CN109211575A - Pilotless automobile and its field test method, apparatus and readable medium - Google Patents
Pilotless automobile and its field test method, apparatus and readable medium Download PDFInfo
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- CN109211575A CN109211575A CN201710543930.5A CN201710543930A CN109211575A CN 109211575 A CN109211575 A CN 109211575A CN 201710543930 A CN201710543930 A CN 201710543930A CN 109211575 A CN109211575 A CN 109211575A
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- pilotless automobile
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- output data
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- 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
Abstract
The present invention provides a kind of pilotless automobile and its field test method, apparatus and readable medium；It is the described method includes: in field test, output data acquired in real roads from external acquisition by the data acquisition vehicle of pilot steering, each analog sensor under target scene, each analog sensor is assemblied in data acquisition vehicle according to the rigging position of each sensor in pilotless automobile, to simulate the sensor of corresponding position on pilotless automobile；According to the output data of each analog sensor, traveling of the pilotless automobile in test site is controlled, to simulate the target scene downward driving in real roads；According to the behavior of traveling of the pilotless automobile under target scene, performance of the pilotless automobile under target scene is tested.In technical solution of the present invention, it is ensured that the accuracy of the data of pilotless automobile field test, and then the field test efficiency of pilotless automobile can be effectively improved.
Description
[technical field]
The present invention relates to computer application technology more particularly to a kind of pilotless automobile and its field test sides
Method, device and readable medium.
[background technique]
Pilotless automobile is a kind of intelligent automobile, can also be referred to as wheeled mobile robot, rely primarily in vehicle
The intelligent driving instrument based on computer system it is unmanned to realize.The automatic control of pilotless automobile collection, architecture,
Numerous technologies such as artificial intelligence, vision calculating are computer science, pattern-recognition and intelligent control technology high development in one
Product, and an important symbol of national a research strength and industrial level is measured, in national defence and national economy field
It has broad application prospects.
Pilotless automobile is also in continuous research and development and test phase at present, due to dangerous larger, the mesh of upper drive test examination
It is preceding that field test is mainly carried out to unmanned vehicle by closed test place.In the field test of the prior art, by checkout area
Various facilities are disposed to simulate true road environment in ground, such as build traffic signal light device, traffic mark board, place dummy
Or false vehicle etc., it builds bridge, the true road topology structure such as climb and fall, multilane.Then various road conditions are manufactured to test nothing
The performance of people's driving.
In the prior art, made by when the test site built manufactures various road conditions to test pilotless automobile
The road conditions made are tester's subjective confecture, and accuracy is poor, therefore, the field test efficiency of the field test of the prior art
It is lower.
[summary of the invention]
The present invention provides a kind of pilotless automobile and its field test method, apparatus and readable mediums, for improving
The field test efficiency of pilotless automobile.
The present invention provides a kind of field test method of pilotless automobile, which comprises
In field test, acquired in real roads from external acquisition by the data acquisition vehicle of pilot steering, mesh
The output data of each analog sensor under scene is marked, each analog sensor is according to each sensor in pilotless automobile
Rigging position is assemblied in the data acquisition vehicle, to simulate the sensing of corresponding position on the pilotless automobile
Device；
According to the output data of each analog sensor, row of the pilotless automobile in test site is controlled
It sails, to simulate the target scene downward driving in real roads；
According to the behavior of traveling of the pilotless automobile under the target scene, the pilotless automobile is tested
Performance under the target scene.
Still optionally further, it in method as described above, obtains by the data acquisition vehicle of pilot steering from outside true
Output data acquire in real road, each analog sensor under target scene, specifically includes:
From the output data for obtaining each analog sensor under the target scene in the data acquisition vehicle；Or
From the output data for obtaining each analog sensor under the target scene in cloud server, the cloud clothes
The output data of each analog sensor is that the data acquisition vehicle is acquired and uploaded under the target scene in business device
's.
Still optionally further, it in method as described above, obtains by the data acquisition vehicle of pilot steering from outside true
After output data acquired in real road, each analog sensor under target scene, further includes:
It is mapped as the output data of the analog sensor each under the target scene to be suitble to the pilotless automobile
The format used.
Still optionally further, it in method as described above, obtains by the data acquisition vehicle of pilot steering from outside true
After output data acquired in real road, each analog sensor under target scene, further includes:
The output data of the part analog sensor under the target scene is modified, to obtain under different scenes
Each analog sensor output data.
Still optionally further, in method as described above, according to the output data of each analog sensor, described in control
Traveling of the pilotless automobile in test site is specific to wrap to simulate the target scene downward driving in real roads
It includes:
According to the output data of the analog sensor each under the target scene, under the target scene for obtaining simulation
Front traffic information；
According to the front traffic information under the target scene, control instruction is generated；
According to the control instruction, traveling of the pilotless automobile in the test site is controlled, is existed with simulation
The target scene downward driving in real roads.
Still optionally further, in method as described above, the front traffic information includes the barrier in road ahead
Classification, relative position and the barrier behavior.
Still optionally further, it in method as described above, obtains by the data acquisition vehicle of pilot steering from outside true
Before output data acquired in real road, each analog sensor under target scene, which comprises
Close each sensor on the pilotless automobile.
Still optionally further, in method as described above, according to the pilotless automobile under the target scene
The behavior of traveling is tested performance of the pilotless automobile under the target scene, is specifically included:
If the behavior of traveling of the pilotless automobile under the target scene be braking process, judge it is described nobody
Driving is in braking to during stopping, if on the road surface for rolling the road being inscribed in the test site in advance
The trajectory line of the barrier, if so, determining that braking ability of the pilotless automobile under the target scene is undesirable；
The trajectory line of the barrier is inscribed on the road surface of the road in advance according to the output data of each analog sensor.
The present invention provides a kind of pilotless automobile, and the pilotless automobile includes:
Module is obtained, for obtaining by the data acquisition vehicle of pilot steering from outside in true road in field test
Output data acquire in road, each analog sensor under target scene, each analog sensor is according to pilotless automobile
In the rigging position of each sensor be assemblied in the data acquisition vehicle, correspond to position on the pilotless automobile to simulate
The sensor set；
Control module controls the pilotless automobile and is surveying for the output data according to each analog sensor
Traveling in the ground of examination hall, to simulate the target scene downward driving in real roads；
Test module tests institute for the behavior of the traveling according to the pilotless automobile under the target scene
State performance of the pilotless automobile under the target scene.
Still optionally further, in device as described above, the acquisition module is specifically used for:
From the output data for obtaining each analog sensor under the target scene in the data acquisition vehicle；Or
From the output data for obtaining each analog sensor under the target scene in cloud server, the cloud clothes
The output data of each analog sensor is that the data acquisition vehicle is acquired and uploaded under the target scene in business device
's.
Still optionally further, in device as described above, the pilotless automobile, further includes:
Mapping block, it is described for the output data of the analog sensor each under the target scene to be mapped as being suitble to
The format that pilotless automobile uses.
Still optionally further, in device as described above, the pilotless automobile, further includes:
Modified module, for the output data of the part analog sensor under the target scene to be modified, with
Obtain the output data of each analog sensor under different scenes.
Still optionally further, in device as described above, the control module is specifically used for:
According to the output data of the analog sensor each under the target scene, under the target scene for obtaining simulation
Front traffic information；
According to the front traffic information under the target scene, control instruction is generated；
According to the control instruction, traveling of the pilotless automobile in the test site is controlled, is existed with simulation
The target scene downward driving in real roads.
Still optionally further, in device as described above, the front traffic information includes the barrier in road ahead
Classification, relative position and the barrier behavior.
Still optionally further, in device as described above, the control module is also used to close the pilotless automobile
On each sensor.
Still optionally further, in device as described above, the test module, if being specifically used for the pilotless automobile
The behavior of traveling under the target scene is braking process, judges the pilotless automobile in braking to the process stopped
In, if the trajectory line for rolling the barrier on the road surface for the road being inscribed in the test site in advance, if so, really
Fixed braking ability of the pilotless automobile under the target scene is undesirable；The trajectory line of the barrier is according to each institute
The output data for stating analog sensor is inscribed in advance on the road surface of the road.
The present invention also provides a kind of control device of pilotless automobile, the control device packet of the pilotless automobile
It includes:
One or more processors；
Memory, 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 processing
Device realizes the field test method of pilotless automobile as described above.
The present invention also provides a kind of computer-readable mediums, are stored thereon with computer program, which is held by processor
The field test method of pilotless automobile as described above is realized when row.
Pilotless automobile and its field test method, apparatus of the invention and readable medium, by field test,
Acquired in real roads from external acquisition by the data acquisition vehicle of pilot steering, each analog sensor under target scene
Output data, each analog sensor are assemblied in data acquisition vehicle according to the rigging position of each sensor in pilotless automobile
In, to simulate the sensor of corresponding position on pilotless automobile；According to the output data of each analog sensor, controls nobody and drive
Traveling of the automobile in test site is sailed, to simulate the target scene downward driving in real roads；According to pilotless automobile
Performance of the pilotless automobile under target scene is tested in the behavior of traveling under target scene.Technical solution of the present invention,
Output acquired in real roads by the data acquisition vehicle according to pilot steering, each analog sensor under target scene
Data control pilotless automobile in the traveling of test site, due to documented road in the output data of each analog sensor
Condition has authenticity and accuracy, thereby may be ensured that the accuracy of the data of pilotless automobile field test, so as to
Effectively improve the field test efficiency of pilotless automobile.
[Detailed description of the invention]
Fig. 1 is the flow chart of the field test embodiment of the method for pilotless automobile of the invention.
Fig. 2 is the structure chart of pilotless automobile embodiment one of the invention.
Fig. 3 is the structure chart of pilotless automobile embodiment two of the invention.
Fig. 4 is the structure chart of the control device embodiment of pilotless automobile of the invention.
Fig. 5 is a kind of exemplary diagram of the control device of pilotless automobile provided by the invention.
[specific embodiment]
To make the objectives, technical solutions, and advantages of the present invention clearer, right in the following with reference to the drawings and specific embodiments
The present invention is described in detail.
Fig. 1 is the flow chart of the field test embodiment of the method for pilotless automobile of the invention.As shown in Figure 1, this reality
The field test method for applying the pilotless automobile of example, can specifically include following steps:
100, it in field test, obtains from outside and is acquired in real roads by the data acquisition vehicle of pilot steering
, under target scene each analog sensor output data, each analog sensor is according to each sensor in pilotless automobile
Rigging position be assemblied in data acquisition vehicle, to simulate the sensor of corresponding position on pilotless automobile；
101, according to the output data of each analog sensor, traveling of the pilotless automobile in test site is controlled, with
Simulate the target scene downward driving in real roads；
102, the behavior of the traveling according to pilotless automobile under target scene tests pilotless automobile in target field
Performance under scape.
The executing subject of the field test method of the pilotless automobile of the present embodiment is pilotless automobile.The present embodiment
In the field test of pilotless automobile, in order to guarantee the accuracy and authenticity of the data in field test, surveyed in place
It is being acquired in real roads from external acquisition by the data acquisition vehicle of pilot steering, respectively simulation passes under target scene when examination
The output data of sensor.Wherein each analog sensor in data acquisition vehicle is according to each sensor in pilotless automobile
Rigging position is assemblied in data acquisition vehicle, to simulate the sensor of corresponding position on pilotless automobile.
That is, in the present embodiment, can be copied in order to avoid the risk of the directly upper drive test examination of pilotless automobile
Position of each sensor in pilotless automobile in pilotless automobile, it is each corresponding in a data acquisition vehicle
Corresponding analog sensor is assembled in position, to simulate pilotless automobile.But the data acquisition vehicle is using pilot steering.
In this way, the data acquisition vehicle of pilot steering have pilotless automobile each sensor, be equivalent to driven it is unmanned
Automobile goes the output data of each sensor in target scene in acquisition real roads.Mould in the data acquisition vehicle of the present embodiment
Sensor in quasi- sensor and pilotless automobile may include laser radar, imaging sensor, millimetre-wave radar, ultrasonic wave
Radar, global positioning system (Global Positioning System；GPS) module and Inertial Measurement Unit (Inertial
Measurement Unit；IMU) etc..Accordingly, the position that laser radar is assembled in pilotless automobile, is adopted in data
Corresponding position can assemble the laser radar of a simulation in collection vehicle.Similarly, image is assembled in pilotless automobile to pass
The position of sensor, corresponding position can assemble imaging sensor of a simulation, etc. successively class in data acquisition vehicle
It pushes away, it can be according to the position of sensor each on pilotless automobile, successively in the corresponding position assembly of data acquisition vehicle and nothing
The analog sensor of the sensor of position parameter having the same in people's driving.Preferably, the data of the present embodiment are adopted
Collect each analog sensor and the sensor parameter having the same on corresponding pilotless automobile on vehicle, the present embodiment
Identical parameter includes identical intrinsic parameter and identical outer parameter, such as outer parameter may include producer and the type of sensor
Number etc. parameters, each sensor selected running parameter when intrinsic parameter may include acquisition data, such as visual angle, wide-angle etc. class
As parameter.
The laser radar of the present embodiment can detecte the barrier around data acquisition vehicle or pilotless automobile
Point cloud；Imaging sensor can acquire traffic lights or pedestrian detection in front of data acquisition vehicle or pilotless automobile；
Millimetre-wave radar and ultrasonic radar can detecte the barrier around data acquisition vehicle or pilotless automobile, in order to
Determine road conditions；GPS module can provide location based service (Location to data acquisition vehicle or pilotless automobile
Based Service；LBS), IMU can provide the driving direction of data acquisition vehicle or pilotless automobile, angular speed etc.
Various posture informations.
By pilot steering, the data acquisition vehicle travels in real roads, acquires each analog sensor of assembly in mesh
Mark the output data under scene.The target scene of the present embodiment needs various scenes to be tested when being test site test, such as
Target scene includes at least the road conditions on road, i.e., road conditions to be tested are needed in test site.Because pilotless automobile exists
When not having abnormal, traveling is safer, does not need through more test.And when unusual condition occurs, it needs
Pilotless automobile can safe avoidance, guarantee driving safety.The target scene of the present embodiment can consider be it is some more
Abnormal state, needs pilotless automobile that can generate control instruction, to change driving trace or generate braking, to realize
Safe driving.The target scene of the present embodiment may include various road conditions, such as may include that traffic lights in road change
Scene, front X meters there is pedestrian to travel across the scene of road, with A ms/h of speed, rear have overspeed of vehicle scene or
The front M meters of scene etc. for having vehicle at low speed.Further, in order to further simulate more scenes, the present embodiment
Target scene in can also include road type, wherein the type of road may include common asphalt road, wet and slippery road,
Snow road, muddy road, concave-convex road and sandstone road etc..Corresponding target scene may include in accumulated snow road at this time
The scene of traffic lights variation in road, or can also include that front X meters to rain on wet-skid road surface has pedestrian across road
Scene, or can also include being travelled on super expressway with A ms/h of speed, there is the scene of overspeed of vehicle at rear, or may be used also
To include the M meters of scenes for having vehicle at low speed in front on sandstone road；Etc. scene.For each target scene, number
All output datas from discovery road conditions to road conditions during processing terminate can be acquired according to each sensor on acquisition vehicle.
The output data of each analog sensor i.e. in the present embodiment is specially one group of data or a data sequence, be can wrap
Include the output data at each moment of the target scene corresponding period.
In order to guarantee that the output data of each analog sensor of acquisition is used again, each mould of data acquisition vehicle acquisition
The output data of quasi- sensor when stored, can be saved according to each analog sensor, such as often corresponding with analog sensor
Output data storage region in be both provided with the mark of the analog sensor, after being obtained by pilotless automobile,
Determine the part output data is for which sensor to be deployed to.
Optionally, the step 100 of the present embodiment " is obtained by the data acquisition vehicle of pilot steering from outside in real roads
Middle acquisition, under target scene each analog sensor output data ", can specifically include the following two kinds mode:
(a1) from the output data for obtaining each analog sensor under target scene in data acquisition vehicle；
(a2) from the output data for obtaining each analog sensor under target scene in cloud server, cloud server
The output data of each analog sensor is that data acquisition vehicle is acquired and uploaded under target scene.
Wherein in mode (a1) data acquisition vehicle collect each analog sensor under target scene output data it
Afterwards, it is stored in data acquisition vehicle, when pilotless automobile needs, each analog sensed can be requested to data acquisition vehicle
The output data of device, data acquisition vehicle receive the request of data of pilotless automobile, send each mould to pilotless automobile
The output data of quasi- sensor.Wherein communication module, and two can be both provided in data acquisition vehicle and pilotless automobile
Wireless communication can be used between person.
In addition in mode (a2) data acquisition vehicle collect each analog sensor under target scene output data it
Afterwards, it is uploaded directly into cloud server, and saves the output of each analog sensor under target scene in server beyond the clouds
Data.Beyond the clouds the preserving type of server can according to each analog sensor under target scene, the target scene identify with
And the corresponding relationship of the output data of each analog sensor saves.It, can be to cloud at this time when pilotless automobile needs data
End server requests the output data of each analog sensor, and cloud server receives the request of data of pilotless automobile, to
Pilotless automobile sends the output data of each analog sensor.The wherein communication between cloud server and pilotless automobile
Wireless communication can also be used.
In field test, pilotless automobile gets the output of each analog sensor under the target scene from outside
After data, using the output data of each analog sensor as the output data of each sensor on pilotless automobile,
The true road conditions that pilotless automobile detects target scene in real roads are equivalent to, then by the control of pilotless automobile
Device controls traveling of the pilotless automobile in test site according to the output data of each analog sensor, to simulate true
Target scene downward driving in real road；It is then possible to a test module be arranged on pilotless automobile, according to nobody
Performance of the pilotless automobile under target scene is tested in the behavior of the traveling to drive a car under target scene, further,
Can also be by test as the result is shown on the display screen of pilotless automobile, or it can also be sent to test center, for
Tester checks.
Optionally, since in the field test of the present embodiment, pilotless automobile directly obtains each simulation from outside and passes
The output data of sensor, and each sensor of assembly thereon does not spend sensing ambient enviroment, therefore, the present embodiment nobody
Driving can only determine the position of each sensor thereon, can not have to install each sensor, can also be effectively
The cost of the test carriage of pilotless automobile used in test site is saved on ground.
Further optionally, if in the field test of this implementation, the used non-test vehicle of pilotless automobile, for dress
The pilotless automobile of official release equipped with sensor.At this time before the step 100 of the present embodiment, pilotless automobile is needed
Each sensor on pilotless automobile is closed, to avoid the environmental data of each sensor perception on pilotless automobile
Influence the field test of pilotless automobile.
The field test method of the pilotless automobile of the present embodiment, by obtaining from outside by people in field test
Output data that the data acquisition vehicle that work drives acquires in real roads, each analog sensor under target scene, each mould
Quasi- sensor is assemblied in data acquisition vehicle according to the rigging position of each sensor in pilotless automobile, to simulate nobody
The sensor of corresponding position in driving；According to the output data of each analog sensor, controls pilotless automobile and testing
Traveling in place, to simulate the target scene downward driving in real roads；According to pilotless automobile under target scene
Traveling behavior, test performance of the pilotless automobile under target scene.The technical solution of the present embodiment, by according to people
Output data that the data acquisition vehicle that work drives acquires in real roads, each analog sensor under target scene, control
Pilotless automobile test site traveling, due in the output data of each analog sensor documented road conditions have it is true
Property and accuracy, thereby may be ensured that the accuracy of the data of pilotless automobile field test, so as to effectively improve
The field test efficiency of pilotless automobile.
Still optionally further, " obtaining from outside by pilot steering in the step 100 in above-mentioned embodiment illustrated in fig. 1
After output data that data acquisition vehicle acquires in real roads, each analog sensor under target scene ", it can also wrap
It includes: the output data of analog sensor each under target scene is mapped as to the format for being suitble to pilotless automobile to use.At some
Under scene, the format after the output data storage of the analog sensor of acquisition, which is not particularly suited for pilotless automobile, directly to be made
With after pilotless automobile gets the output data of each analog sensor at this time, by analog sensor each under target scene
Output data be mapped as being suitble to the format that uses of pilotless automobile.If such as the unit of the output data of analog sensor with
The unit needed when pilotless automobile use is inconsistent, it is also desirable to by the output data of analog sensor each under target scene
Conversion of measurement unit is the unit for being suitble to pilotless automobile to use.
Still optionally further, " obtaining from outside by pilot steering in the step 100 in above-mentioned embodiment illustrated in fig. 1
After output data that data acquisition vehicle acquires in real roads, each analog sensor under target scene ", it can also wrap
It includes: the output data of part analog sensor under target scene is modified, to obtain each analog sensed under different scenes
The output data of device.
For example, the output data of partial simulation sensor can be modified in the traffic lights handoff scenario of different kinds of roads type,
Such as the red light in each simulated sensor data can be changed to green light or green light is changed to red light, to obtain different scenes,
So as to obtain more test datas, the test of more scenes is carried out to pilotless automobile in test site, with
Improve the safety of pilotless automobile.
Still optionally further, in the step 101 in above-mentioned embodiment illustrated in fig. 1 " according to the output of each analog sensor
Data control traveling of the pilotless automobile in test site, to simulate the target scene downward driving in real roads ",
It can specifically include following steps:
(b1) according to the output data of analog sensor each under target scene, the front road under the target scene of simulation is obtained
Condition information；
(b2) according to the front traffic information under target scene, control instruction is generated；
(b3) according to control instruction, traveling of the pilotless automobile in test site is controlled, to simulate in real roads
In target scene downward driving.
For example, in the present embodiment, according to the output data of analog sensor each under target scene, the target of the simulation of acquisition
It may include the row of the classification of the barrier in road ahead, relative position and barrier in front traffic information under scene
For.Such as have what barrier is doing anything at X meters of front.The controller of pilotless automobile can be according to front in this way
Traffic information make decisions, and generate control instruction, this control instruction includes each portion being related in this decision
The control instruction of part, for example, can be related to brake, turn to or can also including throttle etc. all parts control instruction.This
When pilotless automobile all parts can according to its corresponding control instruction, control pilotless automobile in test site
Traveling, to simulate target scene downward driving in real roads, in this way according to pilotless automobile in test site
Traveling, may be implemented the test to the performance of pilotless automobile.
Optionally, when the type in target scene including preset road, according to the output data of each analog sensor, control
Traveling of the pilotless automobile processed in test site may be used also before simulating the target scene downward driving in real roads
To include: to control pilotless automobile according to the destination of the setting of tester and travel into test site preset road
In the corresponding section of type.
That is, the section of various types of roads can be set in test site, such as asphalt road, wet and slippery
The section of road, snow road, muddy road, concave-convex road and sandstone road can first be obtained from outside before test
Then the road in test scene is arranged in the type of default road in test scene by tester in pilotless automobile
Then the destination of the corresponding road of type starts pilotless automobile traveling, pilotless automobile can be according to test at this time
The destination of personnel's setting, control pilotless automobile are travelled into test site in the corresponding section of preset road type.
Still optionally further, on the basis of the technical solution of above-described embodiment, according to pilotless automobile in target field
The behavior of traveling under scape tests performance of the pilotless automobile under target scene, specifically includes the test of braking process.
Specifically, if the behavior of traveling of the pilotless automobile under target scene is braking process, judge unmanned
Automobile is in braking to during stopping, if rolling the barrier being inscribed on the road surface of the road in test site in advance
Trajectory line, if so, determining that braking ability of the pilotless automobile under target scene is undesirable；The trajectory line of barrier is according to each
The output data of analog sensor is inscribed in advance on the road surface of road.
That is, can not go to build various barriers in the test site of the present embodiment, for example, not going to build red
Green light etc. can not also build the test vehicle of test, the test pedestrian of simulation etc. barrier；It can not also go to take simultaneously
Other road equipments, such as the protective fence of road side are built, but passes through the output data of each analog sensor obtained, in advance
The trajectory line of the barrier of static barrier or movement is delineated on road.In this way, can be on pilotless automobile
By judging pilotless automobile in braking to during stopping, if rolling the road being inscribed in test site in advance
The trajectory line of barrier on road surface, if so, determining that braking ability of the pilotless automobile under target scene is undesirable.
For example, if the behavior of traveling of the pilotless automobile under target scene is the braking that wet-skid road surface avoids pedestrian
Journey can be able to detect that pilotless automobile travels behavior, example by installing a test module on pilotless automobile
Such as the test module may include imaging sensor, be able to detect the feelings on the road surface in pilotless automobile driving process under vehicle
Condition；The test module can also further according to the road surface under vehicle in the pilotless automobile driving process that detects the case where,
Judge pilotless automobile in braking to during stopping, if rolling the road surface for the road being inscribed in test site in advance
On pedestrian trajectory line, if so, determining that braking ability of the pilotless automobile under target scene is undesirable.Tester at this time
The adjustable pilotless automobile of member is to the control parameter in wet-skid road surface traveling, to adjust the safety of pilotless automobile.
By a similar method, pilotless automobile can also be tested to the various test scenes on various types of road surfaces
It such as knocks into the back, overtake other vehicles, the test of the various scenes of traffic lights mutation, to test property of the pilotless automobile in various test scenes
Can, if performance is undesirable, tester can adjust pilotless automobile to the decision of this kind of test scene and control energy in time
Power, to enhance the safety of pilotless automobile.
In addition, it should be noted that the test stage property in the test site of the present embodiment is according to each analog sensor
Output data is portrayed in advance in test road, so needing pilotless automobile according to each analog sensor in test
Output data strict control and test stage property relative position, to realize accurate test.
The field test method of above-mentioned pilotless automobile, by the data acquisition vehicle according to pilot steering in true road
Output data acquired in road, each analog sensor under target scene, control pilotless automobile test site traveling,
Since documented road conditions have authenticity and accuracy in the output data of each analog sensor, it thereby may be ensured that nobody drives
The accuracy of the data of site for car racing test is sailed, so as to effectively improve the field test efficiency of pilotless automobile.And
And in the technical solution of above-described embodiment, by the output data according to each analog sensor, carved on the road surface of road in advance
The trajectory line for drawing barrier can save the trouble for building test scene, deployment test stage property in test site, can save
The construction duration of test site, but also it can be effectively saved the construction cost of test site, save pilotless automobile
Testing cost improves the field test efficiency of pilotless automobile.
Fig. 2 is the structure chart of pilotless automobile embodiment one of the invention.The pilotless automobile of the present embodiment is main
The control section of pilotless automobile is referred to, as shown in Fig. 2, the pilotless automobile of the present embodiment can specifically include: obtaining
Modulus block 10, control module 11 and test module 12.
It wherein obtains module 10 to be used in field test, obtain by the data acquisition vehicle of pilot steering from outside true
Output data acquire in real road, each analog sensor under target scene, each analog sensor is according to pilotless automobile
In the rigging position of each sensor be assemblied in data acquisition vehicle, to simulate the sensing of corresponding position on pilotless automobile
Device；
Control module 11 is used to be controlled unmanned according to the output data for obtaining each analog sensor that module 10 obtains
Traveling of the automobile in test site, to simulate the target scene downward driving in real roads；
The row of traveling of the pilotless automobile that test module 12 is used to be controlled according to control module 11 under target scene
To test performance of the pilotless automobile under target scene.
The pilotless automobile of the present embodiment realizes the reality of the field test of pilotless automobile by using above-mentioned module
Existing principle and technical effect are identical as the realization of above-mentioned related method embodiment, can implement in detail with reference to above-mentioned correlation technique
The record of example, details are not described herein.
Fig. 3 is the structure chart of pilotless automobile embodiment two of the invention.As shown in figure 3, nobody of the present embodiment drives
Automobile is sailed, further can also include following technical solution on the basis of the technical solution of above-mentioned embodiment illustrated in fig. 2.
Acquisition module 10 in the pilotless automobile of the present embodiment is specifically used for:
From the output data for obtaining each analog sensor under target scene in data acquisition vehicle；Or
Target from the output data for obtaining each analog sensor under target scene in cloud server, cloud server
The output data of each analog sensor is that data acquisition vehicle is acquired and uploaded under scene.
Still optionally further, as shown in figure 3, the pilotless automobile of the present embodiment, further includes mapping block 13.
Mapping block 13 is used to will acquire the output data mapping of each analog sensor under the target scene of the acquisition of module 10
For the format for being suitble to pilotless automobile to use.
At this point, control module 11 is used for the output data according to each analog sensor after the mapping of mapping block 13, control
Traveling of the pilotless automobile in test site, to simulate the target scene downward driving in real roads.
Still optionally further, as shown in figure 3, the pilotless automobile of the present embodiment, further includes modified module 14.The modification
The output data that module 14 is used to will acquire part analog sensor under the target scene of the acquisition of module 10 is modified, to obtain
The output data of each analog sensor under different scenes.
At this point, control module 11 is used for the output data according to the modified each analog sensor of modified module 14, control
Traveling of the pilotless automobile in test site, to simulate the target scene downward driving in real roads.
Still optionally further, the control module 11 in the pilotless automobile of the present embodiment is specifically used for:
According to the output data of analog sensor each under target scene, the front road conditions letter under the target scene of simulation is obtained
Breath；
According to the front traffic information under target scene, control instruction is generated；
According to control instruction, traveling of the pilotless automobile in test site is controlled, to simulate in real roads
Target scene downward driving.
Still optionally further, in the pilotless automobile of the present embodiment, front traffic information includes the barrier in road ahead
Hinder the behavior of the classification of object, relative position and barrier.
Still optionally further, in the pilotless automobile of the present embodiment, control module 11 is also used to close unmanned vapour
Each sensor on vehicle.
Still optionally further, in the pilotless automobile of the present embodiment, if test module 12 is specifically used for unmanned vapour
The behavior of traveling of the vehicle under target scene is braking process, judges that pilotless automobile, to during stopping, is in braking
The no trajectory line for rolling the barrier being inscribed on the road surface of the road in test site in advance, if so, determining unmanned vapour
Braking ability of the vehicle under target scene is undesirable；The trajectory line of barrier is carved in advance according to the output data of each analog sensor
It draws on the road surface of road.
The pilotless automobile of the present embodiment realizes the reality of the field test of pilotless automobile by using above-mentioned module
Existing principle and technical effect are identical as the realization of above-mentioned related method embodiment, can implement in detail with reference to above-mentioned correlation technique
The record of example, details are not described herein.
Fig. 4 is the structure chart of the control device embodiment of pilotless automobile of the invention.As shown in figure 4, the present embodiment
Pilotless automobile control device, comprising: one or more processors 30 and memory 40, memory 40 is for depositing
One or more programs are stored up, when the one or more programs stored in memory 40 are executed by one or more processors 30, are made
Obtain the field test method that one or more processors 30 realize such as figure 1 above-embodiment illustrated in fig. 3 pilotless automobile.Fig. 4
In illustrated embodiment for including multiple processors 30.
For example, Fig. 5 is a kind of exemplary diagram of the control device of pilotless automobile provided by the invention.Fig. 5 shows suitable
In the block diagram of the control device 12a for the exemplary pilotless automobile for being used to realize embodiment of the present invention.Fig. 5 show nobody
The control device 12a of driving is only an example, should not function to the embodiment of the present invention and use scope bring and appoint
What is limited.
As shown in figure 5, the control device 12a of pilotless automobile is the core in pilotless automobile, nothing is realized
People drives decision and control under steam, a computer equipment is equivalent to, so with universal computing device in the present embodiment
Form performance.The component of the control device 12a of pilotless automobile can include but is not limited to: one or more processor
16a, system storage 28a connect the bus 18a of different system components (including system storage 28a and processor 16a).
Bus 18a indicates one of a few class bus structures or a variety of, including memory bus or Memory Controller,
Peripheral bus, graphics acceleration port, processor or the local bus using any bus structures in a variety of bus structures.It lifts
For example, these architectures include but is not limited to industry standard architecture (ISA) bus, microchannel architecture (MAC)
Bus, enhanced isa bus, Video Electronics Standards Association (VESA) local bus and peripheral component interconnection (PCI) bus.
The control device 12a of pilotless automobile typically comprises a variety of computer system readable media.These media can
To be any usable medium that can be accessed by the control device 12a of pilotless automobile, including volatile and non-volatile is situated between
Matter, moveable and immovable medium.
System storage 28a may include the computer system readable media of form of volatile memory, such as deposit at random
Access to memory (RAM) 30a and/or cache memory 32a.The control device 12a of pilotless automobile can be wrapped further
Include other removable/nonremovable, volatile/non-volatile computer system storage mediums.Only as an example, storage system
34a can be used for reading and writing immovable, non-volatile magnetic media (Fig. 5 do not show, commonly referred to as " hard disk drive ").Although
It is not shown in Fig. 5, the disc driver for reading and writing to removable non-volatile magnetic disk (such as " floppy disk ") can be provided, and
To the CD drive of removable anonvolatile optical disk (such as CD-ROM, DVD-ROM or other optical mediums) read-write.At these
In the case of, each driver can be connected by one or more data media interfaces with bus 18a.System storage 28a
It may include at least one program product, which has one group of (for example, at least one) program module, these program moulds
Block is configured to perform the function of the above-mentioned each embodiment of Fig. 1-Fig. 3 of the present invention.
Program with one group of (at least one) program module 42a/utility 40a, can store and deposit in such as system
In reservoir 28a, such program module 42a include --- but being not limited to --- operating system, one or more application program,
It may include the reality of network environment in other program modules and program data, each of these examples or certain combination
It is existing.Program module 42a usually executes the function and/or method in above-mentioned each embodiment of Fig. 1-Fig. 3 described in the invention.
The control device 12a of pilotless automobile can also with one or more external equipment 14a (such as keyboard, be directed toward
Equipment, display 24a etc.) communication, the control device with the pilotless automobile can be also enabled a user to one or more
The equipment communication of 12a interaction, and/or with enable the control device 12a of the pilotless automobile and one or more of the other meter
Calculate any equipment (such as network interface card, modem etc.) communication that equipment is communicated.This communication can by input/it is defeated
(I/O) interface 22a is carried out out.Also, the control device 12a of pilotless automobile can also pass through network adapter 20a and one
A or multiple networks (such as local area network (LAN), wide area network (WAN) and/or public network, such as internet) communication.Such as figure
Shown, network adapter 20a is communicated by bus 18a with other modules of the control device 12a of pilotless automobile.It should be bright
It is white, although not shown in the drawings, other hardware and/or software module can be used in conjunction with the control device 12a of pilotless automobile,
Including but not limited to: microcode, device driver, redundant processor, external disk drive array, RAID system, magnetic tape drive
Device and data backup storage system etc..
Processor 16a by the program that is stored in system storage 28a of operation, thereby executing various function application and
Data processing, such as realize the field test method of pilotless automobile shown in above-described embodiment.
The present invention also provides a kind of computer-readable mediums, are stored thereon with computer program, which is held by processor
The field test method of the pilotless automobile as shown in above-described embodiment is realized when row.
The computer-readable medium of the present embodiment may include in the system storage 28a in above-mentioned embodiment illustrated in fig. 5
RAM30a, and/or cache memory 32a, and/or storage system 34a.
With the development of science and technology, the route of transmission of computer program is no longer limited by tangible medium, it can also be directly from net
Network downloading, or obtained using other modes.Therefore, the computer-readable medium in the present embodiment not only may include tangible
Medium can also include invisible medium.
The computer-readable medium of the present embodiment can be using any combination of one or more computer-readable media.
Computer-readable medium can be computer-readable signal media or computer readable storage medium.Computer-readable storage medium
Matter for example may be-but not limited to-system, device or the device of electricity, magnetic, optical, electromagnetic, infrared ray or semiconductor, or
Any above combination of person.The more specific example (non exhaustive list) of computer readable storage medium includes: with one
Or the electrical connections of multiple conducting wires, portable computer diskette, hard disk, random access memory (RAM), read-only memory (ROM),
Erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disc read-only memory (CD-ROM), light
Memory device, magnetic memory device or above-mentioned any appropriate combination.In this document, computer readable storage medium can
With to be any include or the tangible medium of storage program, the program can be commanded execution system, device or device use or
Person is in connection.
Computer-readable signal media may include in a base band or as carrier wave a part propagate data-signal,
Wherein carry computer-readable program code.The data-signal of this propagation can take various forms, including --- but
It is not limited to --- electromagnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal media can also be
Any computer-readable medium other than computer readable storage medium, which can send, propagate or
Transmission is for by the use of instruction execution system, device or device or program in connection.
The program code for including on computer-readable medium can transmit with any suitable medium, including --- but it is unlimited
In --- wireless, electric wire, optical cable, RF etc. or above-mentioned any appropriate combination.
The computer for executing operation of the present invention can be write with one or more programming languages or combinations thereof
Program code, described program design language include object oriented program language-such as Java, Smalltalk, C++,
Further include conventional procedural programming language-such as " C " language or similar programming language.Program code can be with
It fully executes, partly execute on the user computer on the user computer, being executed as an independent software package, portion
Divide and partially executes or executed on a remote computer or server completely on the remote computer on the user computer.?
Be related in the situation of remote computer, remote computer can pass through the network of any kind --- including local area network (LAN) or
Wide area network (WAN)-be connected to subscriber computer, or, it may be connected to outer computer (such as mentioned using Internet service
It is connected for quotient by internet).
In several embodiments provided by the present invention, it should be understood that disclosed system, device and method can be with
It realizes by another way.For example, the apparatus embodiments described above are merely exemplary, for example, the unit
It divides, only a kind of logical function partition, there may be another division manner in actual implementation.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of hardware adds SFU software functional unit.
The above-mentioned integrated unit being realized in the form of SFU software functional unit can store and computer-readable deposit at one
In storage media.Above-mentioned SFU software functional unit is stored in a storage medium, including some instructions are used so that a computer
It is each that equipment (can be personal computer, server or the network equipment etc.) or processor (processor) execute the present invention
The part steps of embodiment the method.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (Read-
Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic or disk etc. it is various
It can store the medium of program code.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent substitution, improvement and etc. done be should be included within the scope of the present invention.
Claims (18)
1. a kind of field test method of pilotless automobile, which is characterized in that the described method includes:
In field test, acquired in real roads from external acquisition by the data acquisition vehicle of pilot steering, target field
The output data of each analog sensor under scape, each analog sensor according to each sensor in pilotless automobile assembly
Position is assemblied in the data acquisition vehicle, to simulate the sensor of corresponding position on the pilotless automobile；
According to the output data of each analog sensor, traveling of the pilotless automobile in test site is controlled, with
Simulate the target scene downward driving in real roads；
According to the behavior of traveling of the pilotless automobile under the target scene, the pilotless automobile is tested in institute
State the performance under target scene.
2. being existed the method according to claim 1, wherein being obtained from outside by the data acquisition vehicle of pilot steering
Output data acquire in real roads, each analog sensor under target scene, specifically includes:
From the output data for obtaining each analog sensor under the target scene in the data acquisition vehicle；Or
From the output data for obtaining each analog sensor under the target scene in cloud server, the cloud server
In the target scene under the output data data acquisition vehicle of each analog sensor acquire and upload.
3. being existed the method according to claim 1, wherein being obtained from outside by the data acquisition vehicle of pilot steering
After output data acquired in real roads, each analog sensor under target scene, further includes:
The output data of the analog sensor each under the target scene is mapped as the pilotless automobile is suitble to use
Format.
4. being existed the method according to claim 1, wherein being obtained from outside by the data acquisition vehicle of pilot steering
After output data acquired in real roads, each analog sensor under target scene, further includes:
The output data of the part analog sensor under the target scene is modified, it is each under different scenes to obtain
The output data of the analog sensor.
5. the method according to claim 1, wherein being controlled according to the output data of each analog sensor
Traveling of the pilotless automobile in test site, to simulate the target scene downward driving in real roads, tool
Body includes:
According to the output data of the analog sensor each under the target scene, before obtaining under the target scene of simulation
Square traffic information；
According to the front traffic information under the target scene, control instruction is generated；
According to the control instruction, traveling of the pilotless automobile in the test site is controlled, to simulate true
The target scene downward driving in road.
6. according to the method described in claim 5, it is characterized in that, the front traffic information includes the obstacle in road ahead
The behavior of the classification of object, relative position and the barrier.
7. according to the method described in claim 5, being existed it is characterized in that, being obtained from outside by the data acquisition vehicle of pilot steering
Before output data acquired in real roads, each analog sensor under target scene, which comprises
Close each sensor on the pilotless automobile.
8. according to claim 1 in -7 any methods, which is characterized in that according to the pilotless automobile in the mesh
The behavior for marking the traveling under scene, tests performance of the pilotless automobile under the target scene, specifically includes:
If the behavior of traveling of the pilotless automobile under the target scene is braking process, judge described unmanned
Automobile is in braking to during stopping, if rolling described on the road surface for the road being inscribed in the test site in advance
The trajectory line of barrier, if so, determining that braking ability of the pilotless automobile under the target scene is undesirable；It is described
The trajectory line of barrier is inscribed on the road surface of the road in advance according to the output data of each analog sensor.
9. a kind of pilotless automobile, which is characterized in that the pilotless automobile includes:
Module is obtained, for being obtained from outside by the data acquisition vehicle of pilot steering in real roads in field test
Output data acquire, each analog sensor under target scene, each analog sensor is according in pilotless automobile
The rigging position of each sensor is assemblied in the data acquisition vehicle, to simulate corresponding position on the pilotless automobile
The sensor；
Control module controls the pilotless automobile in checkout area for the output data according to each analog sensor
Traveling in ground, to simulate the target scene downward driving in real roads；
Test module tests the nothing for the behavior of the traveling according to the pilotless automobile under the target scene
Performance of people's driving under the target scene.
10. pilotless automobile according to claim 9, which is characterized in that the acquisition module is specifically used for:
From the output data for obtaining each analog sensor under the target scene in the data acquisition vehicle；Or
From the output data for obtaining each analog sensor under the target scene in cloud server, the cloud server
In the target scene under the output data data acquisition vehicle of each analog sensor acquire and upload.
11. pilotless automobile according to claim 9, which is characterized in that the pilotless automobile, further includes:
Mapping block, for by the output data of the analog sensor each under the target scene be mapped as being suitble to it is described nobody
Drive a car the format used.
12. pilotless automobile according to claim 9, which is characterized in that the pilotless automobile, further includes:
Modified module, for the output data of the part analog sensor under the target scene to be modified, to obtain
The output data of each analog sensor under different scenes.
13. pilotless automobile according to claim 9, which is characterized in that the control module is specifically used for:
According to the output data of the analog sensor each under the target scene, before obtaining under the target scene of simulation
Square traffic information；
According to the front traffic information under the target scene, control instruction is generated；
According to the control instruction, traveling of the pilotless automobile in the test site is controlled, to simulate true
The target scene downward driving in road.
14. pilotless automobile according to claim 13, which is characterized in that the front traffic information includes front road
The behavior of the classification of barrier in road, relative position and the barrier.
15. pilotless automobile according to claim 9, which is characterized in that the control module is also used to close described
Each sensor on pilotless automobile.
16. according to any pilotless automobile of claim 9-15, which is characterized in that the test module is specific to use
If the behavior in traveling of the pilotless automobile under the target scene is braking process, the unmanned vapour is judged
Vehicle is in braking to during stopping, if rolling the barrier on the road surface for the road being inscribed in the test site in advance
Hinder the trajectory line of object, if so, determining that braking ability of the pilotless automobile under the target scene is undesirable；The barrier
The trajectory line of object is hindered to be inscribed on the road surface of the road in advance according to the output data of each analog sensor.
17. a kind of control device of pilotless automobile, which is characterized in that the control device of the pilotless automobile includes:
One or more processors；
Memory, 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 are real
Now such as method described in any one of claims 1-8.
18. a kind of computer-readable medium, is stored thereon with computer program, which is characterized in that the program is executed by processor
Shi Shixian method for example described in any one of claims 1-8.
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| CN201710543930.5A CN109211575B (en) | 2017-07-05 | 2017-07-05 | Unmanned vehicle and site testing method, device and readable medium thereof |
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| CN113532888A (en) * | 2021-09-17 | 2021-10-22 | 北京智能车联产业创新中心有限公司 | Pure vision automatic driving vehicle testing method and device |
| CN113532888B (en) * | 2021-09-17 | 2022-03-18 | 北京智能车联产业创新中心有限公司 | Pure vision automatic driving vehicle testing method and device |
| CN114217539A (en) * | 2021-10-29 | 2022-03-22 | 北京汽车研究总院有限公司 | Simulation test method and device for automatic driving function, vehicle and storage medium |
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