CN109900493A - Barrier analogy method and device in unmanned vehicle test scene - Google Patents
Barrier analogy method and device in unmanned vehicle test scene Download PDFInfo
- Publication number
- CN109900493A CN109900493A CN201910130979.7A CN201910130979A CN109900493A CN 109900493 A CN109900493 A CN 109900493A CN 201910130979 A CN201910130979 A CN 201910130979A CN 109900493 A CN109900493 A CN 109900493A
- Authority
- CN
- China
- Prior art keywords
- barrier
- tested vehicle
- vehicle
- distance
- test
- 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.)
- Pending
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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M7/00—Vibration-testing of structures; Shock-testing of structures
- G01M7/08—Shock-testing
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Traffic Control Systems (AREA)
Abstract
This disclosure relates to barrier analogy method and device in a kind of unmanned vehicle test scene, which comprises obtain the position of tested vehicle or the running time of tested vehicle；If the position of the tested vehicle is predeterminated position or the running time is preset time, triggers barrier and moved according to default running track and pre-set velocity.By according to the position of test vehicle or the running time of test vehicle, it is mobile according to default running track and pre-set velocity to trigger barrier, according to the barrier analogy method and device in the unmanned vehicle test scene of the embodiment of the present disclosure, test cases is repeated, test is safer, and can be improved test accuracy.
Description
Technical field
This disclosure relates to the field of test technology more particularly to a kind of barrier analogy method in unmanned vehicle test scene and
Device.
Background technique
With the rise of unmanned technology, automatic driving vehicle is also concerned, and is widely applied.Nobody drives
It sails vehicle before being put into use, needs to carry out vehicle testing, after being successfully tested under the multiple analog traffic scene of experimental site,
Actual use could be put into.
Currently, test cases is not reproducible when testing unmanned vehicle in the actual environment, also relative risk is tested.In test
The non-artificial setting of barrier, can not accurately reproduce test scene, test accuracy is low.
Summary of the invention
In view of this, the present disclosure proposes barrier analogy methods and device in a kind of unmanned vehicle test scene.
According to the one side of the disclosure, the barrier analogy method in a kind of unmanned vehicle test scene, feature are provided
It is, comprising:
Obtain the position of tested vehicle or the running time of tested vehicle；
If the position of the tested vehicle is predeterminated position or the running time is preset time, triggers barrier and press
It is moved according to default running track and pre-set velocity；
Wherein, the barrier is the one or more movable obstructions being distributed in test path.
In one possible implementation, the predeterminated position includes: the position at a distance from barrier for pre-determined distance
It sets.
In one possible implementation, the method also includes:
Tested vehicle is obtained at a distance from barrier；
If tested vehicle is pre-determined distance at a distance from barrier, the position of the tested vehicle is predeterminated position.
In one possible implementation, the tested vehicle is obtained at a distance from barrier by GPS or laser radar
It takes.
In one possible implementation, for each barrier, the default running track packet of the barrier
Include one or more pre-set velocities.
According to another aspect of the present disclosure, the barrier simulator in a kind of unmanned vehicle test scene is provided, comprising:
First obtains module, for obtaining the position of tested vehicle or the running time of tested vehicle；
Control module, if the position for the tested vehicle is predeterminated position or the running time is preset time,
Barrier is then triggered to be moved according to default running track and pre-set velocity；
Wherein, the barrier is the one or more movable obstructions being distributed in test path.
In one possible implementation, the predeterminated position includes: the position at a distance from barrier for pre-determined distance
It sets.
In one possible implementation, described device further include:
Second obtains module, for obtaining tested vehicle at a distance from barrier；
Predeterminated position determining module, if being pre-determined distance, the tested vechicle at a distance from barrier for tested vehicle
Position be predeterminated position.
In one possible implementation, the tested vehicle is obtained at a distance from barrier by GPS or laser radar
It takes.
In one possible implementation, for each barrier, the default running track packet of the barrier
Include one or more pre-set velocities.
According to another aspect of the present disclosure, the barrier simulator in a kind of unmanned vehicle test scene is provided, comprising:
Processor；Memory for storage processor executable instruction；Wherein, the processor is configured to executing the above method.
According to another aspect of the present disclosure, a kind of non-volatile computer readable storage medium storing program for executing is provided, is stored thereon with
Computer program instructions, wherein the computer program instructions realize the above method when being executed by processor.
By triggering barrier according to default running track according to the position of test vehicle or the running time of test vehicle
It is mobile with pre-set velocity, according to the barrier analogy method and device in the unmanned vehicle test scene of the embodiment of the present disclosure, so that
Test cases can repeat, and test is safer, and can be improved test accuracy.
According to below with reference to the accompanying drawings to detailed description of illustrative embodiments, the other feature and aspect of the disclosure will become
It is clear.
Detailed description of the invention
Comprising in the description and constituting the attached drawing of part of specification and specification together illustrates the disclosure
Exemplary embodiment, feature and aspect, and for explaining the principles of this disclosure.
Fig. 1 shows the flow chart of the barrier analogy method in the unmanned vehicle test scene according to one embodiment of the disclosure.
Fig. 2 shows the flow charts of the barrier analogy method in the unmanned vehicle test scene according to one embodiment of the disclosure.
Fig. 3 shows the block diagram of the barrier simulator in the unmanned vehicle test scene according to one embodiment of the disclosure.
Fig. 4 shows the block diagram of the barrier simulator in the unmanned vehicle test scene according to one embodiment of the disclosure.
Fig. 5 shows the barrier simulator 800 in a kind of unmanned vehicle test scene according to an exemplary embodiment
Block diagram.
Fig. 6 shows the barrier simulator 1900 in a kind of unmanned vehicle test scene according to an exemplary embodiment
Block diagram.
Specific embodiment
Various exemplary embodiments, feature and the aspect of the disclosure are described in detail below with reference to attached drawing.It is identical in attached drawing
Appended drawing reference indicate element functionally identical or similar.Although the various aspects of embodiment are shown in the attached drawings, remove
It non-specifically points out, it is not necessary to attached drawing drawn to scale.
Dedicated word " exemplary " means " being used as example, embodiment or illustrative " herein.Here as " exemplary "
Illustrated any embodiment should not necessarily be construed as preferred or advantageous over other embodiments.
In addition, giving numerous details in specific embodiment below to better illustrate the disclosure.
It will be appreciated by those skilled in the art that without certain details, the disclosure equally be can be implemented.In some instances, for
Method, means, element and circuit well known to those skilled in the art are not described in detail, in order to highlight the purport of the disclosure.
Fig. 1 shows the flow chart of the barrier analogy method in the unmanned vehicle test scene according to one embodiment of the disclosure.
The monitoring service that the method can be applied to tested vehicle, test the barrier or unmanned vehicle testing experiment field that are distributed on road
Device, the barrier are to be distributed on test road in advance, are applied to the barrier being distributed on test road in this way below
Hinder and is described for object.As shown in Figure 1, the method may include:
Step S11 obtains the position of tested vehicle or the running time of tested vehicle.
It may include test road in unmanned vehicle testing experiment field, the test road can be used for the real vehicle of unmanned vehicle
Test, the real steering vectors of the unmanned vehicle, which refer to, tests vehicle on test road by unpiloted mode.?
Need to simulate the barrier in actual road conditions in the test scene of unmanned vehicle testing experiment field, the barrier can refer to influence
The things of tested vehicle normally travel, for example, the passerby jaywalked, vehicle of lane change etc..The test road can be pre-
First it is arranged, may include one or more road types, such as expressway, rough road, hill path etc., the disclosure is to test road
Road type be not construed as limiting.
The barrier can obtain itself position by positioning, when tested vehicle on test road when driving, institute
The position of the available tested vehicle of barrier is stated, for example, the barrier can be according to the opposite of barrier and tested vehicle
The position of position acquisition tested vehicle, alternatively, the barrier can be tested by receiving the location information acquisition of tested vehicle
The position of vehicle.
The test time started of tested vehicle can be informed barrier, barrier by the monitoring server of unmanned vehicle testing experiment field
Hinder object when the test for receiving the tested vehicle starts, carries out timing, the barrier can be according to the duration of timing
Obtain the running time of tested vehicle, for example, timing when it is 5 minutes a length of, the running time of available tested vehicle is 5 points
Clock.
It should be noted that the prison of the barrier being distributed on the tested vehicle, test road, unmanned vehicle testing experiment field
Control server between can communicate with each other, with realize tested vehicle position and tested vehicle running time tested vehicle,
It is shared between barrier and monitoring server.
Step S12 is triggered if the position of the tested vehicle is predeterminated position or the running time is preset time
Barrier is moved according to default running track and pre-set velocity；Wherein, the barrier is to be distributed in test path
One or more movable obstructions, the barrier can have communication function, information processing and control function etc..
The predeterminated position and the preset time can be disposed on tested vehicle, test the obstacle being distributed on road
Object, unmanned vehicle testing experiment field monitoring server in.The predeterminated position may include one or more tested on road
A position, the preset time can be one or more running times during test vehicle driving.
The default running track and pre-set velocity can be tester and be pre-configured in barrier, each barrier
Hinder object that can save itself default running track and pre-set velocity.
The barrier may determine that whether the position of the tested vehicle is predeterminated position, alternatively, the barrier can
To judge whether the running time of the tested vehicle is preset time, if the position of the tested vehicle is predeterminated position (institute
The position for stating tested vehicle is matched with predeterminated position) or the running time be preset time, then can trigger barrier according to
Default running track and pre-set velocity are moved.For example, the default running track of barrier A is and test 45 ° of straight lines of road
Traveling, 30 kilometers/hour of pre-set velocity, if barrier A judges the position of the tested vehicle for predeterminated position or the traveling
Time is preset time, can control barrier and extremely tests in road with 30 kilometers/hour, with test 45 ° of straight-line travellings of road.
By triggering barrier according to default running track according to the position of test vehicle or the running time of test vehicle
It is mobile with pre-set velocity, according to the barrier analogy method in the unmanned vehicle test scene of the embodiment of the present disclosure, so that test case
Example can repeat, and test is safer, and can be improved test accuracy.
In one possible implementation, the method can also include: the one or more of moving disorders of configuration
The default running track and pre-set velocity of object.
Each moving obstacle can be according to the setting of the tester received, for example, running track and traveling speed
The setting of degree, configures itself default running track and pre-set velocity, and can save the configuration.
Optionally, the running track of each moving obstacle can also be arranged in the tester on monitoring server
And travel speed, monitoring server can be by the marks of the running track of tester's setting and travel speed and moving obstacle
Corresponding relationship save, and the corresponding relationship can be sent to each moving obstacle, moving obstacle can be according to shifting
The mark of dynamic barrier obtains the running track and travel speed of tester's setting, and can be set according to the tester of acquisition
The running track and travel speed set configure itself default running track and pre-set velocity.For example, tester can be set
It is 30 kilometers/hour that the running track of barrier A, which is with test 45 ° of straight-line travellings of road, travel speed, and barrier A can match
Set itself default running track be and test 45 ° of straight-line travellings of road, 30 kilometers/hour of pre-set velocity, barrier A can be adjusted
Itself whole direction of advance and road are at 45 °, can be directly with 30 kilometers/hour of straight-line travellings when waiting is triggered.
It is configured by the default running track and pre-set velocity that allow moving obstacle, so that the scene of vehicle testing can
To be targetedly arranged according to the test purpose of tester, and it can guarantee the comprehensive of vehicle testing.
In one possible implementation, the predeterminated position may include: at a distance from barrier for pre-determined distance
Position.Wherein, it is preconfigured to can be tester for pre-determined distance, and the pre-determined distance can be saved in it is described
In the monitoring server of the barrier, unmanned vehicle testing experiment field that are distributed on tested vehicle, test road.
In one possible implementation, for each barrier, the default running track of the barrier can
To include one or more pre-set velocities.
The desired guiding trajectory may include initial position and end position etc., the end position can and initial position
(position when not being triggered) is identical, in this way, barrier can be automatically moved to the initial bit according to the desired guiding trajectory
It sets.
If the desired guiding trajectory includes a pre-set velocity, the barrier be triggered it is mobile during speed be always
The pre-set velocity.
If the desired guiding trajectory includes multiple pre-set velocities, multiple pre-set velocity can be corresponded in the desired guiding trajectory
Different range, for example, desired guiding trajectory includes two ranges: the first range and the second range, first range is corresponding default
Speed is V1, and the corresponding pre-set velocity of second range is V2, and the barrier is triggered according to default running track and pre-
If during speed is mobile, barrier be may determine that from which range in the desired guiding trajectory, true according to the range
Constant speed degree is V1 or V2, i.e., barrier can change the mobile mistake of mobile speed namely barrier according to multiple pre-set velocities
Speed can change in journey.
Fig. 2 shows the flow charts of the barrier analogy method in the unmanned vehicle test scene according to one embodiment of the disclosure.
As shown in Fig. 2, in one possible implementation, the method can also include:
Step S13 obtains tested vehicle at a distance from barrier；
Step S14, if tested vehicle is pre-determined distance at a distance from barrier, the position of the tested vehicle is default
Position.
The available tested vehicle of barrier is at a distance from barrier, it can be determined that the distance whether be it is default away from
From, if tested vehicle at a distance from barrier be pre-determined distance, can determine the tested vehicle position be predeterminated position.
In one possible implementation, the tested vehicle can pass through GPS or laser thunder at a distance from barrier
Up to acquisition.For example, can install laser radar on barrier, barrier can be by the scanning of laser radar, acquisition and obstacle
The distance of the close tested vehicle of object.Alternatively, laser radar can be installed on the tested vehicle, the tested vehicle measure with
Barrier apart from when, which can be sent to barrier, for example, can pass through Wifi, bluetooth, mobile data network hair
Send the distance to barrier, so that the barrier obtains the tested vehicle at a distance from barrier.
Optionally, the barrier can obtain the GPS positioning data of tested vehicle from tested vehicle or monitoring server,
And it can be according to the position of tested vehicle according to the position of the GPS positioning data acquisition tested vehicle of tested vehicle, barrier
The position with itself is set, obtains tested vehicle at a distance from barrier.
Fig. 3 shows the block diagram of the barrier simulator in the unmanned vehicle test scene according to one embodiment of the disclosure.Institute
Stating device may include:
First obtains module 11, for obtaining the position of tested vehicle or the running time of tested vehicle；
Control module 12, if the position for the tested vehicle is predeterminated position or the running time is when presetting
Between, then it triggers barrier and is moved according to default running track and pre-set velocity；
Wherein, the barrier is the one or more movable obstructions being distributed in test path.
By triggering barrier according to default running track according to the position of test vehicle or the running time of test vehicle
It is mobile with pre-set velocity, according to the barrier simulator in the unmanned vehicle test scene of the embodiment of the present disclosure, so that test case
Example can repeat, and test is safer, and can be improved test accuracy.
In one possible implementation, the predeterminated position may include: at a distance from barrier for pre-determined distance
Position.
Fig. 4 shows the block diagram of the barrier simulator in the unmanned vehicle test scene according to one embodiment of the disclosure.Such as
Shown in Fig. 4, in one possible implementation, described device can also include:
Second obtains module 13, for obtaining tested vehicle at a distance from barrier；
Predeterminated position determining module 14, it is described tested if being pre-determined distance at a distance from barrier for tested vehicle
The position of vehicle is predeterminated position.
In one possible implementation, the tested vehicle is obtained at a distance from barrier by GPS or laser radar
It takes.
Fig. 5 shows the barrier simulator 800 in a kind of unmanned vehicle test scene according to an exemplary embodiment
Block diagram.For example, device 800 can be mobile phone, and computer, digital broadcasting terminal, messaging device, game console,
Tablet device, Medical Devices, body-building equipment, personal digital assistant etc..
Referring to Fig. 5, device 800 may include following one or more components: processing component 802, memory 804, power supply
Component 806, multimedia component 808, audio component 810, the interface 812 of input/output (I/O), sensor module 814, and
Communication component 816.
The integrated operation of the usual control device 800 of processing component 802, such as with display, telephone call, data communication, phase
Machine operation and record operate associated operation.Processing component 802 may include that one or more processors 820 refer to execute
It enables, to perform all or part of the steps of the methods described above.In addition, processing component 802 may include one or more modules, just
Interaction between processing component 802 and other assemblies.For example, processing component 802 may include multi-media module, it is more to facilitate
Interaction between media component 808 and processing component 802.
Memory 804 is configured as storing various types of data to support the operation in device 800.These data are shown
Example includes the instruction of any application or method for operating on device 800, contact data, and telephone book data disappears
Breath, picture, video etc..Memory 804 can be by any kind of volatibility or non-volatile memory device or their group
It closes and realizes, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM) is erasable to compile
Journey read-only memory (EPROM), programmable read only memory (PROM), read-only memory (ROM), magnetic memory, flash
Device, disk or CD.
Power supply module 806 provides electric power for the various assemblies of device 800.Power supply module 806 may include power management system
System, one or more power supplys and other with for device 800 generate, manage, and distribute the associated component of electric power.
Multimedia component 808 includes the screen of one output interface of offer between described device 800 and user.One
In a little embodiments, screen may include liquid crystal display (LCD) and touch panel (TP).If screen includes touch panel, screen
Curtain may be implemented as touch screen, to receive input signal from the user.Touch panel includes one or more touch sensings
Device is to sense the gesture on touch, slide, and touch panel.The touch sensor can not only sense touch or sliding action
Boundary, but also detect duration and pressure associated with the touch or slide operation.In some embodiments, more matchmakers
Body component 808 includes a front camera and/or rear camera.When device 800 is in operation mode, such as screening-mode or
When video mode, front camera and/or rear camera can receive external multi-medium data.Each front camera and
Rear camera can be a fixed optical lens system or have focusing and optical zoom capabilities.
Audio component 810 is configured as output and/or input audio signal.For example, audio component 810 includes a Mike
Wind (MIC), when device 800 is in operation mode, when such as call mode, recording mode, and voice recognition mode, microphone is matched
It is set to reception external audio signal.The received audio signal can be further stored in memory 804 or via communication set
Part 816 is sent.In some embodiments, audio component 810 further includes a loudspeaker, is used for output audio signal.
I/O interface 812 provides interface between processing component 802 and peripheral interface module, and above-mentioned peripheral interface module can
To be keyboard, click wheel, button etc..These buttons may include, but are not limited to: home button, volume button, start button and lock
Determine button.
Sensor module 814 includes one or more sensors, and the state for providing various aspects for device 800 is commented
Estimate.For example, sensor module 814 can detecte the state that opens/closes of device 800, and the relative positioning of component, for example, it is described
Component is the display and keypad of device 800, and sensor module 814 can be with 800 1 components of detection device 800 or device
Position change, the existence or non-existence that user contacts with device 800,800 orientation of device or acceleration/deceleration and device 800
Temperature change.Sensor module 814 may include proximity sensor, be configured to detect without any physical contact
Presence of nearby objects.Sensor module 814 can also include optical sensor, such as CMOS or ccd image sensor, at
As being used in application.In some embodiments, which can also include acceleration transducer, gyro sensors
Device, Magnetic Sensor, pressure sensor or temperature sensor.
Communication component 816 is configured to facilitate the communication of wired or wireless way between device 800 and other equipment.Device
800 can access the wireless network based on communication standard, such as WiFi, 2G or 3G or their combination.In an exemplary implementation
In example, communication component 816 receives broadcast singal or broadcast related information from external broadcasting management system via broadcast channel.
In one exemplary embodiment, the communication component 816 further includes near-field communication (NFC) module, to promote short range communication.Example
Such as, NFC module can be based on radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra wide band (UWB) technology,
Bluetooth (BT) technology and other technologies are realized.
In the exemplary embodiment, device 800 can be believed by one or more application specific integrated circuit (ASIC), number
Number processor (DSP), digital signal processing appts (DSPD), programmable logic device (PLD), field programmable gate array
(FPGA), controller, microcontroller, microprocessor or other electronic components are realized, for executing the above method.
In the exemplary embodiment, a kind of non-volatile computer readable storage medium storing program for executing is additionally provided, for example including calculating
The memory 804 of machine program instruction, above-mentioned computer program instructions can be executed above-mentioned to complete by the processor 820 of device 800
Method.
Fig. 6 shows the barrier simulator 1900 in a kind of unmanned vehicle test scene according to an exemplary embodiment
Block diagram.For example, device 1900 may be provided as a server.Referring to Fig. 6, device 1900 includes processing component 1922, into
One step includes one or more processors and memory resource represented by a memory 1932, can be by handling for storing
The instruction of the execution of component 1922, such as application program.The application program stored in memory 1932 may include one or one
Each more than a corresponds to the module of one group of instruction.In addition, processing component 1922 is configured as executing instruction, on executing
State method.
Device 1900 can also include that a power supply module 1926 be configured as the power management of executive device 1900, and one
Wired or wireless network interface 1950 is configured as device 1900 being connected to network and input and output (I/O) interface
1958.Device 1900 can be operated based on the operating system for being stored in memory 1932, such as Windows ServerTM, Mac
OS XTM, UnixTM, LinuxTM, FreeBSDTM or similar.
In the exemplary embodiment, a kind of non-volatile computer readable storage medium storing program for executing is additionally provided, for example including calculating
The memory 1932 of machine program instruction, above-mentioned computer program instructions can be executed by the processing component 1922 of device 1900 to complete
The above method.
The disclosure can be system, method and/or computer program product.Computer program product may include computer
Readable storage medium storing program for executing, containing for making processor realize the computer-readable program instructions of various aspects of the disclosure.
Computer readable storage medium, which can be, can keep and store the tangible of the instruction used by instruction execution equipment
Equipment.Computer readable storage medium for example can be-- but it is not limited to-- storage device electric, magnetic storage apparatus, optical storage
Equipment, electric magnetic storage apparatus, semiconductor memory apparatus or above-mentioned any appropriate combination.Computer readable storage medium
More specific example (non exhaustive list) includes: portable computer diskette, hard disk, random access memory (RAM), read-only deposits
It is reservoir (ROM), erasable programmable read only memory (EPROM or flash memory), static random access memory (SRAM), portable
Compact disk read-only memory (CD-ROM), digital versatile disc (DVD), memory stick, floppy disk, mechanical coding equipment, for example thereon
It is stored with punch card or groove internal projection structure and the above-mentioned any appropriate combination of instruction.Calculating used herein above
Machine readable storage medium storing program for executing is not interpreted that instantaneous signal itself, the electromagnetic wave of such as radio wave or other Free propagations lead to
It crosses the electromagnetic wave (for example, the light pulse for passing through fiber optic cables) of waveguide or the propagation of other transmission mediums or is transmitted by electric wire
Electric signal.
Computer-readable program instructions as described herein can be downloaded to from computer readable storage medium it is each calculate/
Processing equipment, or outer computer or outer is downloaded to by network, such as internet, local area network, wide area network and/or wireless network
Portion stores equipment.Network may include copper transmission cable, optical fiber transmission, wireless transmission, router, firewall, interchanger, gateway
Computer and/or Edge Server.Adapter or network interface in each calculating/processing equipment are received from network to be counted
Calculation machine readable program instructions, and the computer-readable program instructions are forwarded, for the meter being stored in each calculating/processing equipment
In calculation machine readable storage medium storing program for executing.
Computer program instructions for executing disclosure operation can be assembly instruction, instruction set architecture (ISA) instructs,
Machine instruction, machine-dependent instructions, microcode, firmware instructions, condition setup data or with one or more programming languages
The source code or object code that any combination is write, the programming language include the programming language-of object-oriented such as
Smalltalk, C++ etc., and conventional procedural programming languages-such as " C " language or similar programming language.Computer
Readable program instructions can be executed fully on the user computer, partly execute on the user computer, be only as one
Vertical software package executes, part executes on the remote computer or completely in remote computer on the user computer for part
Or it is executed on server.In situations involving remote computers, remote computer can pass through network-packet of any kind
It includes local area network (LAN) or wide area network (WAN)-is connected to subscriber computer, or, it may be connected to outer computer (such as benefit
It is connected with ISP by internet).In some embodiments, by utilizing computer-readable program instructions
Status information carry out personalized customization electronic circuit, such as programmable logic circuit, field programmable gate array (FPGA) or can
Programmed logic array (PLA) (PLA), the electronic circuit can execute computer-readable program instructions, to realize each side of the disclosure
Face.
Referring herein to according to the flow chart of the method, apparatus (system) of the embodiment of the present disclosure and computer program product and/
Or block diagram describes various aspects of the disclosure.It should be appreciated that flowchart and or block diagram each box and flow chart and/
Or in block diagram each box combination, can be realized by computer-readable program instructions.
These computer-readable program instructions can be supplied to general purpose computer, special purpose computer or other programmable datas
The processor of processing unit, so that a kind of machine is produced, so that these instructions are passing through computer or other programmable datas
When the processor of processing unit executes, function specified in one or more boxes in implementation flow chart and/or block diagram is produced
The device of energy/movement.These computer-readable program instructions can also be stored in a computer-readable storage medium, these refer to
It enables so that computer, programmable data processing unit and/or other equipment work in a specific way, thus, it is stored with instruction
Computer-readable medium then includes a manufacture comprising in one or more boxes in implementation flow chart and/or block diagram
The instruction of the various aspects of defined function action.
Computer-readable program instructions can also be loaded into computer, other programmable data processing units or other
In equipment, so that series of operation steps are executed in computer, other programmable data processing units or other equipment, to produce
Raw computer implemented process, so that executed in computer, other programmable data processing units or other equipment
Instruct function action specified in one or more boxes in implementation flow chart and/or block diagram.
The flow chart and block diagram in the drawings show system, method and the computer journeys according to multiple embodiments of the disclosure
The architecture, function and operation in the cards of sequence product.In this regard, each box in flowchart or block diagram can generation
One module of table, program segment or a part of instruction, the module, program segment or a part of instruction include one or more use
The executable instruction of the logic function as defined in realizing.In some implementations as replacements, function marked in the box
It can occur in a different order than that indicated in the drawings.For example, two continuous boxes can actually be held substantially in parallel
Row, they can also be executed in the opposite order sometimes, and this depends on the function involved.It is also noted that block diagram and/or
The combination of each box in flow chart and the box in block diagram and or flow chart, can the function as defined in executing or dynamic
The dedicated hardware based system made is realized, or can be realized using a combination of dedicated hardware and computer instructions.
The presently disclosed embodiments is described above, above description is exemplary, and non-exclusive, and
It is not limited to disclosed each embodiment.Without departing from the scope and spirit of illustrated each embodiment, for this skill
Many modifications and changes are obvious for the those of ordinary skill in art field.The selection of term used herein, purport
In the principle, practical application or technological improvement to the technology in market for best explaining each embodiment, or lead this technology
Other those of ordinary skill in domain can understand each embodiment disclosed herein.
Claims (12)
1. the barrier analogy method in a kind of unmanned vehicle test scene characterized by comprising
Obtain the position of tested vehicle or the running time of tested vehicle；
If the position of the tested vehicle is predeterminated position or the running time is preset time, barrier is triggered according to pre-
If running track and pre-set velocity are moved；
Wherein, the barrier is the one or more movable obstructions being distributed in test path.
2. the method according to claim 1, wherein it is pre- that the predeterminated position, which includes: at a distance from barrier,
If the position of distance.
3. according to the method described in claim 2, it is characterized in that, the method also includes:
Tested vehicle is obtained at a distance from barrier；
If tested vehicle is pre-determined distance at a distance from barrier, the position of the tested vehicle is predeterminated position.
4. according to the method described in claim 3, it is characterized in that,
The tested vehicle is obtained at a distance from barrier by GPS or laser radar.
5. the described of the barrier is preset the method according to claim 1, wherein being directed to each barrier
Running track includes one or more pre-set velocities.
6. the barrier simulator in a kind of unmanned vehicle test scene characterized by comprising
First obtains module, for obtaining the position of tested vehicle or the running time of tested vehicle；
Control module is touched if the position for the tested vehicle is predeterminated position or the running time is preset time
Hair barrier is moved according to default running track and pre-set velocity；
Wherein, the barrier is the one or more movable obstructions being distributed in test path.
7. device according to claim 6, which is characterized in that it is pre- that the predeterminated position, which includes: at a distance from barrier,
If the position of distance.
8. device according to claim 7, which is characterized in that described device further include:
Second obtains module, for obtaining tested vehicle at a distance from barrier；
Predeterminated position determining module, if being pre-determined distance at a distance from barrier for tested vehicle, the tested vehicle
Position is predeterminated position.
9. device according to claim 8, which is characterized in that
The tested vehicle is obtained at a distance from barrier by GPS or laser radar.
10. device according to claim 6, which is characterized in that be directed to each barrier, the described of the barrier is preset
Running track includes one or more pre-set velocities.
11. the barrier simulator in a kind of unmanned vehicle test scene characterized by comprising
Processor；
Memory for storage processor executable instruction；
Wherein, the processor is configured to:
The executable instruction is executed to realize the described in any item methods of claim 1-5.
12. a kind of non-volatile computer readable storage medium storing program for executing, is stored thereon with computer program instructions, which is characterized in that institute
It states and realizes method described in any one of claim 1 to 5 when computer program instructions are executed by processor.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910130979.7A CN109900493A (en) | 2019-02-20 | 2019-02-20 | Barrier analogy method and device in unmanned vehicle test scene |
| PCT/CN2019/123723 WO2020168788A1 (en) | 2019-02-20 | 2019-12-06 | Autonomous vehicle testing scenario obstacle simulation method and apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910130979.7A CN109900493A (en) | 2019-02-20 | 2019-02-20 | Barrier analogy method and device in unmanned vehicle test scene |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109900493A true CN109900493A (en) | 2019-06-18 |
Family
ID=66945168
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910130979.7A Pending CN109900493A (en) | 2019-02-20 | 2019-02-20 | Barrier analogy method and device in unmanned vehicle test scene |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN109900493A (en) |
| WO (1) | WO2020168788A1 (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110174275A (en) * | 2019-06-26 | 2019-08-27 | 北京智行者科技有限公司 | A kind of test method and system of automatic driving vehicle rainy day recognition capability |
| CN110471535A (en) * | 2019-09-09 | 2019-11-19 | 北京精英智通科技股份有限公司 | A kind of drive simulating exchange method, device and equipment and storage medium |
| CN110895406A (en) * | 2019-11-11 | 2020-03-20 | 北京三快在线科技有限公司 | Method and device for testing unmanned equipment based on interferent track planning |
| CN111027195A (en) * | 2019-12-03 | 2020-04-17 | 北京百度网讯科技有限公司 | Simulation scene generation method, device and equipment |
| CN111310302A (en) * | 2020-01-16 | 2020-06-19 | 中国信息通信研究院 | Test scene generation method and device |
| WO2020168788A1 (en) * | 2019-02-20 | 2020-08-27 | 苏州风图智能科技有限公司 | Autonomous vehicle testing scenario obstacle simulation method and apparatus |
| CN111694287A (en) * | 2020-05-14 | 2020-09-22 | 北京百度网讯科技有限公司 | Obstacle simulation method and device in unmanned simulation scene |
| CN111780989A (en) * | 2020-07-02 | 2020-10-16 | 大唐信通(浙江)科技有限公司 | Vehicle-mounted special multifunctional composite sensor |
| CN112363485A (en) * | 2020-08-11 | 2021-02-12 | 上海汽车集团股份有限公司 | Intelligent driving and testing equipment and upper management platform |
| CN112665875A (en) * | 2020-12-25 | 2021-04-16 | 北京智能车联产业创新中心有限公司 | Method and device for testing reliability of automatic driving vehicle, electronic equipment and storage medium |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112965466B (en) | 2021-02-18 | 2022-08-30 | 北京百度网讯科技有限公司 | Reduction test method, device, equipment and program product of automatic driving system |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108106859A (en) * | 2018-01-25 | 2018-06-01 | 成都华远科技有限公司 | A kind of carriage device for simulated crash and monitoring data |
| CN208119291U (en) * | 2018-04-25 | 2018-11-20 | 吉林大学 | A kind of intelligent vehicle moved for simulating intelligent body in unmanned test |
| CN109187041A (en) * | 2018-07-19 | 2019-01-11 | 山东省科学院自动化研究所 | A kind of unmanned testing vehicle platform and method for automatic Pilot checkout area |
| CN109211574A (en) * | 2017-07-05 | 2019-01-15 | 百度在线网络技术（北京）有限公司 | Field test method, apparatus, equipment and the readable medium of pilotless automobile |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008039686A (en) * | 2006-08-09 | 2008-02-21 | Denso Corp | Collision testing device |
| JP6518145B2 (en) * | 2015-06-24 | 2019-05-22 | 株式会社エヌエステイー | Pedestrian dummy drive for collision avoidance system evaluation system |
| CN106769085B (en) * | 2016-12-14 | 2023-10-13 | 特路（北京）科技有限公司 | Method and field for testing capability of automatic driving vehicle for avoiding dynamic obstacle |
| CN109900493A (en) * | 2019-02-20 | 2019-06-18 | 苏州风图智能科技有限公司 | Barrier analogy method and device in unmanned vehicle test scene |
-
2019
- 2019-02-20 CN CN201910130979.7A patent/CN109900493A/en active Pending
- 2019-12-06 WO PCT/CN2019/123723 patent/WO2020168788A1/en active Application Filing
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109211574A (en) * | 2017-07-05 | 2019-01-15 | 百度在线网络技术（北京）有限公司 | Field test method, apparatus, equipment and the readable medium of pilotless automobile |
| CN108106859A (en) * | 2018-01-25 | 2018-06-01 | 成都华远科技有限公司 | A kind of carriage device for simulated crash and monitoring data |
| CN208119291U (en) * | 2018-04-25 | 2018-11-20 | 吉林大学 | A kind of intelligent vehicle moved for simulating intelligent body in unmanned test |
| CN109187041A (en) * | 2018-07-19 | 2019-01-11 | 山东省科学院自动化研究所 | A kind of unmanned testing vehicle platform and method for automatic Pilot checkout area |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020168788A1 (en) * | 2019-02-20 | 2020-08-27 | 苏州风图智能科技有限公司 | Autonomous vehicle testing scenario obstacle simulation method and apparatus |
| CN110174275A (en) * | 2019-06-26 | 2019-08-27 | 北京智行者科技有限公司 | A kind of test method and system of automatic driving vehicle rainy day recognition capability |
| CN110471535A (en) * | 2019-09-09 | 2019-11-19 | 北京精英智通科技股份有限公司 | A kind of drive simulating exchange method, device and equipment and storage medium |
| CN110471535B (en) * | 2019-09-09 | 2023-08-29 | 北京精英智通科技股份有限公司 | Method, device and equipment for simulating driving interaction and storage medium |
| CN110895406A (en) * | 2019-11-11 | 2020-03-20 | 北京三快在线科技有限公司 | Method and device for testing unmanned equipment based on interferent track planning |
| CN111027195A (en) * | 2019-12-03 | 2020-04-17 | 北京百度网讯科技有限公司 | Simulation scene generation method, device and equipment |
| CN111027195B (en) * | 2019-12-03 | 2023-02-28 | 阿波罗智能技术(北京)有限公司 | Simulation scene generation method, device and equipment |
| CN111310302B (en) * | 2020-01-16 | 2022-06-17 | 中国信息通信研究院 | Test scene generation method and device |
| CN111310302A (en) * | 2020-01-16 | 2020-06-19 | 中国信息通信研究院 | Test scene generation method and device |
| CN111694287A (en) * | 2020-05-14 | 2020-09-22 | 北京百度网讯科技有限公司 | Obstacle simulation method and device in unmanned simulation scene |
| CN111694287B (en) * | 2020-05-14 | 2023-06-23 | 阿波罗智能技术(北京)有限公司 | Obstacle simulation method and device in unmanned simulation scene |
| US11840259B2 (en) | 2020-05-14 | 2023-12-12 | Apollo Intelligent Driving Technology (Beijing) Co., Ltd. | Method for simulating obstacle in unmanned simulation scene |
| CN111780989A (en) * | 2020-07-02 | 2020-10-16 | 大唐信通(浙江)科技有限公司 | Vehicle-mounted special multifunctional composite sensor |
| CN112363485A (en) * | 2020-08-11 | 2021-02-12 | 上海汽车集团股份有限公司 | Intelligent driving and testing equipment and upper management platform |
| CN112665875A (en) * | 2020-12-25 | 2021-04-16 | 北京智能车联产业创新中心有限公司 | Method and device for testing reliability of automatic driving vehicle, electronic equipment and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2020168788A1 (en) | 2020-08-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109900493A (en) | Barrier analogy method and device in unmanned vehicle test scene | |
| CN104742903B (en) | Realize the method and device of cruise | |
| CN109668742B (en) | Laser radar-based unmanned vehicle testing method and device | |
| CN105261227B (en) | Arrival prompting method and device | |
| CN105139576A (en) | Road condition prompting method and device | |
| CN105405306A (en) | Vehicle alarm method and device | |
| CN105387868A (en) | Method and device for making prompt for road information | |
| CN104537837A (en) | Method, device and system for obtaining traffic signs and determining traffic routes | |
| CN105388503A (en) | Navigation method and device | |
| CN105629785A (en) | Intelligent automobile driving control method and apparatus | |
| CN104503888A (en) | Warning method and device | |
| CN110543173B (en) | Vehicle positioning system and method, and vehicle control method and device | |
| CN106157602A (en) | The method and apparatus of calling vehicle | |
| CN105959587A (en) | Shutter speed acquisition method and device | |
| CN105448085B (en) | Go across the road reminding method, device and terminal device | |
| CN106228836A (en) | Indoor parking guide method and device | |
| CN110519655A (en) | Video clipping method and device | |
| CN109302638A (en) | Information processing method and device, electronic equipment and storage medium | |
| CN109883331A (en) | Vehicle calibration system and method | |
| CN109359218A (en) | Multimedia resource methods of exhibiting and device | |
| JP7387002B2 (en) | Positioning methods, devices, electronic devices, storage media, programs and products | |
| CN110312300A (en) | Control method, device and storage medium | |
| CN110533948B (en) | Path recommendation method and device | |
| CN109451358A (en) | Multimedia resource plays adjusting method and device | |
| CN106598858B (en) | Resource transfer analysis method and device |
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 | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190618 |