CN110595798B - Test method and device - Google Patents
Test method and device Download PDFInfo
- Publication number
- CN110595798B CN110595798B CN201910891406.6A CN201910891406A CN110595798B CN 110595798 B CN110595798 B CN 110595798B CN 201910891406 A CN201910891406 A CN 201910891406A CN 110595798 B CN110595798 B CN 110595798B
- Authority
- CN
- China
- Prior art keywords
- vehicle
- virtual obstacle
- information
- obstacle information
- virtual
- 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.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
Abstract
The application discloses a testing method and a testing device. The specific implementation scheme is as follows: acquiring virtual obstacle information; transmitting the virtual obstacle information to a vehicle; receiving operation information sent by the vehicle in response to the virtual obstacle information; and displaying images of the vehicle and the corresponding virtual obstacle according to the running information of the vehicle and the virtual obstacle information, wherein the images are used for determining whether the response of the vehicle to the virtual obstacle information meets the test requirements. The method and the device for testing the obstacle information of the vehicle can test the strategy and the capability of the vehicle for processing the obstacle information under the condition that the obstacle is not actually arranged. The scheme can be used for automatic driving, particularly the field of autonomous parking.
Description
Technical Field
The present application relates to the field of computers, and more particularly, to the field of vehicle testing.
Background
With the development of science and technology, artificial intelligence gradually has more intersection with people's life. Intelligent driving of an automobile is an application of artificial intelligence.
In order to ensure the safety of vehicle driving, both a traditional automobile and an intelligent driving automobile need to have a normal braking function. In the prior art, whether the brake function of the vehicle is normal is detected, and live detection is carried out mainly by constructing a scene needing brake. This kind of mode can consume more manpower and materials resource, and can have the potential safety hazard when the vehicle function of stopping goes wrong.
Disclosure of Invention
In order to solve at least one problem in the prior art, the present application provides a testing method and device.
In a first aspect, the present application provides a testing method, comprising:
acquiring virtual obstacle information;
transmitting the virtual obstacle information to the vehicle;
receiving operation information sent by the vehicle in response to the virtual obstacle information;
and displaying images of the vehicle and the corresponding virtual obstacle according to the running information and the virtual obstacle information of the vehicle, wherein the images are used for determining whether the response of the vehicle to the virtual obstacle information meets the test requirements.
The vehicle is sent with virtual obstacle information in this application embodiment for after the vehicle received virtual obstacle information, can will make according to virtual obstacle information and detect the same reaction of actual obstacle, thereby just can test the vehicle on testing arrangement, need not to use actual obstacle, improved the convenience and the security of testing.
In one embodiment, the vehicle operation information includes a speed and a steering wheel angle of the vehicle, and the image of the vehicle and the corresponding virtual obstacle is displayed according to the vehicle operation information and the virtual obstacle information, including:
estimating the position of the vehicle according to the speed;
calculating the yaw angle of the vehicle according to the steering wheel angle and the speed;
and displaying the vehicle and the obstacle in the display interface according to the position and the yaw angle.
In the embodiment of the application, the relative position of the vehicle and the obstacle can be calculated according to the speed of the vehicle and the steering wheel angle, so that the response condition of the vehicle to the virtual obstacle information can be visually displayed, and a tester can conveniently test.
In one embodiment, obtaining virtual obstacle information includes:
and generating virtual obstacle information according to the input operation information or a preset rule.
The embodiment of the application can generate the virtual obstacle information according to the input operation information or the preset rule, so that whether the vehicle can correctly process the obstacle information appearing in the driving process can be tested under the condition of not adopting an actual obstacle, and the convenience of the test is improved.
In one embodiment, transmitting virtual obstacle information to a vehicle includes:
calculating the relative position of the corresponding virtual obstacle in the vehicle body coordinate system according to the virtual obstacle information;
the relative position is transmitted to the vehicle.
In this application embodiment, send the relative position information of barrier and vehicle to the vehicle, obstacle information that sends when detecting device such as radar that can simulate the vehicle detects the barrier, and then can simulate actual barrier for need not to place the barrier when the vehicle operation and just can test, guarantee the security of the vehicle that is surveyed when the vehicle stops the function and has the problem.
In a second aspect, the present application provides a test apparatus comprising:
a virtual information acquisition module: the virtual obstacle information acquisition unit is used for acquiring virtual obstacle information;
a virtual information sending module: for transmitting virtual obstacle information to the vehicle;
the operation information receiving module: the system is used for receiving the running information sent by the vehicle in response to the virtual obstacle information:
a display module: the virtual obstacle display device is used for displaying images of the vehicle and the corresponding virtual obstacles according to the running information and the virtual obstacle information of the vehicle, and the images are used for determining whether the response of the vehicle to the virtual obstacle information meets the test requirements.
In one embodiment, the vehicle operation information includes a speed and a steering wheel angle of the vehicle, and the display module includes:
a position estimation unit: for estimating the position of the vehicle based on the speed;
yaw angle estimation unit: the device is used for calculating the yaw angle of the vehicle according to the steering wheel angle and the speed;
a display information processing unit: and the display device is used for displaying the vehicle and the obstacles in the display interface according to the position and the yaw angle.
In one embodiment, the virtual information obtaining module is further configured to:
and generating virtual obstacle information according to the input operation information or a preset rule.
In one embodiment, the virtual information sending module includes:
a relative position calculation unit: the system comprises a vehicle body coordinate system, a virtual obstacle detection module, a vehicle body coordinate system and a vehicle body control module, wherein the vehicle body coordinate system is used for acquiring vehicle body information of a vehicle;
a transmission unit: for transmitting the relative position to the vehicle.
In a third aspect, the present application provides an electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a method of testing as provided by any one of the embodiments of the present application.
In a fourth aspect, the present application provides a non-transitory computer-readable storage medium having stored thereon computer instructions for causing a computer to perform a testing method provided by any one of the embodiments of the present application.
One embodiment in the above application has the following advantages or benefits: the obstacle avoidance strategy of the vehicle can be tested through the virtual obstacle. Because the technical means of constructing the virtual barrier and sending the virtual barrier information to the vehicle so that the vehicle can respond to the virtual barrier information is adopted, the technical problems of long strategy operation time, high manpower consumption and the like of detecting the vehicle to avoid the barrier on site are solved, and the technical effect of effectively testing the barrier avoiding function (including the emergency braking function) of the vehicle is further achieved.
Other effects of the above-described alternative will be described below with reference to specific embodiments.
Drawings
The drawings are included to provide a better understanding of the present solution and are not intended to limit the present application. Wherein:
FIG. 1 is a schematic flow chart of a testing method according to a first embodiment of the present application;
FIG. 2 is a schematic flow chart of a testing method according to a second embodiment of the present application;
FIG. 3 is a schematic structural diagram of a testing apparatus according to a third embodiment of the present application;
FIG. 4 is a schematic diagram of a testing device application framework according to a fourth embodiment of the present application;
FIGS. 5A-5C are schematic diagrams of a display interface according to a fifth embodiment of the present application;
FIG. 6 is a block diagram of an electronic device for implementing the testing method of an embodiment of the present application.
Detailed Description
The following description of the exemplary embodiments of the present application, taken in conjunction with the accompanying drawings, includes various details of the embodiments of the application for the understanding of the same, which are to be considered exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present application. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
The present application provides a test method, as shown in fig. 1, including:
step S11: virtual obstacle information is acquired.
Step S12: the virtual obstacle information is transmitted to the vehicle.
Step S13: and receiving the running information sent by the vehicle in response to the virtual obstacle information.
Step S14: and displaying images of the vehicle and the corresponding virtual obstacle according to the running information and the virtual obstacle information of the vehicle, wherein the images of the vehicle and the virtual obstacle are used for determining whether the response of the vehicle to the virtual obstacle information meets the test requirement.
The vehicle is sent with virtual obstacle information in this application embodiment for after the vehicle received virtual obstacle information, can will make according to virtual obstacle information and detect the same reaction of actual obstacle, thereby just can test the vehicle on testing arrangement, need not to use actual obstacle, improved the convenience and the security of testing.
In the embodiment of the present application, the virtual obstacle information may include virtual obstacle information, specifically, a position, and may further include other information such as a shape. Because the virtual obstacle information can include the position information of the virtual obstacle, if the vehicle stopping function has a problem in the test process, the vehicle can not actually hit the obstacle, and the safety of vehicle test is improved. The virtual obstacle information may be generated according to a certain rule, may be randomly generated in a vehicle coordinate system, or may be generated according to a click operation by an operator.
In one example of the present application, the virtual obstacle information may include information of a virtual moving obstacle. The information of the moving obstacle can simulate animals which may suddenly appear on a vehicle road in the driving process of the vehicle, forward falling objects, drifting objects in special climates such as strong wind and the like.
In the embodiment of the application, the test equipment can calculate the coordinates of the obstacle in the vehicle body coordinate system according to the acquired virtual obstacle information, and then sends the coordinate information to the vehicle. The relative position information of the virtual obstacle information and the vehicle can be sent to the vehicle, and the vehicle can calculate the coordinates of the virtual obstacle corresponding to the virtual obstacle information in the vehicle body coordinate system.
In the embodiment of the application, the operation information sent by the vehicle in response to the virtual obstacle information may be operation information generated in a subsequent driving process of the vehicle after the vehicle receives the virtual obstacle information. The running information may include information that can deduce a running track of the vehicle or a position where the current time point of the vehicle is located. After the vehicle receives the virtual obstacle information, if the vehicle collides with the obstacle and cannot bypass the obstacle in the subsequent driving process according to the vehicle calculation result, the vehicle should be braked to avoid the collision with the obstacle. And if the vehicle can bypass the obstacle in the subsequent running process according to the vehicle calculation result, changing the running direction of the vehicle and avoiding the running route of the obstacle.
In the embodiment of the present application, the test equipment may obtain the virtual obstacle information in various ways. For example, generation of virtual obstacle information according to a preset rule may be acquired. Or to obtain randomly generated virtual obstacle information. Or according to the operation that the user clicks the display area through hardware facilities such as a mouse, a touch screen and the like, the virtual obstacle information is obtained. Or acquiring the virtual obstacle information according to the dragging operation of the user.
If the virtual obstacle information is obtained according to an operation of clicking the display area by the user, the shape and size of the obstacle may be set as a default. If the virtual obstacle information is obtained according to the user dragging operation, the shape and size of the obstacle can be in accordance with the dragged element or in accordance with the dragging track of the user dragging operation.
For example, a virtual obstacle point representing a point on the virtual obstacle closest to the vehicle is generated in accordance with a click operation of the user within the display area. And the vehicle changes the driving plan or executes the brake-stopping operation according to the position of the virtual obstacle point.
In the embodiment of the application, the operation information sent by the vehicle in response to the virtual obstacle information may be the operation information of the vehicle generated after artificial response, or may be the operation information generated after automatic response of the intelligent driving vehicle. If the vehicle running track is overlapped with the virtual obstacle or the shortest distance between the vehicle running track and the virtual obstacle is smaller than the set safe distance according to the running information, the problem of avoidance or braking function of the vehicle is solved. If the vehicle executes the emergency braking operation according to the running information, the vehicle has a normal obstacle responding function.
In the embodiment of the present application, displaying the images of the vehicle and the obstacle may include displaying an image indicating a relative distance between the vehicle and the obstacle, for example, displaying icons of the vehicle and the obstacle in the display area. Through the images of the vehicle and the obstacle, whether the reaction of the vehicle to the obstacle meets the set safety standard or not can be judged, for example, whether the vehicle always keeps the shortest distance more than the safety distance with the obstacle when passing through the obstacle or not can be judged. For another example, if the vehicle is not in time to avoid the obstacle, an effective braking operation is performed.
For an intelligent driving vehicle, a main processor and a standby processor are often arranged in the intelligent vehicle because the operation required for running the vehicle is various and the algorithm is complex. If the main processor fails, an emergency brake operation is performed by the standby processor. If the main processor generates a problem with the driving strategy when an obstacle occurs, the standby processor takes over the vehicle from the main processor and then performs a braking operation. Due to the inconvenience of debugging and updating of the processor of the intelligent driving vehicle, the difficulty of developing a complex vehicle algorithm on the vehicle processor is high. The method and the device can display images of the vehicle and the obstacles on the display interface according to the running state information of the vehicle, provide a visual debugging and verifying tool for verifying whether the vehicle has a normal emergency braking function, and can know the running conditions of obstacle information response algorithms such as safe braking inside the vehicle processor in real time.
In one embodiment, the vehicle operation information includes a speed and a steering wheel angle of the vehicle, and the image of the vehicle and the corresponding virtual obstacle is displayed according to the vehicle operation information and the virtual obstacle information, including:
estimating the position of the vehicle according to the speed;
calculating the yaw angle of the vehicle according to the steering wheel angle and the speed;
and displaying the vehicle and the obstacle in the display interface according to the position and the yaw angle.
In the embodiment of the present application, estimating the position of the vehicle may include estimating an absolute position of the vehicle, which includes a position of the vehicle in an actual environment, or estimating a relative position of the vehicle, which may be a relative position of the vehicle and an obstacle. The direction of the vehicle can be known through the yaw angle of the vehicle, so that the relative position of the vehicle and the obstacle and the direction of the vehicle are displayed in real time, and finally the vehicle track is calculated.
In an embodiment of the present application, a vehicle and an obstacle are displayed in a display interface according to a position and a yaw angle, and the method further includes:
when the next display screen update time node arrives, the process returns to the step of estimating the position of the vehicle based on the speed.
For example, if the display update time interval is 0.1 second, the distance and route traveled by the vehicle are calculated from the real-time speed and steering wheel angle of the vehicle every 0.1 second, and then the images of the vehicle and the obstacle are updated in the display interface according to the distance and route.
In one example of the present application, a vehicle icon may be disposed at a set position of the display interface, and the obstacle icon may move relative to the vehicle icon as the vehicle travels.
In the embodiment of the application, the relative position of the vehicle and the obstacle can be calculated according to the speed of the vehicle and the steering wheel angle, so that the response condition of the vehicle to the virtual obstacle information can be visually displayed, and a tester can conveniently test.
In a real-time manner, acquiring virtual obstacle information, as shown in fig. 2, includes:
step S21: and generating virtual obstacle information according to the input operation information or a preset rule.
In the embodiment of the present application, according to the input operation, a click operation of a tester or other users in the display area by using a mouse may be included, or a click operation of the tester or other users in the display area by using a touch screen may be included. The time when the virtual obstacle information is generated may be when the completion of the input operation is detected, for example, when the tester needs to perform the operation of pressing and picking up the finger in the click operation, and when the input operation is completed, the time when the tester detects the time when the finger in the click operation is picked up.
In the actual running process of the vehicle, obstacles often appear in a short distance range in front of the vehicle due to sight line obstruction, external force promotion and the like. For an intelligent driving vehicle, it is a very important issue concerning safety of the intelligent driving vehicle to control an operation state of an obstacle suddenly appearing in an emergency. However, in safety concerns, it is difficult to physically simulate an obstacle suddenly appearing in an emergency situation during an intelligent driving vehicle test. According to the method and the device, the virtual obstacle information can be acquired according to the input operation or the preset rule, the input operation is executed only by operating the input device, the virtual obstacle information is acquired according to the preset rule only by presetting the rule for acquiring the obstacle, and the actual obstacle is not required to be artificially simulated. The tester only needs to carry out input operation in the shorter distance range on the vehicle traffic direction just can simulate and generate virtual barrier, and whether the test vehicle can carry out effectual stopping operation to the barrier that appears suddenly, has guaranteed the security of tester and test vehicle when improving test effect.
In the embodiment of the present application, information of a three-dimensional virtual obstacle may be generated according to an input operation or a preset rule. Corresponding test requirements may include that the vehicle is able to brake or avoid obstacles of a set height or a set shape.
In the embodiment of the present application, the input operation may also be an input operation of an operator on a keyboard. For example, a tester inputs coordinates of a virtual obstacle in a display interface coordinate system on a keyboard, and obtains virtual obstacle information according to the operation of the tester on the keyboard.
In one embodiment, transmitting virtual obstacle information to a vehicle includes:
calculating the relative position of the corresponding virtual obstacle in the vehicle body coordinate system according to the virtual obstacle information;
the relative position is transmitted to the vehicle.
In the embodiment of the application, the vehicle icon can be arranged at a fixed position in the coordinate system of the display interface. Calculating the relative position of the corresponding obstacle in the vehicle body coordinate system according to the virtual obstacle information may include calculating coordinates of the obstacle in the vehicle body coordinate system according to coordinates of an icon of the virtual obstacle in the display interface coordinate system.
In the embodiment of the application, the sending the relative position to the vehicle may include the test device sending the relative position to the vehicle through wireless or wired communication.
In this application embodiment, send the relative position information of barrier and vehicle to the vehicle, obstacle information that sends when detecting device such as radar that can simulate the vehicle detects the barrier, and then can simulate actual barrier for need not to place the barrier when the vehicle operation and just can test, guarantee the security of the vehicle that is surveyed when the vehicle stops the function and has the problem.
An embodiment of the present application further provides a testing apparatus, as shown in fig. 3, including:
the virtual information acquisition module 31: the virtual obstacle information acquisition unit is used for acquiring virtual obstacle information;
the virtual information sending module 32: for transmitting virtual obstacle information to the vehicle;
the operation information receiving module 33: the system is used for receiving the running information sent by the vehicle in response to the virtual obstacle information;
the display module 34: the virtual obstacle display device is used for displaying images of the vehicle and the corresponding virtual obstacles according to the running information and the virtual obstacle information of the vehicle, and the images are used for determining whether the response of the vehicle to the virtual obstacle information meets the test requirements.
In one embodiment, the vehicle operation information includes a speed and a steering wheel angle of the vehicle, and the display module includes:
a position estimation unit: for estimating the position of the vehicle based on the speed;
yaw angle estimation unit: the device is used for calculating the yaw angle of the vehicle according to the steering wheel angle and the speed;
a display information processing unit: and the display device is used for displaying the vehicle and the obstacles in the display interface according to the position and the yaw angle.
In one embodiment, the virtual information obtaining module is further configured to:
and generating virtual obstacle information according to the input operation information or a preset rule.
In one embodiment, the virtual information sending module includes:
a relative position calculation unit: the system comprises a vehicle body coordinate system, a virtual obstacle detection module, a vehicle body coordinate system and a vehicle body control module, wherein the vehicle body coordinate system is used for acquiring vehicle body information of a vehicle;
a transmission unit: for transmitting the relative position to the vehicle.
In an example of the present application, a connection mode of the testing device provided in an embodiment of the present application when in use is shown in fig. 4, and the testing device includes a vehicle controller 41, a wireless router 42, a drive-by-wire vehicle 43, and a testing device 44 provided in any embodiment of the present application. The testing device 44 may be implemented by a computer having a Linux system, and may be implemented by any computer, such as a desktop computer, a notebook computer, and the like, in which a Linux operating system is installed. The test device 44 is connected to the vehicle controller 41 through the wireless router 42, the vehicle controller 41 can communicate with a computer equipped with a Linux operating system and exchange data according to a corresponding communication interface protocol, and can also send a command to the drive-by-wire vehicle 43, receive state information such as vehicle speed and steering wheel angle sent by the drive-by-wire vehicle 43, and calculate the running track of the vehicle according to the vehicle speed and steering wheel angle information, so as to display the movement, position and orientation of the vehicle. The test device 44 generates or updates the position of the virtual obstacle information in the body coordinate system, transmits the virtual obstacle information to the vehicle controller 41, and the vehicle controller 41 transmits the virtual obstacle information to the line-controlled vehicle 43.
Fig. 5A to 5C are schematic views of a display interface of an example of the present application, and images of a vehicle and an obstacle are displayed in the vehicle travel display area 51. The vehicle icon may be always displayed in the center position of the vehicle travel display area 51. The orientation of the vehicle can be known by the orientation of the vehicle icon. The operator can place the virtual obstacle by clicking the left mouse button at an arbitrary position in the display area 51 while displaying an icon of the obstacle in the display interface. The vehicle icon in the vehicle travel display area 51 can move in synchronization with the vehicle during the travel of the vehicle. The coordinates of the obstacle relative to the vehicle body also change during the travel of the vehicle. If the vehicle is driven to run facing the virtual obstacle, when the virtual obstacle is about to be collided, the algorithm function of safe braking is triggered, and the vehicle automatically and emergently brakes to avoid collision with the obstacle. Therefore, the effect of testing the braking function without a real obstacle and a perception algorithm is achieved. In a Key Message Display (Key Message Display) area 52 of the Display interface, important information related to the traveling of the vehicle, for example, information of each sensor and the like can be displayed.
According to an embodiment of the present application, an electronic device and a readable storage medium are also provided.
Fig. 6 is a block diagram of an electronic device according to the test method of the embodiment of the present application. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the present application that are described and/or claimed herein.
As shown in fig. 6, the electronic apparatus includes: one or more processors 601, memory 602, and interfaces for connecting the various components, including a high-speed interface and a low-speed interface. The various components are interconnected using different buses and may be mounted on a common motherboard or in other manners as desired. The processor may process instructions for execution within the electronic device, including instructions stored in or on the memory to display Graphical information for a Graphical User Interface (GUI) on an external input/output device, such as a display device coupled to the Interface. In other embodiments, multiple processors and/or multiple buses may be used, along with multiple memories and multiple memories, as desired. Also, multiple electronic devices may be connected, with each device providing portions of the necessary operations (e.g., as a server array, a group of blade servers, or a multi-processor system). In fig. 6, one processor 601 is taken as an example.
The memory 602 is a non-transitory computer readable storage medium as provided herein. The memory stores instructions executable by the at least one processor to cause the at least one processor to perform the testing method provided herein. The non-transitory computer readable storage medium of the present application stores computer instructions for causing a computer to perform the testing method provided herein.
The memory 602, which is a non-transitory computer readable storage medium, may be used to store non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules corresponding to the test method in the embodiment of the present application (for example, the virtual information acquisition module 31, the virtual information transmission module 32, the operation information reception module 33, and the display module 34 shown in fig. 3). The processor 601 executes various functional applications of the server and data processing by running non-transitory software programs, instructions and modules stored in the memory 602, that is, implementing the test method in the above method embodiment.
The memory 602 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of the test electronic device, and the like. Further, the memory 602 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory 602 optionally includes memory located remotely from the processor 601, and these remote memories may be connected to the test electronics over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The electronic device of the test method may further include: an input device 603 and an output device 604. The processor 601, the memory 602, the input device 603 and the output device 604 may be connected by a bus or other means, and fig. 6 illustrates the connection by a bus as an example.
The input device 603 may receive input numeric or character information and generate key signal inputs related to user settings and function control of the test electronics, such as a touch screen, keypad, mouse, track pad, touch pad, pointer stick, one or more mouse buttons, track ball, joystick, or other input device. The output devices 604 may include a display device, auxiliary lighting devices (e.g., LEDs), and tactile feedback devices (e.g., vibrating motors), among others. The Display device may include, but is not limited to, a Liquid Crystal Display (LCD), a Light Emitting Diode (LED) Display, and a plasma Display. In some implementations, the display device can be a touch screen.
Various implementations of the systems and techniques described here can be realized in digital electronic circuitry, Integrated circuitry, Application Specific Integrated Circuits (ASICs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
These computer programs (also known as programs, software applications, or code) include machine instructions for a programmable processor, and may be implemented using high-level procedural and/or object-oriented programming languages, and/or assembly/machine languages. As used herein, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, apparatus, and/or device (e.g., magnetic discs, optical disks, memory, Programmable Logic Devices (PLDs)) used to provide machine instructions and/or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term "machine-readable signal" refers to any signal used to provide machine instructions and/or data to a programmable processor.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (Cathode Ray Tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), and the internet.
The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other.
The embodiment of the application can obtain the virtual obstacle information and send the virtual obstacle information to the vehicle, so that the vehicle can respond to the virtual obstacle information in a normal state and adjust the running track and the running speed or determine whether to brake or not. Therefore, the vehicle can be tested under the condition of no real obstacle, and the safety of the tested vehicle or the test process is improved.
According to the technical scheme of the embodiment of the application, the emergency braking function of the vehicle can be tested under the condition that no actual barrier is arranged, and then the development progress of the braking or barrier avoiding strategy on the vehicle controller can be greatly improved.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present application may be executed in parallel, sequentially, or in different orders, and the present invention is not limited thereto as long as the desired results of the technical solutions disclosed in the present application can be achieved.
The above-described embodiments should not be construed as limiting the scope of the present application. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A method of testing, comprising:
acquiring virtual obstacle information generated in a vehicle coordinate system;
transmitting the virtual obstacle information to a vehicle;
receiving operation information sent by the vehicle in response to the virtual obstacle information, wherein the operation information comprises information capable of calculating a vehicle operation track or a position of the vehicle at the current time point so as to realize the test of the vehicle on a test device;
displaying images of the vehicle and the corresponding virtual obstacle according to the running information of the vehicle and the virtual obstacle information, wherein the images are used for determining whether the response of the vehicle to the virtual obstacle information meets the test requirement; an icon of a vehicle is displayed at a set position on a display interface, and the virtual obstacle moves relative to the icon of the vehicle as the vehicle travels.
2. The method of claim 1, wherein the vehicle operation information includes a speed and a steering wheel angle of a vehicle, and displaying the image of the vehicle and a corresponding virtual obstacle according to the vehicle operation information and the virtual obstacle information includes:
estimating the position of the vehicle according to the speed;
calculating a yaw angle of the vehicle based on the steering wheel angle and the speed;
displaying the vehicle and the obstacle in a display interface according to the position and the yaw angle.
3. The method of claim 1, wherein obtaining virtual obstacle information generated in a vehicle coordinate system comprises:
and generating the virtual obstacle information in a vehicle coordinate system according to the input operation information or a preset rule.
4. The method of claim 3, wherein sending the virtual obstacle information to the vehicle comprises:
calculating the relative position of the corresponding virtual obstacle under the vehicle body coordinate system according to the virtual obstacle information;
transmitting the relative position to the vehicle.
5. A test apparatus, comprising:
a virtual information acquisition module: the virtual obstacle information generating device is used for acquiring virtual obstacle information generated in a vehicle coordinate system;
a virtual information sending module: for transmitting the virtual obstacle information to a vehicle;
the operation information receiving module: the system comprises a virtual obstacle information acquisition unit, a virtual obstacle information acquisition unit and a virtual obstacle information acquisition unit, wherein the virtual obstacle information acquisition unit is used for acquiring virtual obstacle information of a vehicle, and the virtual obstacle information acquisition unit is used for acquiring virtual obstacle information of the vehicle;
a display module: the system comprises a display unit, a display unit and a control unit, wherein the display unit is used for displaying an image of the vehicle and a corresponding virtual obstacle according to the running information of the vehicle and the virtual obstacle information, and the image is used for determining whether the response of the vehicle to the virtual obstacle information meets the test requirement or not; the icon of the vehicle is displayed at a set position on a display interface, and the virtual obstacle moves relative to the icon of the vehicle as the vehicle travels.
6. The apparatus of claim 5, wherein the vehicle operation information includes a speed and a steering wheel angle of the vehicle, and the display module comprises:
a position estimation unit: for estimating the position of the vehicle based on the speed;
yaw angle estimation unit: the vehicle yaw angle calculation module is used for calculating the yaw angle of the vehicle according to the steering wheel angle and the speed;
a display information processing unit: the display device is used for displaying the vehicle and the obstacle in a display interface according to the position and the yaw angle.
7. The apparatus of claim 5, wherein the virtual information obtaining module is further configured to:
and generating the virtual obstacle information in a vehicle coordinate system according to the input operation information or a preset rule.
8. The apparatus of claim 7, wherein the virtual information sending module comprises:
a relative position calculation unit: the system comprises a vehicle body coordinate system, a virtual obstacle information acquisition unit, a vehicle body coordinate system and a vehicle body control unit, wherein the vehicle body coordinate system is used for acquiring virtual obstacle information of a vehicle body;
a transmission unit: for transmitting the relative position to the vehicle.
9. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-4.
10. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910891406.6A CN110595798B (en) | 2019-09-19 | 2019-09-19 | Test method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910891406.6A CN110595798B (en) | 2019-09-19 | 2019-09-19 | Test method and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110595798A CN110595798A (en) | 2019-12-20 |
| CN110595798B true CN110595798B (en) | 2022-04-05 |
Family
ID=68861685
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910891406.6A Active CN110595798B (en) | 2019-09-19 | 2019-09-19 | Test method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110595798B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111291680B (en) * | 2020-02-06 | 2023-10-10 | 北京百度网讯科技有限公司 | Obstacle association processing method, device and equipment |
| CN112639793A (en) * | 2020-08-05 | 2021-04-09 | 华为技术有限公司 | Test method and device for automatically driving vehicle |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106644503A (en) * | 2016-10-24 | 2017-05-10 | 中国科学院合肥物质科学研究院 | Intelligent vehicle planning capacity testing platform |
| CN107063711A (en) * | 2017-04-21 | 2017-08-18 | 百度在线网络技术（北京）有限公司 | Method and apparatus for testing unmanned vehicle |
| GB2557252A (en) * | 2016-12-02 | 2018-06-20 | Christian Schwazl | Physical environment simulator for vehicle testing |
| CN108549366A (en) * | 2018-05-04 | 2018-09-18 | 同济大学 | Intelligent automobile road driving mapping experiment method parallel with virtual test |
| CN109297725A (en) * | 2018-10-29 | 2019-02-01 | 百度在线网络技术（北京）有限公司 | Test method, device, equipment, medium and the vehicle of vehicle boundary ability |
| CN109580252A (en) * | 2018-12-29 | 2019-04-05 | 驭势科技（北京）有限公司 | Intelligent driving vehicle testing method, on-vehicle control apparatus and the test macro of a kind of vehicle in ring |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10996141B2 (en) * | 2018-09-28 | 2021-05-04 | Intel Corporation | Method and an autonomous ground vehicle |
-
2019
- 2019-09-19 CN CN201910891406.6A patent/CN110595798B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106644503A (en) * | 2016-10-24 | 2017-05-10 | 中国科学院合肥物质科学研究院 | Intelligent vehicle planning capacity testing platform |
| GB2557252A (en) * | 2016-12-02 | 2018-06-20 | Christian Schwazl | Physical environment simulator for vehicle testing |
| CN107063711A (en) * | 2017-04-21 | 2017-08-18 | 百度在线网络技术（北京）有限公司 | Method and apparatus for testing unmanned vehicle |
| CN108549366A (en) * | 2018-05-04 | 2018-09-18 | 同济大学 | Intelligent automobile road driving mapping experiment method parallel with virtual test |
| CN109297725A (en) * | 2018-10-29 | 2019-02-01 | 百度在线网络技术（北京）有限公司 | Test method, device, equipment, medium and the vehicle of vehicle boundary ability |
| CN109580252A (en) * | 2018-12-29 | 2019-04-05 | 驭势科技（北京）有限公司 | Intelligent driving vehicle testing method, on-vehicle control apparatus and the test macro of a kind of vehicle in ring |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110595798A (en) | 2019-12-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110929702B (en) | Trajectory planning method and device, electronic equipment and storage medium | |
| CN111231950B (en) | Method, device and equipment for planning lane change path of vehicle and readable storage medium | |
| CN112700668B (en) | Remote control method for automatic driving, automatic driving vehicle and cloud equipment | |
| EP3893221A1 (en) | Event detection method and apparatus for cloud control platform, device, and storage medium | |
| CN111311925B (en) | Parking space detection method and device, electronic equipment, vehicle and storage medium | |
| JP6222879B2 (en) | Control method, apparatus and mobile device for moving body | |
| CN110738183B (en) | Road side camera obstacle detection method and device | |
| CN111368760B (en) | Obstacle detection method and device, electronic equipment and storage medium | |
| CN110879395B (en) | Obstacle position prediction method and device and electronic equipment | |
| CN111324945B (en) | Sensor scheme determining method, device, equipment and storage medium | |
| US20190025336A1 (en) | Absolute speed detector | |
| CN110595798B (en) | Test method and device | |
| CN111079079B (en) | Data correction method, device, electronic equipment and computer readable storage medium | |
| CN112184914A (en) | Method and device for determining three-dimensional position of target object and road side equipment | |
| CN113844463B (en) | Vehicle control method and device based on automatic driving system and vehicle | |
| CN114179832A (en) | Lane changing method for autonomous vehicle | |
| CN112584314B (en) | Vehicle perception range measuring method, device, equipment and medium | |
| CN110764509A (en) | Task scheduling method, device, equipment and computer readable storage medium | |
| CN111231952B (en) | Vehicle control method, device and equipment | |
| CN111731240A (en) | Emergency brake rationality evaluation method, device, equipment and storage medium | |
| CN114379547A (en) | Brake control method, brake control device, vehicle, electronic device, and storage medium | |
| CN111596086B (en) | Method and device for estimating speed of obstacle in automatic driving and electronic equipment | |
| CN111856440A (en) | Position detection method, device, equipment and readable storage medium | |
| CN112835345A (en) | Detection result verification method and device and sweeping robot | |
| CN111860907A (en) | Method and device for processing commercial vehicle service, electronic equipment and readable storage medium |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |