of traffic scene and this vehicle, exist in conjunction with the map environment
The driving status of the simulation nearby vehicle and the variable condition of traffic scene in the map environment, building is described to drive automatically
Sail the test scene of performance test；
The automatic Pilot performance is tested in the test scene of building.
2. automatic Pilot performance test methods as described in claim 1, which is characterized in that in the building automatic Pilot performance
The test scene of test the step of in, comprising:
According to the video pictures of the nearby vehicle in described vehicle driving process and the running data of the vehicle, it is calculated
The running data of the nearby vehicle；
Described in being constructed in the map environment according to the running data of the nearby vehicle and the video pictures of nearby vehicle
The driving status of nearby vehicle；
The variable condition of the traffic environment is constructed in the map environment according to the video pictures of the traffic environment.
3. automatic Pilot performance test methods as described in claim 1, which is characterized in that constructed described based on map datum
In the step of map environment of automatic Pilot performance test, comprising:
Obtain the profile information and characteristic information of building in map datum, wherein the profile information of the building is institute
Coordinate points of the building in map datum are stated, the characteristic information of the building includes the number of plies of the building；
Obtain the profile information and characteristic information of road in map datum, wherein the profile information of the road is the road
Coordinate points of the road in map datum, the characteristic information of the road include the width information of the road；
According to profile information in the profile information of the building, the characteristic information of building, the road information and described
The map datum is carried out three-dimensional modelling to form the map environment to construct by the characteristic information in road information.
4. automatic Pilot performance test methods as described in claim 1, which is characterized in that shot described by photographic device
Video pictures in this vehicle driving process and the step of record the running data of described vehicle in, further includes:
Pass through the traffic information in sensor collection this vehicle driving process, wherein the sensor include: weather sensor and/
Or tyre pressure sensor；
It is described building automatic Pilot performance test test scene the step of in, further includes:
According to the traffic information of the sensor collection, the weather conditions are constructed in the map environment and/or road surface is flat
Whole degree situation.
5. automatic Pilot performance test methods as described in claim 1, which is characterized in that in the building automatic Pilot performance
In the step of test scene of test, further includes:
When the setting position of the map environment has at least two test scene, a wherein test is may be selected in user
Scene is for the automatic Pilot performance test.
6. a kind of automatic Pilot performance testing device, which is characterized in that described device includes:
Map structuring module, the plane for obtaining map constitute data, construct the map ring of the automatic Pilot performance test
Border；
Photographing module, it is described for shooting the video pictures in this vehicle driving process and recording the running data of described vehicle
Video pictures include: the video pictures of the nearby vehicle and traffic scene variation in described vehicle driving process, the traveling
Data include: geographical location information, driving trace, speed and the acceleration of vehicle, wherein the traffic scene includes: to hand over
Information, road information and the video information of both sides of the road of logical mark；
Scenario simulation module, for according to the video pictures of the nearby vehicle, traffic scene and the running data of this vehicle, knot
It closes the map environment and simulates the driving status of the nearby vehicle and the variation shape of traffic scene in the map environment
State constructs the test scene of the automatic Pilot performance test；
Performance test module, for testing the automatic Pilot performance in the test scene of building.
7. automatic Pilot performance testing device as claimed in claim 6, which is characterized in that the scenario simulation module includes:
Running data computing unit, for the video pictures and the vehicle according to the nearby vehicle in described vehicle driving process
Running data, the running data of the nearby vehicle is calculated；
Driving status construction unit, for according to the running data of the nearby vehicle and the video pictures of nearby vehicle in institute
State the driving status that the nearby vehicle is constructed in map environment；
Traffic scene changes construction unit, for constructing institute in the map environment according to the video pictures of the traffic environment
State the variable condition of traffic environment.
8. automatic Pilot performance testing device as claimed in claim 6, which is characterized in that the map structuring module includes:
Building construction unit, for obtaining the profile information and characteristic information of building in map datum, wherein described to build
The profile information for building object is coordinate points of the building in map datum, and the characteristic information of the building includes described builds
Build the number of plies of object；
Road construction unit, for obtaining the profile information and characteristic information of road in map datum, wherein the road
Profile information is coordinate points of the road in map datum, and the characteristic information of the road includes the width letter of the road
Breath；
Map constructing unit, for according to the profile information of the building, the characteristic information of building, the road profile
The map datum is carried out three-dimensional modelling to form the map environment to construct by the characteristic information of information and the road.
9. automatic Pilot performance testing device as claimed in claim 6, which is characterized in that described image processing unit is also wrapped
It includes: sensor detection module, for passing through the traffic information in this vehicle driving process described in sensor collection, wherein the biography
Sensor includes: weather sensor and/or tyre pressure sensor；
The map structuring module also to: according to the traffic information of the sensor collection, constructed in the map environment
The weather conditions and/or surface evenness situation.
10. automatic Pilot performance testing device as claimed in claim 6, which is characterized in that the performance test module is used for:
When the setting position of the map environment has at least two test scene, a wherein test is may be selected in user
Scene is for the automatic Pilot performance test.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811073446.1A CN109187048A (en) | 2018-09-14 | 2018-09-14 | Automatic Pilot performance test methods and automatic Pilot performance testing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811073446.1A CN109187048A (en) | 2018-09-14 | 2018-09-14 | Automatic Pilot performance test methods and automatic Pilot performance testing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109187048A true CN109187048A (en) | 2019-01-11 |
Family
ID=64910958
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811073446.1A Withdrawn CN109187048A (en) | 2018-09-14 | 2018-09-14 | Automatic Pilot performance test methods and automatic Pilot performance testing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109187048A (en) |
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110059393A (en) * | 2019-04-11 | 2019-07-26 | 东软睿驰汽车技术（沈阳）有限公司 | A kind of emulation test method of vehicle, apparatus and system |
| CN110082123A (en) * | 2019-05-05 | 2019-08-02 | 中国汽车工程研究院股份有限公司 | A kind of automatic Pilot automatization test system |
| CN110263381A (en) * | 2019-05-27 | 2019-09-20 | 南京航空航天大学 | A kind of automatic driving vehicle test emulation scene generating method |
| CN110736627A (en) * | 2019-09-30 | 2020-01-31 | 山东省科学院自动化研究所 | automatic driving test vehicle and remote control system and method thereof |
| CN110765605A (en) * | 2019-10-14 | 2020-02-07 | 武汉光庭信息技术股份有限公司 | Method and device for generating traffic flow simulation scene |
| CN111144467A (en) * | 2019-12-19 | 2020-05-12 | 惠州市德赛西威智能交通技术研究院有限公司 | Method and system for realizing scene factor acquisition |
| CN111402587A (en) * | 2020-03-30 | 2020-07-10 | 上海汽车集团股份有限公司 | Test method and test system for intelligent driving |
| CN111563185A (en) * | 2020-03-19 | 2020-08-21 | 平安城市建设科技(深圳)有限公司 | Video picture display method, device, terminal and storage medium based on GIS system |
| WO2020199057A1 (en) * | 2019-03-30 | 2020-10-08 | 深圳市大疆创新科技有限公司 | Self-piloting simulation system, method and device, and storage medium |
| CN112069643A (en) * | 2019-05-24 | 2020-12-11 | 北京车和家信息技术有限公司 | Automatic driving simulation scene generation method and device |
| CN112148615A (en) * | 2020-09-30 | 2020-12-29 | 知行汽车科技（苏州）有限公司 | Automatic driving test method, device and storage medium |
| CN112326258A (en) * | 2019-07-30 | 2021-02-05 | 北京地平线机器人技术研发有限公司 | Method, device and system for detecting automatic driving state and electronic equipment |
| CN112525551A (en) * | 2020-12-10 | 2021-03-19 | 北京百度网讯科技有限公司 | Drive test method, device, equipment and storage medium for automatic driving vehicle |
| CN112526968A (en) * | 2020-11-25 | 2021-03-19 | 东南大学 | Method for building automatic driving virtual test platform for mapping real world road conditions |
| CN114364963A (en) * | 2019-09-06 | 2022-04-15 | 三菱重工机械系统株式会社 | Vehicle performance testing device, vehicle performance testing system and vehicle performance testing method |
| CN114740759A (en) * | 2022-04-18 | 2022-07-12 | 中国第一汽车股份有限公司 | Test method and device for automatic driving system, storage medium and electronic device |
| CN115165387A (en) * | 2022-06-09 | 2022-10-11 | 中汽研汽车检验中心(广州)有限公司 | Control method, device and system for testing performance of automatic driving whole vehicle |
| CN116773216A (en) * | 2023-06-12 | 2023-09-19 | 江苏泽景汽车电子股份有限公司 | Test method, device, system, storage medium and electronic equipment |
| CN117007333A (en) * | 2023-07-28 | 2023-11-07 | 山东省科学院自动化研究所 | Whole automobile test system and method for automatic driving automobile |
| CN114740759B (en) * | 2022-04-18 | 2024-11-08 | 中国第一汽车股份有限公司 | Test method and device for automatic driving system, storage medium and electronic device |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105096386A (en) * | 2015-07-21 | 2015-11-25 | 中国民航大学 | Method for automatically generating geographic maps for large-range complex urban environment |
| CN107024356A (en) * | 2017-04-28 | 2017-08-08 | 百度在线网络技术（北京）有限公司 | Method and apparatus for testing unmanned vehicle |
| CN108267322A (en) * | 2017-01-03 | 2018-07-10 | 北京百度网讯科技有限公司 | The method and system tested automatic Pilot performance |
| CN106153352B (en) * | 2016-07-04 | 2018-08-10 | 江苏大学 | A kind of automatic driving vehicle test and verification platform and its test method |
-
2018
- 2018-09-14 CN CN201811073446.1A patent/CN109187048A/en not_active Withdrawn
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105096386A (en) * | 2015-07-21 | 2015-11-25 | 中国民航大学 | Method for automatically generating geographic maps for large-range complex urban environment |
| CN106153352B (en) * | 2016-07-04 | 2018-08-10 | 江苏大学 | A kind of automatic driving vehicle test and verification platform and its test method |
| CN108267322A (en) * | 2017-01-03 | 2018-07-10 | 北京百度网讯科技有限公司 | The method and system tested automatic Pilot performance |
| CN107024356A (en) * | 2017-04-28 | 2017-08-08 | 百度在线网络技术（北京）有限公司 | Method and apparatus for testing unmanned vehicle |
Cited By (26)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020199057A1 (en) * | 2019-03-30 | 2020-10-08 | 深圳市大疆创新科技有限公司 | Self-piloting simulation system, method and device, and storage medium |
| CN110059393A (en) * | 2019-04-11 | 2019-07-26 | 东软睿驰汽车技术（沈阳）有限公司 | A kind of emulation test method of vehicle, apparatus and system |
| CN110082123A (en) * | 2019-05-05 | 2019-08-02 | 中国汽车工程研究院股份有限公司 | A kind of automatic Pilot automatization test system |
| CN112069643B (en) * | 2019-05-24 | 2023-10-10 | 北京车和家信息技术有限公司 | Automatic driving simulation scene generation method and device |
| CN112069643A (en) * | 2019-05-24 | 2020-12-11 | 北京车和家信息技术有限公司 | Automatic driving simulation scene generation method and device |
| CN110263381A (en) * | 2019-05-27 | 2019-09-20 | 南京航空航天大学 | A kind of automatic driving vehicle test emulation scene generating method |
| CN112326258A (en) * | 2019-07-30 | 2021-02-05 | 北京地平线机器人技术研发有限公司 | Method, device and system for detecting automatic driving state and electronic equipment |
| CN114364963A (en) * | 2019-09-06 | 2022-04-15 | 三菱重工机械系统株式会社 | Vehicle performance testing device, vehicle performance testing system and vehicle performance testing method |
| CN114364963B (en) * | 2019-09-06 | 2024-02-23 | 三菱重工机械系统株式会社 | Vehicle performance testing device, vehicle performance testing system and vehicle performance testing method |
| CN110736627A (en) * | 2019-09-30 | 2020-01-31 | 山东省科学院自动化研究所 | automatic driving test vehicle and remote control system and method thereof |
| CN110765605A (en) * | 2019-10-14 | 2020-02-07 | 武汉光庭信息技术股份有限公司 | Method and device for generating traffic flow simulation scene |
| CN111144467A (en) * | 2019-12-19 | 2020-05-12 | 惠州市德赛西威智能交通技术研究院有限公司 | Method and system for realizing scene factor acquisition |
| CN111563185A (en) * | 2020-03-19 | 2020-08-21 | 平安城市建设科技(深圳)有限公司 | Video picture display method, device, terminal and storage medium based on GIS system |
| CN111402587A (en) * | 2020-03-30 | 2020-07-10 | 上海汽车集团股份有限公司 | Test method and test system for intelligent driving |
| CN111402587B (en) * | 2020-03-30 | 2021-05-25 | 上海汽车集团股份有限公司 | Test method and test system for intelligent driving |
| CN112148615A (en) * | 2020-09-30 | 2020-12-29 | 知行汽车科技（苏州）有限公司 | Automatic driving test method, device and storage medium |
| CN112526968A (en) * | 2020-11-25 | 2021-03-19 | 东南大学 | Method for building automatic driving virtual test platform for mapping real world road conditions |
| CN112525551A (en) * | 2020-12-10 | 2021-03-19 | 北京百度网讯科技有限公司 | Drive test method, device, equipment and storage medium for automatic driving vehicle |
| CN112525551B (en) * | 2020-12-10 | 2023-08-29 | 北京百度网讯科技有限公司 | Drive test method, device, equipment and storage medium for automatic driving vehicle |
| CN114740759A (en) * | 2022-04-18 | 2022-07-12 | 中国第一汽车股份有限公司 | Test method and device for automatic driving system, storage medium and electronic device |
| CN114740759B (en) * | 2022-04-18 | 2024-11-08 | 中国第一汽车股份有限公司 | Test method and device for automatic driving system, storage medium and electronic device |
| CN115165387A (en) * | 2022-06-09 | 2022-10-11 | 中汽研汽车检验中心(广州)有限公司 | Control method, device and system for testing performance of automatic driving whole vehicle |
| CN116773216A (en) * | 2023-06-12 | 2023-09-19 | 江苏泽景汽车电子股份有限公司 | Test method, device, system, storage medium and electronic equipment |
| CN116773216B (en) * | 2023-06-12 | 2024-05-31 | 江苏泽景汽车电子股份有限公司 | Test method, device, system, storage medium and electronic equipment |
| CN117007333A (en) * | 2023-07-28 | 2023-11-07 | 山东省科学院自动化研究所 | Whole automobile test system and method for automatic driving automobile |
| CN117007333B (en) * | 2023-07-28 | 2024-11-01 | 山东省科学院自动化研究所 | Whole automobile test system and method for automatic driving automobile |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109187048A (en) | Automatic Pilot performance test methods and automatic Pilot performance testing device | |
| US11475677B2 (en) | Method, apparatus, and system for generating synthetic image data for machine learning | |
| CN109271924A (en) | Image processing method and image processing apparatus | |
| CN112526893B (en) | Intelligent automobile's test system | |
| US10453256B2 (en) | Lane boundary detection data generation in virtual environment | |
| CN110160804B (en) | Test method, device and system for automatically driving vehicle | |
| CN111179585B (en) | Site testing method and device for automatic driving vehicle | |
| CN105492882B (en) | Method for implementing trial run on testing stand | |
| US20170109458A1 (en) | Testbed for lane boundary detection in virtual driving environment | |
| CN111797526B (en) | Simulation test scene construction method and device | |
| CN107229329B (en) | Method and system for virtual sensor data generation with deep ground truth annotation | |
| CN108267322A (en) | The method and system tested automatic Pilot performance | |
| CN106023622B (en) | A kind of method and apparatus of determining traffic lights identifying system recognition performance | |
| CN109211575A (en) | Pilotless automobile and its field test method, apparatus and readable medium | |
| CN105068857A (en) | Driving behavior data acquisition method based on high fidelity driving simulator | |
| Yu et al. | Autonomous vehicles digital twin: A practical paradigm for autonomous driving system development | |
| CN107063710A (en) | Method and apparatus for testing unmanned vehicle | |
| US20220319336A1 (en) | Method and apparatus for estimating false positive reports of detectable road events | |
| CN103760774A (en) | Simulation assessment system for reasonability of traffic sign design and set position | |
| CN110888416A (en) | Vision ADAS-ECU hardware-in-the-loop simulation test system | |
| KR101905219B1 (en) | Method of determining the stress that should be applied to a tyre during an indoor endurance bench test | |
| Chen et al. | NADS at the University of IOWA: A tool for driving safety research | |
| CN114969092A (en) | Driving simulation system based on unreal engine and simulation experiment method | |
| CN117496790A (en) | Virtual fire-fighting vehicle training system, virtual fire-fighting vehicle training method, electronic device and storage medium | |
| Rosyid et al. | Comparison of deep learning models in pothole avoidance for self-driving car |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20190111 |