CN110287529B - Test method, device, equipment and storage medium - Google Patents
Test method, device, equipment and storage medium Download PDFInfo
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- CN110287529B CN110287529B CN201910434281.4A CN201910434281A CN110287529B CN 110287529 B CN110287529 B CN 110287529B CN 201910434281 A CN201910434281 A CN 201910434281A CN 110287529 B CN110287529 B CN 110287529B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/04—Monitoring the functioning of the control system
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
Abstract
The invention provides a test method, a test device, test equipment and a storage medium, wherein the method comprises the following steps: acquiring a first track of a vehicle at a first prediction time and a second track of an obstacle at a second prediction time; the difference value between the first prediction time and the second prediction time is smaller than a preset threshold value; judging whether the first track and the second track are overlapped; when the judgment result is yes, obtaining the position relation between the vehicle and the obstacle according to the first track and the second track; when the position relation meets the preset position relation, adjusting the track of the barrier behind the current moment; and testing the vehicle according to the adjusted track of the obstacle and the test data. The testing method provided by the invention adjusts the track of the obstacle after the current moment, prevents the collision between the vehicle and the obstacle which does not exist in the real drive test in the testing process, tests the vehicle according to the track and the testing data after the obstacle is adjusted, and improves the testing accuracy.
Description
Technical Field
The invention relates to the technical field of automatic driving simulation, in particular to a test method, a test device, test equipment and a storage medium.
Background
For the development of the automatic driving system, the logic correctness of each module and the communication correctness between each module need to be verified. Testing of autopilot systems is often performed in simulation systems.
In a real drive test or a scene constructed by other means, various data related to automatic driving are recorded, and the data includes raw data collected by sensors, such as: images acquired by the camera, vehicle positions recorded by the sensor, point clouds of the lidar, and the like, and also data obtained by processing sensor data, such as: the location and speed of surrounding vehicles, the status of traffic lights, etc. The simulation system provides various data for the automatic driving system, the automatic driving system outputs a control signal through the control module, the simulation system moves the vehicle to a new position according to the control signal, and the data of the sensor is updated, so that a test closed loop is formed.
However, the vehicle running track in the simulation test process is different from the running track in the real drive test, and the collision between the vehicle and the obstacle, which does not exist in the real drive test, occurs in the simulation test process, so that the test result is inaccurate.
Disclosure of Invention
The invention provides a test method, a test device, test equipment and a storage medium, which aim to solve the technical problem that the test result of the existing test method is inaccurate.
In a first aspect, the present invention provides a test method, comprising:
acquiring a first track of a vehicle at a first prediction time and a second track of an obstacle at a second prediction time; the difference value between the first prediction time and the second prediction time is smaller than a preset threshold value;
judging whether the first track and the second track are overlapped;
when the judgment result is yes, obtaining the position relation between the vehicle and the obstacle according to the first track and the second track;
when the position relation meets the preset position relation, adjusting the track of the barrier behind the current moment;
and testing the vehicle according to the adjusted track of the obstacle and the test data.
Optionally, adjusting the trajectory of the obstacle after the current time specifically includes:
and adjusting the track of the obstacle after the current time in a uniform deceleration mode.
Optionally, the first trajectory comprises: a first position and a first velocity; adjusting the track of the obstacle after the current moment specifically includes:
acquiring a third track of the obstacle at the current moment, wherein the third track comprises: a third position and a third speed;
obtaining a collision distance according to the first position and the third position;
obtaining collision time according to the current time and the first prediction time;
and determining the adjustment speed of the obstacle according to the collision distance, the collision time, the first speed and the third speed.
Optionally, determining an adjustment speed of the obstacle according to the collision distance, the collision time, the first speed, and the third speed includes:
determining a first deceleration distance according to the collision time, the first speed and the third speed;
judging whether the first deceleration distance is smaller than the collision distance;
if the judgment result is yes, the speed is adjusted to be the first speed.
Optionally, when the first deceleration distance is greater than or equal to the collision distance, determining a second deceleration distance according to the collision time, the first predicted adjustment speed and the third speed; wherein the first predicted adjustment speed is zero;
continuously judging whether the second deceleration distance is smaller than the collision distance;
if the judgment result is negative, the adjusting speed is zero.
Optionally, when the second deceleration distance is smaller than the collision distance, determining the adjustment speed of the obstacle according to the collision distance, the collision time and the third speed.
Optionally, the second trajectory comprises: a second position and a second speed, the positional relationship comprising: context and driving conditions;
obtaining the position relation between the vehicle and the obstacle according to the first track and the second track, which specifically comprises:
obtaining the front-rear relation between the vehicle and the obstacle according to the first position and the second position;
the running state of the vehicle is obtained from the first speed.
In a second aspect, the present invention provides a test apparatus comprising:
the system comprises an acquisition module, a judgment module and a control module, wherein the acquisition module is used for acquiring a first track of a vehicle at a first prediction time and a second track of an obstacle at a second prediction time; the difference value between the first prediction time and the second prediction time is smaller than a preset threshold value;
the judging module is used for judging whether the first track and the second track are overlapped;
the obtaining module is used for obtaining the position relation between the vehicle and the obstacle according to the first track and the second track when the judging result is yes;
the adjusting module is used for adjusting the track of the barrier behind the current moment when the position relation meets the preset position relation;
and the test module is used for testing the vehicle according to the adjusted track of the obstacle and the test data.
Optionally, the adjusting module is specifically configured to:
and adjusting the track of the obstacle after the current time in a uniform deceleration mode.
Optionally, the first trajectory comprises: a first position and a first velocity; the adjustment module is specifically configured to:
acquiring a third track of the obstacle at the current moment, wherein the third track comprises: a third position and a third speed;
obtaining a collision distance according to the first position and the third position;
obtaining collision time according to the current time and the first prediction time;
and determining the adjustment speed of the obstacle according to the collision distance, the collision time, the first speed and the third speed.
Optionally, the adjusting module is specifically configured to:
determining a first deceleration distance according to the collision time, the first speed and the third speed;
judging whether the first deceleration distance is smaller than the collision distance;
if the judgment result is yes, the speed is adjusted to be the first speed.
Optionally, the adjusting module is specifically configured to: when the first deceleration distance is greater than or equal to the collision distance, determining a second deceleration distance according to the collision time, the first predicted adjustment speed and the third speed; wherein the first predicted adjustment speed is zero;
continuously judging whether the second deceleration distance is smaller than the collision distance;
if the judgment result is negative, the adjusting speed is zero.
Optionally, the adjusting module is specifically configured to: and when the second deceleration distance is smaller than the collision distance, determining the adjustment speed of the obstacle according to the collision distance, the collision time and the third speed.
Optionally, the second trajectory comprises: a second position and a second speed, the positional relationship comprising: context and driving conditions;
the obtaining module is specifically configured to:
obtaining a front-rear relationship between the vehicle and the obstacle according to the first position and the second position;
the running state of the vehicle is obtained from the first speed.
In a third aspect, the present invention provides an electronic device comprising: at least one processor and memory;
wherein the memory stores computer execution instructions;
the at least one processor executes computer-executable instructions stored by the memory to cause the at least one processor to perform the test method according to the first aspect and the alternative aspects.
In a fourth aspect, the present invention provides a computer-readable storage medium having computer-executable instructions stored thereon, which, when executed by a processor, implement the test method according to the first aspect and the alternative.
According to the test method, whether the first track and the second track are overlapped or not is judged, when the first track and the second track are overlapped, the vehicle and the obstacle are collided, and after the collision, the position relation of the vehicle and the obstacle is obtained according to the first track and the second track; when the position relation meets the preset position relation, the track of the barrier behind the current moment is adjusted, collision between a vehicle and the barrier, which does not exist in real drive test, is prevented in the test process, and the vehicle is tested according to the track after the barrier is adjusted and test data, so that the test accuracy is improved.
Drawings
FIG. 1 is a flow chart diagram illustrating a testing method according to an exemplary embodiment of the present invention;
FIG. 2 is a schematic diagram of a positional relationship in the embodiment of FIG. 1;
FIG. 3 is a schematic view of another position relationship in the embodiment shown in FIG. 1;
FIG. 4 is a schematic flow chart diagram illustrating a testing method in accordance with an exemplary embodiment of the present invention;
FIG. 5 is a schematic flow chart illustrating the adjustment of the speed of the obstacle in the embodiment shown in FIG. 4;
FIG. 6 is a sub-flow diagram illustrating the adjustment of the speed of an obstacle according to the embodiment shown in FIG. 4;
FIG. 7 is a flow chart diagram illustrating a testing method in accordance with an exemplary embodiment of the present invention;
FIG. 8 is a schematic diagram of a test apparatus according to an exemplary embodiment of the present invention;
fig. 9 is a schematic structural diagram of an electronic device according to an exemplary embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides a test method, a test device, test equipment and a storage medium, which aim to solve the technical problem that the test result of the existing test method is inaccurate.
Fig. 1 is a schematic flow chart illustrating a testing method according to an exemplary embodiment of the present invention. As shown in fig. 1, the testing method provided in this embodiment includes the following steps:
s101, a first track of the vehicle at a first prediction time and a second track of the obstacle at a second prediction time are obtained.
More specifically, the first set of trajectories of the vehicle includes a first trajectory of the vehicle over the predicted time period. The second set of trajectories of the obstacle includes a second trajectory of the obstacle within the predicted time period. The track of the vehicle is obtained by a simulation system after simulation according to the data of the real drive test of the vehicle. The prediction time period is determined according to the user requirement.
The time of the first track and the time of the second track cannot be in one-to-one correspondence, and a certain difference may exist between the two times.
Wherein the first trajectory includes a first position and a first velocity and the second trajectory includes a second position and a second velocity.
S102, judging whether the first track and the second track are overlapped, and if so, entering S103; otherwise, the process proceeds to S107.
More specifically, whether the first track and the second track are overlapped or not is judged according to the first position and the second position so as to judge whether the vehicle and the obstacle collide or not.
The position information comprises the center coordinates, the head orientation and the size information of the vehicle or the obstacle, so that whether the vehicle and the obstacle collide is judged according to the center coordinates, the head orientation and the size information of the vehicle or the obstacle.
And S103, obtaining the position relation between the vehicle and the obstacle according to the first track and the second track.
More specifically, the positional relationship includes: the front-rear relationship and the driving state. The anteroposterior relationship of the vehicle and the obstacle is obtained from the first position and the second position. The context can be divided into: the vehicle is located in front of an obstacle, which is located in front of the vehicle. The running state of the vehicle is obtained from the first speed. The driving state can be classified into: a straight-driving state and a non-straight-driving state.
The positional relationship between the vehicle and the obstacle is analyzed as follows:
(1) If the vehicle is in a non-straight-driving state, for example: turning and changing lanes, the vehicle should make a judgment on the driving of the rear obstacle. Since the vehicle is responsible for a collision that occurs in a non-straight-ahead state, the trajectory of the obstacle is not adjusted when the vehicle is in a non-straight-ahead state.
(2) If the vehicle is in a straight-ahead state, the vehicle has a correct avoidance behavior for the obstacle in front, so that the track of the obstacle in front of the vehicle in the driving direction is not adjusted.
(3) If the vehicle is in a straight-ahead state, collision prediction should be performed on an obstacle behind the vehicle, and trajectory adjustment should be performed in the case of a collision.
FIG. 2 is a schematic diagram of a positional relationship in the embodiment shown in FIG. 1. FIG. 3 is a schematic diagram of another position relationship in the embodiment shown in FIG. 1. As shown in fig. 2 and 3, if the left or right front vertex of the obstacle is inside the vehicle, or the left or right rear vertex of the vehicle is inside the obstacle, it is considered that the obstacle actively collides with the vehicle. Only in the case of an obstacle that actively strikes the vehicle, the speed of the obstacle needs to be adjusted so that its trajectory does not coincide with the vehicle trajectory.
S104, judging whether the position relation meets a preset position relation or not, and if so, entering S105; otherwise, the process proceeds to S107.
More specifically, the predetermined positional relationship is: the front-rear relationship between the vehicle and the obstacle is such that the vehicle is positioned in front of the obstacle and the running state of the vehicle is a straight running state. When the position relationship between the vehicle and the obstacle satisfies the preset position relationship, the trajectory of the obstacle needs to be adjusted.
And S105, adjusting the track of the obstacle after the current time.
More specifically, when the fact that the vehicle and the obstacle are about to collide is judged, and the position relation of the vehicle and the obstacle at the collision moment meets the preset position relation, the track of the obstacle at the moment and the track of the obstacle at the moment after the current moment are adjusted, so that the vehicle is tested according to the track after the obstacle is adjusted and the test data, and the collision of the vehicle and the obstacle, which does not exist in real drive test, is prevented from occurring in the test process.
In this embodiment, the trajectory of the obstacle after the current time may be adjusted by using a uniform deceleration method, a variable deceleration method, or other feasible methods.
And S106, testing the vehicle according to the adjusted track of the obstacle and the test data.
More specifically, the test data includes raw sensor data and processed sensing and planning data, among others. And testing the vehicle by using the adjusted track of the obstacle and the test data.
And S107, ending the flow.
In the test method provided by the embodiment, whether a first track and a second track are overlapped is judged, when the first track and the second track are overlapped, the vehicle and an obstacle are collided, and after the collision, the position relation between the vehicle and the obstacle is obtained according to the first track and the second track; when the position relation meets the preset position relation, the track of the obstacle after the current moment is adjusted, collision between a vehicle and the obstacle, which does not exist in real drive test, is prevented in the test process, and the vehicle is tested according to the track and the test data after the obstacle is adjusted, so that the test accuracy is improved.
Fig. 4 is a flow chart illustrating a testing method according to an exemplary embodiment of the present invention. As shown in fig. 4, the testing method provided in this embodiment includes the following steps:
s201, a first track of the vehicle at a first prediction time and a second track of the obstacle at a second prediction time are obtained.
S202, judging whether the first track and the second track are overlapped, and if so, entering S203; otherwise, S207 is entered.
And S203, obtaining the position relation between the vehicle and the obstacle according to the first track and the second track.
S204, when judging whether the position relation meets the preset position relation, if so, entering S205; otherwise, S207 is entered.
And S205, adjusting the track of the obstacle after the current time in a uniform deceleration mode.
More specifically, fig. 5 is a schematic flow chart illustrating the process of adjusting the speed of the obstacle according to the embodiment shown in fig. 4. As shown in fig. 5, the speed of the obstacle is adjusted in a uniform deceleration manner using the following steps.
And S3001, acquiring a third track of the obstacle at the current moment.
More specifically, the third trajectory includes: third position P o And a third speed V o And the subscript o represents an obstacle.
And S3002, obtaining the collision distance according to the first position and the third position.
More specifically, the collision distance is obtained according to the following formula:
D c ＝P c －P o
wherein, P c Denotes the first position, subscript c denotes the impact, D c Indicating the distance of the collision. As a result of the judgment in S202, P is found c I.e. the collision position, the collision distance can be obtained from the first position and the third position.
And S3003, obtaining the collision time according to the current time and the first predicted time.
More specifically, as is clear from the determination result in S202, the first predicted time is the collision time, and thus the collision time can be obtained from the current time and the first predicted time. Specifically, the collision time is obtained according to the following formula.
△t＝T c －T o
Wherein, T o Indicates the current time, T c Indicating the time of the collision and deltat the time of the collision.
And S3004, determining the adjusting speed of the obstacle according to the collision distance, the collision time, the first speed and the third speed.
More specifically, fig. 6 is a sub-flowchart illustrating the adjustment of the speed of the obstacle according to the embodiment shown in fig. 4. As shown in fig. 6, the adjustment speed of the obstacle is determined by the following steps.
S4001, determining a first deceleration distance according to the collision time, the first speed and the third speed.
More specifically, the first deceleration distance is obtained according to the following formula.
Wherein, V e Which represents the first speed, i.e. the speed of the vehicle at the time of the collision.
S4002, judging whether the first deceleration distance is smaller than the collision distance. If the judgment result is yes, the operation goes to S4003; otherwise, S4004 is entered.
S4003, adjusting the speed to be the first speed.
More specifically, when the speed is adjusted to the first speed, the speed can be reduced to the first speed within a distance less than the collision distance, and a collision of the vehicle with an obstacle can be avoided.
When the adjusting speed is the first speed, the deceleration time is delta t, and the deceleration is as follows:
s4004, determining a second deceleration distance according to the collision time, the first predicted adjustment speed and the third speed.
More specifically, the first predicted adjustment speed is zero. The second deceleration distance is calculated according to the formula below.
S4005, continuously judging whether the second deceleration distance is smaller than the collision distance, and if so, entering S4006; otherwise, the process proceeds to S4007.
And S4006, determining the adjusting speed of the obstacle according to the collision distance, the collision time and the third speed.
More specifically, if the second deceleration distance is smaller than the collision distance, it means that the vehicle and the obstacle can be prevented from colliding without decreasing the speed of the obstacle to zero. Specifically, the adjustment speed may be calculated according to the following formula.
Wherein, V t Indicating the speed of adjustmentAnd (4) degree.
When the adjustment speed is
If the deceleration time is Δ t, the deceleration is found to be:
s4007, adjusting the speed to be zero.
More specifically, when the second deceleration distance is equal to or greater than the collision distance, it means that the speed of the obstacle must be adjusted to zero in order to avoid the collision of the vehicle and the obstacle.
When the adjustment speed is zero, the deceleration time is:
when the trim speed is zero, the deceleration is:
and recalculating the trajectory of the obstacle after the current time along the original travel trajectory of the obstacle according to the deceleration time and the deceleration.
And S206, testing the vehicle according to the adjusted track of the obstacle and the test data.
And S207, ending the process.
In the test method provided by the embodiment, the track of the obstacle after the current moment is adjusted in a uniform deceleration mode, so that the obstacle keeps the original track point to run forwards, but the time of reaching each point is delayed through deceleration, and the collision between the vehicle and the obstacle is avoided.
FIG. 7 is a flow chart illustrating a testing method according to an exemplary embodiment of the present invention. As shown in fig. 7, the testing method provided by the present embodiment includes the following steps:
s501, driving data in the automatic driving process of the vehicle are obtained.
More specifically, various types of message data received by the vehicle in the automatic driving process can be obtained through road test or scene construction in other modes. The message data comprises original sensor data, sensor data before perception and data after perception processing, wherein the sensor data before perception is as follows: the data of the point cloud and the camera shooting picture are sensed and processed as follows: traffic light status, status and size of surrounding obstacles. The state of the obstacle includes the speed, position, and direction of the obstacle. Files for recording various types of message data are called driving data packets, and a section of scene data which is expected to be reproduced can be obtained by intercepting the driving data packets.
S502, operating first frame data in the driving data in the simulation system to obtain a first track set of the vehicle within a safe distance.
More specifically, the first frame of relevant data in the driving data packet to be reproduced is loaded before the simulation system is initially run. The driving data includes state information and size information of the obstacle, vehicle state information, traffic light information, and the like. And sending the state information and the size information of the obstacles in the driving data packet to be reproduced, namely fusion map, to an automatic driving system of the vehicle. And extracts vehicle status information and traffic light information from the driving data packet. The state information of the vehicle comprises the position of the vehicle, the speed of the vehicle and the direction of the head of the vehicle. And in the dynamics module, the dynamics model in the dynamics module reaches the first frame vehicle speed in the driving data packet by continuously sending an acceleration instruction, so that the control planning module in the automatic driving system generates a first track set of the vehicle within a safe distance. The safe distance is obtained by calculating the speed of the obstacle in the first frame.
And S503, acquiring a second track set of the obstacle within the safe distance from the driving data.
S504, a first track of the vehicle at the first prediction time and a second track of the obstacle at the second prediction time are obtained.
More specifically, a first trajectory of the vehicle at a first predicted time is extracted from the first trajectory set, and a second trajectory of the obstacle at a second predicted time is extracted from the second trajectory set.
S505, judging whether the first track and the second track are overlapped, and if so, entering S506; otherwise, S512 is entered.
And S506, obtaining the position relation between the vehicle and the obstacle according to the first track and the second track.
S507, when judging whether the position relation meets the preset position relation, if so, entering S508; otherwise, the process proceeds to S512.
And S508, adjusting the track of the obstacle in the next frame in a variable deceleration mode.
More specifically, it is determined that the obstacle and the vehicle will collide within the above-described safe distance, a deceleration is given to the obstacle, it is ensured that the obstacle and the vehicle will not collide, and the trajectory of the obstacle is updated. If the obstacle and the vehicle are judged not to collide in the safe distance, the acceleration can be carried out according to the speed of the obstacle in the current frame in the driving data packet, so that the obstacle runs at the original speed.
And S509, testing the vehicle according to the adjusted track of the obstacle and the test data.
More specifically, the next frame data in the driving data packet is adjusted with the obstacle-adjusted trajectory data, and the adjusted driving data packet is input into the simulation system. And if the simulation is started, according to the time length of the time stamp of one message in the driving data packet relative to the time stamp of the first message in the driving data packet, aligning with the time length after the simulation is started, and determining whether the message in the driving data packet is to be sent at the current moment. When the information in the driving data packet needs to be sent, the simulation system sends the next frame of information to an automatic driving system of the vehicle, the automatic driving system controls the speed of the vehicle, and a first track set of the vehicle within a safe distance is generated in a control planning module. The safe distance is obtained by calculating the speed of the obstacle at the current moment.
And S510, updating the current frame.
More specifically, the current frame is updated using the following formula:
current frame = current frame +1
S511, judging whether the current frame is the last frame in the data packet, and if the judgment result is negative, entering S503; otherwise, S512 is entered.
And S512, ending the flow.
In the test method provided by the embodiment, whether the driving speed of the obstacle is adjusted or not is determined by calculating whether the future tracks of the vehicle and the obstacle intersect or not in real time and the position relation between the vehicle and the obstacle, so that unreasonable collision is avoided, and the test accuracy is improved.
Fig. 8 is a schematic structural diagram of a testing apparatus according to an exemplary embodiment of the present invention. As shown in fig. 8, the testing apparatus 600 provided in this embodiment includes:
the obtaining module 601 is used for obtaining a first track of a vehicle at a first prediction time and a second track of an obstacle at a second prediction time; the difference value between the first prediction time and the second prediction time is smaller than a preset threshold value;
a determining module 602, configured to determine whether the first track and the second track overlap;
an obtaining module 603, configured to obtain a position relationship between the vehicle and the obstacle according to the first trajectory and the second trajectory when the determination result is yes;
an adjusting module 604, configured to adjust a trajectory of the obstacle after the second preset time when the position relationship satisfies the preset position relationship;
and the test module 605 is configured to test the vehicle according to the adjusted trajectory of the obstacle and the test data.
Optionally, the adjusting module 604 is specifically configured to:
and adjusting the track of the obstacle after the second preset time in a uniform deceleration mode.
Optionally, the first trajectory comprises: a first position and a first velocity; the adjusting module 604 is specifically configured to:
acquiring a third track of the obstacle at the current moment, wherein the third track comprises: a third position and a third speed;
obtaining a collision distance according to the first position and the third position;
obtaining collision time according to the current time and the first prediction time;
and determining the adjustment speed of the obstacle according to the collision distance, the collision time, the first speed and the third speed.
Optionally, the adjusting module 604 is specifically configured to:
determining a first deceleration distance according to the collision time, the first speed and the third speed;
judging whether the first deceleration distance is smaller than the collision distance;
if the judgment result is yes, the speed is adjusted to be the first speed.
Optionally, the adjusting module 604 is specifically configured to: when the first deceleration distance is larger than or equal to the collision distance, determining a second deceleration distance according to the collision time, the first predicted adjustment speed and the third speed; wherein the first predicted adjustment speed is zero;
continuously judging whether the second deceleration distance is smaller than the collision distance;
if the judgment result is negative, the adjusting speed is zero.
Optionally, the adjusting module 604 is specifically configured to: and when the second deceleration distance is smaller than the collision distance, determining the adjustment speed of the obstacle according to the collision distance, the collision time and the third speed.
Optionally, the second trajectory comprises: a second position and a second speed, the positional relationship comprising: context and driving conditions;
the obtaining module 603 is configured to:
obtaining the front-rear relation between the vehicle and the obstacle according to the first position and the second position;
the running state of the vehicle is obtained from the first speed.
Fig. 9 is a schematic structural diagram of an electronic device according to an exemplary embodiment of the present invention. As shown in fig. 9, the electronic device 700 of the present embodiment includes: a processor 701, and a memory 702, wherein,
a memory 702 for storing computer-executable instructions;
the processor 701 is configured to execute computer-executable instructions stored in the memory to implement the steps performed by the receiving device in the above embodiments. Reference may be made in particular to the description relating to the method embodiments described above.
Alternatively, the memory 702 may be separate or integrated with the processor 701.
When the memory 702 is separately provided, the electronic device 700 further includes a bus 703 for connecting the memory 702 and the processor 701.
The embodiment of the invention also provides a computer-readable storage medium, wherein a computer execution instruction is stored in the computer-readable storage medium, and when a processor executes the computer execution instruction, the testing method is realized.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. A method of testing, comprising:
acquiring a first track of a vehicle at a first prediction time and a second track of an obstacle at a second prediction time; the difference value between the first prediction time and the second prediction time is smaller than a preset threshold value;
judging whether the first track and the second track are overlapped;
when the judgment result is yes, obtaining the position relation between the vehicle and the obstacle according to the first track and the second track;
when the position relation meets a preset position relation, adjusting the track of the barrier behind the current moment;
testing the vehicle according to the adjusted track of the obstacle and the test data;
the adjusting the track of the obstacle after the current time specifically includes:
adjusting the track of the obstacle after the current moment in a uniform deceleration mode;
the first trajectory includes: a first position and a first velocity; the adjusting the track of the obstacle after the current time specifically includes:
acquiring a third track of the obstacle at the current moment, wherein the third track comprises: a third position and a third speed; obtaining a collision distance according to the first position and the third position; obtaining collision time according to the current time and the first prediction time; determining an adjustment speed of the obstacle according to the collision distance, the collision time, the first speed, and the third speed.
2. The method according to claim 1, wherein the determining an adjusted speed of the obstacle from the collision distance, the collision time, the first speed, and the third speed comprises:
determining a first deceleration distance according to the collision time, the first speed and the third speed;
judging whether the first deceleration distance is smaller than the collision distance;
if the judgment result is yes, the adjusting speed is the first speed.
3. The method of claim 2, wherein:
when the first deceleration distance is larger than or equal to the collision distance, determining a second deceleration distance according to the collision time, the first predicted adjustment speed and the third speed; wherein the first predicted adjustment speed is zero;
continuously judging whether the second deceleration distance is smaller than the collision distance;
if the judgment result is negative, the adjusting speed is zero.
4. The method of claim 3, wherein:
and when the second deceleration distance is smaller than the collision distance, determining the adjustment speed of the obstacle according to the collision distance, the collision time and the third speed.
5. The method of claim 1, wherein the second trajectory comprises: a second position and a second velocity, the positional relationship comprising: context and driving conditions;
the obtaining of the positional relationship between the vehicle and the obstacle according to the first trajectory and the second trajectory specifically includes:
obtaining the front-rear relationship of the vehicle and the obstacle according to a first position and a second position;
the running state of the vehicle is obtained according to a first speed.
6. A test apparatus, comprising:
the system comprises an acquisition module, a judgment module and a control module, wherein the acquisition module is used for acquiring a first track of a vehicle at a first prediction time and a second track of an obstacle at a second prediction time; the difference value between the first prediction time and the second prediction time is smaller than a preset threshold value;
the judging module is used for judging whether the first track and the second track are overlapped;
the obtaining module is used for obtaining the position relation between the vehicle and the obstacle according to the first track and the second track when the judging result is yes;
the adjusting module is used for adjusting the track of the barrier behind the current moment when the position relation meets a preset position relation;
the test module is used for testing the vehicle according to the adjusted track of the obstacle and the test data;
the test module is specifically used for adjusting the track of the barrier behind the current moment in a uniform deceleration mode;
the first trajectory includes: a first position and a first velocity; the adjusting module is specifically configured to acquire a third trajectory of the obstacle at the current time, where the third trajectory includes: a third position and a third speed; obtaining a collision distance according to the first position and the third position; obtaining collision time according to the current time and the first prediction time; determining an adjustment speed of the obstacle according to the collision distance, the collision time, the first speed, and the third speed.
7. An electronic device, comprising: at least one processor and memory;
wherein the memory stores computer execution instructions;
the at least one processor executing the computer-executable instructions stored by the memory causes the at least one processor to perform the testing method of any of claims 1 to 5.
8. A computer-readable storage medium having computer-executable instructions stored thereon which, when executed by a processor, implement a testing method according to any one of claims 1 to 5.
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| CN110895406B (en) * | 2019-11-11 | 2021-02-02 | 北京三快在线科技有限公司 | Method and device for testing unmanned equipment based on interferent track planning |
| 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 |
| CN111123933B (en) * | 2019-12-24 | 2021-10-01 | 华为技术有限公司 | Vehicle track planning method and device, intelligent driving area controller and intelligent vehicle |
| CN111752272A (en) * | 2020-04-16 | 2020-10-09 | 北京京东乾石科技有限公司 | Trajectory prediction method, apparatus, device and storage medium |
| CN111625950B (en) * | 2020-05-20 | 2023-09-05 | 北京百度网讯科技有限公司 | Automatic driving simulation scene reconstruction method, device, equipment and medium |
| CN111858708B (en) * | 2020-07-13 | 2023-12-12 | 北京交通大学 | Method for synchronizing virtual-real interaction test of moving object under cooperative vehicle-road environment |
| CN113157579B (en) * | 2021-01-11 | 2022-05-17 | 北京赛目科技有限公司 | Automatic driving simulation test method and device based on scene |
| CN114592768A (en) * | 2022-03-10 | 2022-06-07 | 广州小鹏自动驾驶科技有限公司 | Vehicle control method and device, vehicle and storage medium |
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