CN111752254A

CN111752254A - Test method, device, medium and equipment for trajectory tracking controller

Info

Publication number: CN111752254A
Application number: CN201910242040.XA
Authority: CN
Inventors: 朱欣; 曹晓旭; 李鏖; 刘春晓; 石建萍
Original assignee: Shenzhen Sensetime Technology Co Ltd
Current assignee: Shenzhen Sensetime Technology Co Ltd
Priority date: 2019-03-28
Filing date: 2019-03-28
Publication date: 2020-10-09
Also published as: WO2020192149A1; JP2022512440A; KR20210091263A

Abstract

The embodiment of the disclosure discloses a testing method and device of a trajectory tracking controller, an electronic device, a computer readable storage medium and a computer program, wherein the method comprises the following steps: the method comprises the steps that when a first mobile device is in a running state which is not controlled by a track tracking controller to be tested, a plurality of positioning information and a plurality of motion state information of the first mobile device are obtained; determining a plurality of track point information according to the positioning information and the motion state information and forming a test reference track comprising the plurality of track point information; providing input information for a to-be-tested track tracking controller according to at least part of track point information of the test reference track, and enabling the to-be-tested track tracking controller to output a corresponding automatic driving control instruction to second mobile equipment in control connection with the to-be-tested track tracking controller; and acquiring the running information of the second mobile equipment running according to the automatic running control instruction.

Description

Test method, device, medium and equipment for trajectory tracking controller

Technical Field

The present disclosure relates to a technology of a trajectory tracking controller, and in particular, to a method for testing a trajectory tracking controller, a device for testing a trajectory tracking controller, an electronic apparatus, a computer-readable storage medium, and a computer program.

Background

The trajectory tracking controller is an important component of intelligent systems such as an intelligent driving system and a robot system. And testing the trajectory tracking controller, and analyzing and evaluating the performance of the trajectory tracking controller according to the test data, thereby being beneficial to improving the performance of the trajectory tracking controller.

Disclosure of Invention

The embodiment of the disclosure provides a testing technical scheme of a trajectory tracking controller.

According to an aspect of the disclosed embodiments, there is provided a method for testing a trajectory tracking controller, including: the method comprises the steps that when a first mobile device is in a running state which is not controlled by a track tracking controller to be tested, a plurality of positioning information and a plurality of motion state information of the first mobile device are obtained; determining a plurality of track point information according to the positioning information and the motion state information and forming a test reference track comprising the plurality of track point information; providing input information for a to-be-tested track tracking controller according to at least part of track point information of the test reference track, and enabling the to-be-tested track tracking controller to output a corresponding automatic driving control instruction to second mobile equipment in control connection with the to-be-tested track tracking controller; and acquiring the running information of the second mobile equipment running according to the automatic running control instruction.

In an embodiment of the present disclosure, the first mobile device and the second mobile device comprise at least one of: vehicles, robots, and robotic arms; and/or the first mobile device and the second mobile device are the same or different.

In another embodiment of the present disclosure, when the first mobile device is in a driving state that is not controlled by a trajectory tracking controller to be tested, the obtaining of the plurality of positioning information and the plurality of motion state information of the first mobile device includes: acquiring a real-time dynamic carrier phase differential signal and a satellite positioning signal; determining the position information of the first mobile equipment according to the real-time dynamic carrier phase difference signal and the satellite positioning signal; wherein the positioning accuracy of the position information of the first mobile device is higher than the position positioning accuracy of the satellite positioning signal.

In another embodiment of the present disclosure, the determining the position information of the first mobile device according to the real-time dynamic carrier phase difference signal and the satellite positioning signal includes: determining the position information of the first mobile equipment according to the satellite positioning signals with the same positioning time and the real-time dynamic carrier phase difference signals; or determining the position information of the first mobile equipment according to the satellite positioning signals and the real-time dynamic carrier phase difference signals required by the time interval smaller than the preset time interval.

In still another embodiment of the present disclosure, the positioning information includes: x-axis coordinates and Y-axis coordinates of the UTM coordinate system are projected based on the universal transverse-axis mercator.

In another embodiment of the present disclosure, the motion state information includes: at least one of yaw angle, velocity, and acceleration.

In another embodiment of the present disclosure, when the first mobile device is in a driving state that is not controlled by a trajectory tracking controller to be tested, the obtaining of the plurality of positioning information and the plurality of motion state information of the first mobile device includes: acquiring the speed and the acceleration of first mobile equipment according to data read from a Controller Area Network (CAN) bus of the first mobile equipment; and/or acquiring the yaw angle of the first mobile equipment according to data output by an inertial measurement unit arranged in the first mobile equipment.

In another embodiment of the present disclosure, the track point information includes: and at least one of the track point position information, the speed size and the speed direction corresponding to the track point, the acceleration size and the acceleration direction corresponding to the track point, the track curvature corresponding to the track point and the yaw angle corresponding to the track point.

In another embodiment of the present disclosure, the determining, according to the positioning information and the motion state information, a plurality of trace point information includes: and sampling the positioning information according to the preset distance between the adjacent track points to obtain the position information of the track points.

In another embodiment of the present disclosure, the determining, according to the positioning information and the motion state information, a plurality of trace point information includes: and sampling the motion state information according to the positioning time corresponding to the position information of the track points respectively to obtain the motion state information corresponding to the track points respectively.

In another embodiment of the present disclosure, the determining, according to the positioning information and the motion state information, a plurality of trace point information includes: for any track point, determining a speed direction and an acceleration direction corresponding to the track point according to the slope of a connecting line of the front track point and the rear track point of the track point; and/or determining the track curvature corresponding to one track point in the adjacent track points according to the variable quantity of the speed directions of the adjacent track points and the distance between the adjacent track points.

In another embodiment of the present disclosure, the providing input information for a trajectory tracking controller to be tested according to at least part of the trace point information of the test reference trajectory includes: acquiring current position information of a second mobile device where the to-be-tested track tracking controller is located; determining track points which are closest to the current position information in the test reference track according to the current position information and the track point information; intercepting a sub-test reference track from the test reference track according to the track point with the closest distance; and providing input information for the track tracking controller to be tested according to the track point information in the sub-test reference track.

In another embodiment of the present disclosure, the intercepting a sub-test reference track from the test reference track according to the track point closest to the distance includes: and intercepting a sub-test reference track from the test reference track in response to the distance between the track point with the closest distance and the current position information meeting a preset distance requirement.

In another embodiment of the present disclosure, the providing input information for a trajectory tracking controller to be tested according to the trajectory point information in the sub-test reference trajectory includes: selecting a track point from the sub-test reference track, and determining input information of the track tracking controller to be tested according to track point information of the selected track point; or, selecting a plurality of track points from the sub-test reference track, performing comprehensive processing on track point information of the selected plurality of track points, and determining input information of the track tracking controller to be tested according to a comprehensive processing result; the determining the input information of the trajectory tracking controller to be tested comprises the following steps: respectively converting the position information, the speed direction and the acceleration direction in the track point information into position information, the speed direction and the acceleration direction in a coordinate system of the mobile equipment; and providing the speed magnitude, the acceleration magnitude, the converted position information, the speed direction and the converted acceleration direction to a to-be-tested track tracking controller.

In still another embodiment of the present disclosure, the acquiring of the driving information of the second mobile device driving according to the automatic driving control command includes: acquiring a plurality of positioning information and a plurality of motion state information of the second mobile equipment in the driving process of the second mobile equipment according to the automatic driving control instruction; generating an actual track comprising a plurality of actual track point information according to the plurality of positioning information and the motion state information of the second mobile device; the method further comprises the following steps: acquiring and/or outputting a difference between the actual trajectory and the test reference trajectory.

In yet another embodiment of the present disclosure, the method further comprises: visually displaying a difference between the actual trajectory and the test reference trajectory; and/or adjusting parameters of the trajectory tracking controller according to the difference between the actual trajectory and the test reference trajectory.

According to still another aspect of the disclosed embodiments, there is provided a testing apparatus for a trajectory tracking controller, including: the system comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring a plurality of positioning information and a plurality of motion state information of a first mobile device when the first mobile device is in a running state which is not controlled by a track tracking controller to be tested; the first generation module is used for generating a test reference track comprising a plurality of track point information according to the positioning information and the motion state information; providing an input module for providing input information for the track tracking controller to be tested according to at least part of track point information of the test reference track, so that the track tracking controller to be tested outputs a corresponding automatic driving control instruction to a second mobile device in control connection with the track tracking controller to be tested; and the second acquisition module is used for acquiring the running information of the second mobile equipment running according to the automatic running control instruction.

In another embodiment of the present disclosure, the first obtaining module includes: the first submodule is used for acquiring a real-time dynamic carrier phase differential signal and a satellite positioning signal; the second submodule is used for determining the position information of the first mobile equipment according to the real-time dynamic carrier phase difference signal and the satellite positioning signal; wherein the positioning accuracy of the position information of the first mobile device is higher than the position positioning accuracy of the satellite positioning signal.

In yet another embodiment of the present disclosure, the second sub-module is further configured to: acquiring position information of the first mobile equipment according to the satellite positioning signal and the real-time dynamic carrier phase difference signal with the same positioning time; or acquiring the position information of the first mobile equipment according to the satellite positioning signal and the real-time dynamic carrier phase difference signal, wherein the time interval is smaller than the preset time interval.

In still another embodiment of the present disclosure, the first obtaining module includes: the third submodule is used for acquiring the speed and the acceleration of the first mobile equipment according to data read from a Controller Area Network (CAN) bus of the first mobile equipment; and/or the fourth submodule is used for acquiring the yaw angle of the first mobile equipment according to data output by an inertia measurement unit arranged in the first mobile equipment.

In still another embodiment of the present disclosure, the first generating module includes: and the first sampling submodule is used for sampling the positioning information according to the preset distance between the adjacent track points to obtain the position information of the track points.

In still another embodiment of the present disclosure, the first generating module includes: and the second sampling submodule is used for sampling the motion state information according to the positioning time corresponding to the position information of the track points respectively to obtain the motion state information corresponding to the track points respectively.

In still another embodiment of the present disclosure, the first generating module includes: the direction determining submodule is used for determining the speed direction and the acceleration direction corresponding to the track point according to the slope of a connecting line of the front track point and the rear track point of any track point; and/or the curvature determining submodule is used for determining the curvature of the track corresponding to one track point in the adjacent track points according to the variation of the speed directions of the adjacent track points and the distance between the adjacent track points.

In yet another embodiment of the present disclosure, the providing input module includes: the fifth sub-module is used for acquiring the current position information of the second mobile equipment where the to-be-tested track tracking controller is located; the sixth submodule is used for determining a track point which is closest to the current position information in the test reference track according to the current position information and the track point information; the seventh sub-module is used for intercepting a sub-test reference track from the test reference track according to the track point with the closest distance; and the eighth submodule is used for providing input information for the track tracking controller to be tested according to the track point information in the subtest reference track.

In yet another embodiment of the present disclosure, the seventh sub-module is further configured to: and intercepting a sub-test reference track from the test reference track in response to the distance between the track point with the closest distance and the current position information meeting a preset distance requirement.

In yet another embodiment of the present disclosure, the eighth submodule is further configured to: selecting a track point from the sub-test reference track, and determining input information of the track tracking controller to be tested according to track point information of the selected track point; or, selecting a plurality of track points from the sub-test reference track, performing comprehensive processing on track point information of the selected plurality of track points, and determining input information of the track tracking controller to be tested according to a comprehensive processing result; the determining the input information of the trajectory tracking controller to be tested comprises the following steps: respectively converting the position information, the speed direction and the acceleration direction in the track point information into position information, the speed direction and the acceleration direction in a coordinate system of the mobile equipment; and providing the speed magnitude, the acceleration magnitude, the converted position information, the speed direction and the converted acceleration direction to a to-be-tested track tracking controller.

In yet another embodiment of the present disclosure, the second obtaining module is further configured to: acquiring a plurality of positioning information and a plurality of motion state information of the second mobile equipment in the driving process of the second mobile equipment according to the automatic driving control instruction; generating an actual track comprising a plurality of actual track point information according to the plurality of positioning information and the motion state information of the second mobile device; the device further comprises: and forming a difference module for acquiring and/or outputting the difference between the actual track and the test reference track.

In yet another embodiment of the present disclosure, the apparatus further includes: the display module is used for visually displaying the difference between the actual track and the test reference track; and/or, a parameter adjusting module for adjusting the parameter of the trajectory tracking controller according to the difference between the actual trajectory and the test reference trajectory.

According to still another aspect of the disclosed embodiments, there is provided an electronic device including: a memory for storing a computer program; a processor for executing the computer program stored in the memory, and when executed, implementing any of the method embodiments of the present disclosure.

According to yet another aspect of embodiments of the present disclosure, there is provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements any of the method embodiments of the present disclosure.

According to a further aspect of an embodiment of the present disclosure, there is provided a computer program comprising computer instructions for implementing any one of the method embodiments of the present disclosure when the computer instructions are run in a processor of a device.

Based on the testing method and device of the trajectory tracking controller, the electronic device, the computer readable storage medium and the computer program provided by the disclosure, the trajectory point information is generated by using the positioning information and the motion state information of the first mobile device, and the test reference trajectory can be formed by using the positioning of the first mobile device, so that the cost for forming the test reference trajectory is reduced. According to the method, the input information is provided for the track tracking controller arranged in the second mobile device according to the track point information in the test reference track, so that the track tracking controller to be tested can be tested in an actual application scene, and the phenomenon that the track tracking controller with good test condition is lack of performance in the actual application scene is favorably avoided. In addition, when the track following controller is tested, the lane lines and the like drawn on the road do not need to be used as test reference objects, so that the limit on the test scene of the track following controller is favorably avoided, and the test under various actual environments can be realized. Therefore, the technical scheme provided by the disclosure is beneficial to reducing the testing cost of the trajectory tracking controller and improving the testing comprehensiveness and accuracy of the trajectory tracking controller.

The technical solution of the present disclosure is further described in detail by the accompanying drawings and the embodiments.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description, serve to explain the principles of the disclosure.

The present disclosure may be more clearly understood from the following detailed description, taken with reference to the accompanying drawings, in which:

FIG. 1 is a flow chart of one embodiment of a method for testing a trajectory tracking controller of the present disclosure;

fig. 2 is a schematic diagram of one embodiment of a mobile station apparatus of the present disclosure;

FIG. 3 is a schematic view of one embodiment of the curvature of the trace points of the present disclosure;

4 a-4 d are schematic diagrams illustrating an embodiment of information on a plurality of track points in a test reference track according to the present disclosure;

FIG. 5 is a schematic diagram illustrating an embodiment of a trajectory tracking controller test result displayed visually according to the present disclosure;

FIG. 6 is a schematic diagram illustrating another embodiment of visually displaying a test result of a trajectory tracking controller according to the present disclosure;

FIG. 7 is a schematic diagram illustrating a trajectory tracking controller test result according to yet another embodiment of the present disclosure;

fig. 8 is a schematic structural diagram of an embodiment of a testing apparatus of a trajectory tracking controller according to the present disclosure.

Fig. 9 is a block diagram of an exemplary device implementing embodiments of the present disclosure.

Detailed Description

Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise.

Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description.

The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses.

Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

The disclosed embodiments may be applied to electronic devices such as terminal devices, computer systems, and servers, which may operate with numerous other general purpose or special purpose computing system environments or configurations. Examples of well known terminal devices, computing systems, environments, and/or configurations that may be suitable for use with electronic devices, such as terminal devices, computer systems, and servers, include, but are not limited to: personal computer systems, server computer systems, thin clients, thick clients, hand-held or laptop devices, microprocessor-based systems, set-top boxes, programmable consumer electronics, networked personal computers, minicomputer systems, mainframe computer systems, distributed cloud computing environments that include any of the above, and the like.

Electronic devices such as terminal devices, computer systems, and servers may be described in the general context of computer system-executable instructions, such as program modules, being executed by a computer system. Generally, program modules may include routines, programs, objects, components, logic, and data structures, etc. that perform particular tasks or implement particular abstract data types. The computer system/server may be practiced in distributed cloud computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed cloud computing environment, program modules may be located in both local and remote computer system storage media including memory storage devices.

Exemplary embodiments

FIG. 1 is a flow chart of an embodiment of a testing method of a trajectory tracking controller according to the present disclosure. As shown in fig. 1, the method of this embodiment includes: s100, S110, S120 and S130. The steps are described in detail below.

S100, acquiring a plurality of positioning information and a plurality of motion state information of the first mobile equipment when the first mobile equipment is in a running state which is not controlled by a track tracking controller to be tested.

In one optional example, the first mobile device in S100 in the present disclosure is a mobile device for forming a test reference trajectory. The mobile device for forming the test reference trajectory is a device which can move in a driving or remote control or operation control mode. Mobile devices for forming test reference trajectories include, but are not limited to: vehicles, robots, robotic arms, and the like, thereby facilitating the technical solutions provided by the present disclosure to be applicable in a variety of application scenarios. The first mobile device is in a running state which is not controlled by the trajectory tracking controller to be tested, namely the first mobile device is in a non-automatic driving mode (such as driving by a driver), and the obtained test reference trajectory is equivalent to the driving behavior of the driver; alternatively, the first mobile device may be in a driving state in which it is driverless under the control of the controller, other than the trajectory tracking controller to be tested, and so on. The test reference trajectory in the present disclosure is a trajectory that a trajectory tracking controller to be tested in the second mobile device needs to make the second mobile device track.

Optionally, when the first mobile device for forming the test reference trajectory is a vehicle, the vehicle may be a vehicle capable of implementing automatic driving control; of course, the vehicle may be a vehicle that is not capable of automatic driving control but only travels based on the driving behavior of the driver. That is, the vehicle can form the test reference trajectory by the driving behavior of the driver. According to the method, the test reference track is formed by utilizing the mode that the driver drives the vehicle, and the driver can drive the vehicle according to the test requirement to form the test reference tracks in various patterns, so that the convenience and diversity for forming the test reference track are improved, and the test reference track which is more accordant with the driving habits of human is provided for the test of the track tracking controller.

Alternatively, when the first moving device for forming the test reference trajectory is a robot, the robot may be a robot or the like that provides a service to customers. When the moving device for forming the test reference trajectory is a robot arm, the robot arm may be a robot arm on a production line or the like. The robot or the robot arm can form the test reference track through a manual operation mode such as manual remote control. According to the method, the test reference track is formed by utilizing manual operation modes such as remote control and the like, and the robot can be controlled to form the test reference tracks in various patterns according to test requirements through manual operation, so that convenience and diversity for forming the test reference track are improved, and the test reference track which is more accordant with human operation habits is provided for testing of the track tracking controller.

It should be particularly noted that, in the following embodiments, a vehicle is sometimes taken as an example to describe the technical solution of the test of the trajectory tracking controller provided by the present disclosure, however, this does not mean that the technical solution provided by the present disclosure is only applicable to a vehicle.

In an alternative example, the first mobile device of the present disclosure may be provided with a positioning apparatus, and a positioning signal (such as a satellite positioning signal, etc.) is received by the positioning apparatus, so that the present disclosure may obtain the positioning information of the first mobile device through the positioning signal received by the positioning apparatus. Optionally, the positioning information of the first mobile device includes but is not limited to: a location time (e.g., a location timestamp) and location information of the first mobile device. The location information of the first mobile device includes, but is not limited to: coordinates of the first mobile device in a real-world coordinate system. Alternatively, the real world coordinate system may be a two-dimensional coordinate system. For example, real world coordinate systems include, but are not limited to: UTM (Universal transform Mercator, Universal Transverse Mercator) coordinate system. For example, the location information of the first mobile device may be: based on the X-axis coordinates and the Y-axis coordinates of the UTM coordinate system. According to the method and the device, the position of the first mobile equipment is represented by the coordinates of the first mobile equipment in the two-dimensional coordinate system, so that the calculated amount in the test process is favorably simplified under the condition that the accuracy of the test trajectory tracking controller can be met, and the test convenience is favorably improved.

In an alternative example, the positioning device in the present disclosure may include, but is not limited to: a positioning device based on RTK (Real-time kinematic) carrier phase difference technology. For example, the positioning device includes but is not limited to: a mobile station device based on an RTK carrier phase division technique (hereinafter simply referred to as an RTK mobile station device) that can perform wireless communication with an RTK base station. RTK mobile station devices include, but are not limited to: NovAtel mobile station devices, and the like. Optionally, the RTK base station is usually disposed near the RTK mobile station device, and the erection height and the erection position of the RTK base station are equidistant, and the RTK base station may be disposed according to the actual requirement of signal transmission. Optionally, the RTK base station may be erected at a fixed position such as a top floor of a high building or a top of a communication tower. The RTK base station may also be mounted on a mobile device. For example, the RTK base station may be erected on a vehicle having a certain height (e.g., a vehicle having a lifting device, etc.). Optionally, the RTK base station may be conveniently moved to a corresponding test site by erecting the RTK base station on a movable device, so as to facilitate the test of the trajectory tracking controller in the corresponding test site.

In particular, the erection height of the RTK base station is generally related to the height of a signal obstacle such as a building in the environment where the RTK base station is located. Alternatively, the RTK base station is typically installed at a height greater than the height of each signal obstacle in the environment in which it is installed. In a relatively open environment, the erection height of the RTK base station may be relatively low. In the urban road environment of high-rise forests, the RTK base station is usually erected at the top floor of the high-rise and the like. In addition, although the RTK base station may be mounted on a movable device, the position of the RTK base station is fixed during the test of the trajectory tracking controller.

In an alternative example, a rover station device provided on a first rover in the present disclosure may receive a satellite positioning signal (e.g., a GPS positioning signal or a beidou positioning signal, etc.) from a satellite and RTK data from an RTK base station. Based on the satellite positioning signals, the mobile station device may obtain coarse position information of the first mobile device, the positioning accuracy of which is typically on the order of meters. The rover station can obtain the final position information of the first rover station according to the received satellite positioning signals and the RTK data, and the position positioning accuracy of the position information can reach centimeter level. The present disclosure may employ existing processing approaches to process the satellite positioning signals and the RTK data, e.g., epoch-based real-time processing, etc., and will not be described in detail herein.

Alternatively, an example of a mobile station device provided on a first mobile device in the present disclosure is shown in fig. 2. In fig. 2, the mobile station apparatus 1 may include: an antenna 11, a receiver 12 and a router 13. The mobile station apparatus 1 performs wireless information transmission with the satellite 2 via the antenna 11. The mobile station apparatus 1 performs wireless information transmission with the RTK base station 3 through the router 13. The RTK base station 3 can perform wireless information transmission with the satellite 2. The antenna 11 includes but is not limited to: a GPS antenna or a beidou antenna, etc. The mobile station apparatus 1 can receive a satellite positioning signal from the satellite 2 through the antenna 11. Satellite 2 includes, but is not limited to: a GPS (global positioning System) satellite, a beidou satellite, or the like. Satellite positioning signals include, but are not limited to: positioning signals based on GPS or Beidou, and the like. Satellite positioning signals in the present disclosure may include, but are not limited to: location time (i.e., time corresponding to location) and location information. The positioning accuracy of the position information in the satellite positioning signals is typically meters. The mobile station device 1 may receive the RTK data from the RTK base station 3 through its router 13. The RTK data may include not only: information for describing RTK (hereinafter referred to as differential data), further including: the time corresponding to the differential data, etc. Since the time corresponding to the differential data comes from the satellite 2, the time corresponding to the differential data may also be referred to as a positioning time. The router 13 includes but is not limited to: cellular 4G Router, and the like. The receiver 12 may obtain position information of the first mobile device 1 in the centimeter level by calculating the position information in the corresponding satellite positioning signal received by the antenna 1 and the differential data in the corresponding RTK data received by the router 13, so that the present disclosure may achieve accurate positioning of the first mobile device.

In an alternative example, the positioning information of the first mobile device 1 obtained in this step includes, but is not limited to: the location time and the location information of the first mobile device. The receiver 12 can obtain the precisely positioned position information corresponding to the positioning time from the satellite positioning signals and the RTK data having the same positioning time. In the absence of the satellite positioning signal and the RTK data having the same positioning time, the receiver 12 may obtain the position information of the precise positioning corresponding to the positioning time in the satellite positioning signal according to the satellite positioning signal and the RTK data that satisfy the requirement that the time interval of the positioning time is smaller than the predetermined time interval. The positioning time in the positioning information obtained in this step may be positioning time in a satellite positioning signal.

In one optional example, the motion state information of the first mobile device in the present disclosure may include, but is not limited to: the pose, the time corresponding to the velocity and the acceleration (hereinafter referred to as velocity time), the magnitude of the velocity, the magnitude of the acceleration, and the like. Poses herein include, but are not limited to: the Yaw angle (which may also be referred to as the Yaw angle in the real world coordinate system, or Yaw) of the first mobile device. Optionally, the pose of the first mobile device may further include: pitch angle (Pitch), Roll angle (Roll), and time to pose (hereinafter referred to as pose time) of the first mobile device, and the like. Optionally, the present disclosure may obtain the pose of the first mobile device according to data output by an Inertial Measurement Unit (IMU) installed on the first mobile device. In the case where the mobile station device is integrated with an IMU, the positioning time may be taken as pose time, and the present disclosure may obtain the positioning time, position information corresponding to the positioning time, and a yaw angle corresponding to the positioning time from information output by the mobile station device.

In one optional example, where the first mobile device has the capability to provide its velocity magnitude and acceleration, the present disclosure may read the velocity magnitude and acceleration of the first mobile device from the first mobile device. For example, the present disclosure may read the speed, the acceleration, and the like of the first mobile device at the current time in real time through a CAN (Controller Area Network) bus of the first mobile device. The value of the acceleration may have a sign, which may indicate the direction of the acceleration. For example, a positive sign indicates that the direction of acceleration is the same as the direction of velocity, and a negative sign indicates that the direction of acceleration is opposite to the direction of velocity.

Alternatively, S100 may be referred to as a raw data accumulation phase. The raw data accumulated by S100 is used for forming a plurality of track point information. The raw data accumulated by S100 is usually redundant, for example, the density of the location information is high, and the location information may be duplicated. In the process of forming a plurality of trace point information, redundant information can be screened out usually, so that the phenomenon of trace point information redundancy is avoided.

Optionally, the raw data accumulated in S100 specifically includes content, which is usually set according to input information required by the trajectory tracking controller to be tested. In the case that the trajectory tracker to be tested needs other information, the present disclosure should also obtain other information in the raw data accumulation stage.

Alternatively, in the case where the inertial measurement unit disposed on the first mobile device is disposed independently of the positioning apparatus (e.g., mobile station device) disposed on the first mobile device, the raw data accumulated in this step may include three data sets, namely, a positioning data set, a pose data set, and a velocity data set. The data records in the positioning data set come from a positioning device arranged on the first mobile equipment. Locating any data record in the data set at least comprises: positioning time and position information of precise positioning. The data records in the pose data set are from an inertial measurement unit disposed on the first mobile device. Any one data record in the pose data set at least comprises: pose time and yaw angle of the first mobile device. Optionally, any data record in the pose data set may further include: a pitch angle and a roll angle of the first mobile device. Although in the following embodiments, the description is mostly made taking the attitude as an example of a specific yaw angle, it should be understood that the attitude in the following description is also fully feasible as a specific yaw angle and a pitch angle, or as a specific yaw angle and a roll angle, or as a specific yaw angle, a pitch angle and a roll angle. The data records in the velocity data set come from the first mobile device itself (e.g., a CAN bus in the first mobile device, etc.). Any one data record in the velocity data set comprises at least: speed time, speed magnitude, acceleration, and the like.

Alternatively, in the case where a positioning apparatus (e.g., a mobile station device) provided on a first mobile device has a function of measuring the pose of the first mobile device, the raw data accumulated in S100 may include two data sets, i.e., a positioning and pose data set and a velocity data set. The data records in the positioning and pose data set are from a positioning apparatus disposed on the first mobile device. Any one data record in the positioning and pose data set at least comprises: positioning time, accurately positioned position information, and a yaw angle of the first mobile device. The data records in the velocity data set come from the first mobile device itself (e.g., a CAN bus in the first mobile device, etc.). Any one data record in the velocity data set comprises at least: speed time, speed magnitude, acceleration (signed acceleration value), and the like.

And S110, determining a plurality of track point information according to the positioning information and the motion state information, and forming a test reference track comprising the plurality of track point information.

In one optional example, the plurality of trace point information generated by the present disclosure is used to form a test reference trace. That is, the test reference trajectory of the present disclosure includes at least: a plurality of trace point information. All the track point information can be regarded as a test reference track. Optionally, any piece of trace point information in the present disclosure may include: the position information of the track points, the position and the attitude of the mobile device corresponding to the track points, the speed and the speed direction corresponding to the track points, and the acceleration direction corresponding to the track points. Optionally, any piece of trace point information may further include: the positioning time, and the curvature of the track corresponding to the track point, etc. Optionally, the test reference track may be a data set, where the data set includes a plurality of data records, each data record corresponds to a track point, and one data record is track point information.

In an optional example, when the trace point information is formed by using original data, the redundancy processing is usually performed to eliminate redundant data such as repeated data and excessively dense data, so that the reasonability of the trace point distribution of the test reference trace is improved. Optionally, in the present disclosure, the position information of each track point of the test reference track may be determined according to the obtained positioning information, and then, other information of each track point may be determined according to all the obtained poses and motion state information.

Optionally, the process of determining the position information of each track point of the test reference track according to the present disclosure may be: and sampling a plurality of positioning information according to preset distance between adjacent track points, thereby obtaining position information of a plurality of track points. For example, the present disclosure may select one piece of positioning information from all the obtained positioning information, and use the position information in the positioning information selected this time as the initial track point position information of the test reference track, then, the present disclosure may perform distance calculation according to the position information in other positioning information and the initial track point position information, and select one piece of positioning information that is closest to the distance and the predetermined distance from the other positioning information according to the result of the distance calculation and the predetermined distance, and use the position information in the selected positioning information as the next track point position information of the initial track point, and so on until the position information of all the track points in the test reference track is obtained. In the obtained position information of all track points, the distance between any two adjacent track points is usually a predetermined distance or about a predetermined distance. In addition, when obtaining the position information of the track point, the positioning time corresponding to the position information should be obtained. The predetermined distance in the present disclosure is a constant, and the size of the predetermined distance may be set according to actual requirements, for example, the predetermined distance includes but is not limited to: 20 cm, etc.

According to the method and the device, the positioning information is sampled by utilizing the preset distance, the data redundancy phenomenon can be eliminated, the track points can be uniformly distributed, the smooth processing of the test reference track can be realized, and the reasonability of the test reference track is improved.

In an optional example, in a case where the data output by the mobile station device forms a positioning data set, after determining position information of each track point of the test reference track, the present disclosure may perform sampling processing on a plurality of poses and a plurality of motion state information according to positioning times corresponding to the position information of the plurality of track points, respectively, so as to obtain poses and motion state information corresponding to each track point. For example, for any track point, the disclosure may find a pose time closest to the positioning time from each data record of the pose data set, and use the yaw angle of the first mobile device corresponding to the pose time as the yaw angle corresponding to the track point. For another example, for any track point, the disclosure may also find at least two pose times closest to the positioning time from each data record of the pose data set, and calculate a yaw angle of the first mobile device corresponding to each of the at least two pose times (e.g., calculate an average value of the yaw angles, etc.), and take the calculation result as the yaw angle corresponding to the track point.

In some application scenarios (for example, in an application scenario in which the mobile station device and the inertial measurement unit are independently arranged), the positioning time and the pose time are not generally synchronized, and the present disclosure implements time sequence alignment of the positioning time and the pose time by sampling the pose with the positioning time as a reference, thereby facilitating to quickly and accurately obtain the test reference trajectory.

In an optional example, in a case where the data output by the mobile station device forms a positioning and pose data set, the present disclosure may determine a yaw angle corresponding to each track point while determining position information of each track point of the test reference track, and then may sample and process a plurality of pieces of motion state information according to positioning times corresponding to the position information of the plurality of track points, respectively, so as to obtain a pose and motion state information corresponding to each track point. For example, for any track point, the present disclosure may find a speed time closest to the positioning time from each data record of the speed data set, and use the speed magnitude and acceleration of the first mobile device corresponding to the speed time as the speed magnitude and acceleration corresponding to the track point. For another example, for any track point, the present disclosure may also find at least two pose times closest to the positioning time from each data record of the velocity data set, calculate a yaw angle of the first mobile device corresponding to each of the at least two pose times (e.g., calculate an average value of the yaw angles, etc.), and use the calculation result as the yaw angle corresponding to the track point.

In some application scenarios, the positioning time and the speed time are not synchronous generally, and the method and the device realize the time sequence alignment processing of the positioning time and the speed time by taking the positioning time as a reference and sampling the motion state information, thereby being beneficial to quickly and accurately obtaining the test reference track.

In an optional example, for any track point, the present disclosure may determine, according to a slope of a connection line between two track points before and after the track point, a speed direction corresponding to the track point, where the speed direction is combined with a sign of an acceleration value, that is, an acceleration direction may be determined, for example, the acceleration direction is the same as the speed direction or opposite to the speed direction. The connecting line of the front track point and the rear track point of the track point can be as follows: and the connecting line of the nth track point positioned in front of the track point and the mth track point positioned behind the track point. N and m are integers which are more than or equal to 1, the numerical values of n and m can be equal, the numerical values of n and m are not suitable to be too large, such as not exceeding 4 or 5, and the like, so that the phenomena of inaccurate speed direction and the like are avoided, and the test reference track is obtained quickly and accurately.

Optionally, for the ith track point in the test reference track, if the position information of the nth track point before the ith track point is expressed as (x)_i-n,y_i-n) The position information of the mth track point after the ith track point is expressed as (x)_i+m,y_i+m) Then, the velocity direction θ of the ith trace point can be expressed by the following formula (1):

in the above formula (1), Δ x represents x_i+mAnd x_i-nThe difference between them, i.e. Δ x ═ x_i+m-x_i-n(ii) a Δ y represents y_i+mAnd y_i-nThe difference between them, i.e. Δ y ═ y_i+m-y_i-n。

Optionally, the present disclosure may also use other manners to obtain the speed direction of the trace point, for example, the present disclosure may use a plurality of trace points as discrete points to perform curve fitting, and after obtaining a corresponding curve equation, the present disclosure determines the speed direction of any trace point that is used as a discrete point by using the curve equation.

In an alternative example, after the position information of each track point of the test reference track and the speed direction are determined, the curvature of the track corresponding to each track point can be further determined. Optionally, the method and the device can determine the curvature of the track corresponding to one of the adjacent track points according to the variation of the speed directions of the adjacent track points and the distance between the adjacent track points. For example, for any track point, the present disclosure may use the following formula (2) to represent the track curvature k corresponding to the track point:

in the above formula (2), Δ θ represents the variation of the speed direction of the adjacent track points, for example, in fig. 3, the speed direction of the track point a is θ, the speed direction of the track point B is θ + Δ θ, and Δ θ is the variation between the speed direction of the track point a and the speed direction of the track point B; Δ s represents the distance (e.g., straight line distance) between adjacent track points, e.g., in FIG. 3, between track point A and track point B.

Optionally, in the present disclosure, the calculated curvature k of the track may be used as the curvature of the track of the previous track point in the two adjacent track points (e.g., the curvature of the track corresponding to the track point a in fig. 3), or the calculated curvature k of the track may be used as the curvature of the track of the next track point in the two adjacent track points (e.g., the curvature of the track corresponding to the track point B in fig. 3).

Optionally, the curvature of the trace points may also be obtained in other manners, for example, the present disclosure may perform curve fitting with a plurality of trace points as discrete points, and after obtaining a corresponding curve equation, the present disclosure determines the curvature of any trace point that is taken as a discrete point by using the curve equation.

In an alternative example, the present disclosure tests multiple trace point information in a reference trace, as shown in fig. 4 a-4 d. The curve in fig. 4a represents the trajectory formed by the plurality of trajectory point location information in the UTM coordinate system. The abscissa in fig. 4a represents the X-axis (in meters) of the UTM coordinate system and the ordinate represents the Y-axis (in meters) of the UTM coordinate system. The curve in fig. 4b represents a curve formed by the velocity magnitudes corresponding to each of the plurality of trace points. The abscissa of fig. 4b represents the distance (in meters) from the start trace point, and the ordinate represents the magnitude of the velocity (in meters/second) corresponding to the trace point. The curve in fig. 4c represents a curve formed by the velocity directions of a plurality of trace points. The abscissa in fig. 4c represents the distance (in meters) from the start track point, and the ordinate represents the velocity direction (e.g., θ described above) corresponding to the track point. The abscissa in fig. 4d represents the distance (in meters) relative to the starting track point and the ordinate represents the curvature of the corresponding point of the track.

The method for forming the test reference track is beneficial to avoiding the limitation that the formation of the test reference track needs to be limited by factors such as a high-precision map, a lane line and the like. Therefore, the tester can flexibly set the test reference tracks in various shapes at any time and any place according to the test requirements, and factors such as weather and light do not need to be considered in the process of setting the test reference tracks. For example, the test reference trajectory may be set on a rural road in the morning or at the noon or at the evening. For another example, a test reference trajectory of a continuous quarter turn may be set, an S-shaped test reference trajectory may be set, or a test reference trajectory of a figure 8, an O-shape, or a spiral shape, etc. may be set. Therefore, the method and the device are beneficial to improving the geographical position setting range and the time setting range of the test reference track, reducing the implementation cost of forming the test reference track, improving the diversity of the test reference track and obtaining the performance of the to-be-tested track tracking controller on various test reference tracks. Furthermore, the method and the device can adjust parameters of the to-be-tested track tracking controller in a targeted manner according to performance of the to-be-tested track tracking controller on various test reference tracks, so that the performance of the track tracking controller is improved.

Optionally, the parameters of the trajectory tracking controller to be tested in the present disclosure may be: and parameters used in the process of forming the automatic driving control instruction by the to-be-tested track tracking controller according to the input information. The testing method provided by the disclosure can be applied to the trajectory tracking controllers of various architectures in automatic driving, and the optimization adjustment of the controller parameters is carried out based on the testing result, for example, the testing method can be applied to but not limited to the trajectory tracking controller of a PID (proportional-integral-I-derivative-D) three-phase architecture to adjust the three-phase parameters; for another example, but not limited to, a MPC (Model Predictive Control) architecture trajectory tracking controller may be applied to adjust closed-loop optimization Control parameters related to errors and Control commands; thereby improving the control performance of the trajectory tracking controller.

And S120, providing input information for the track tracking controller to be tested according to at least part of track point information of the test reference track.

In one optional example, the trajectory tracking controller under test in the present disclosure is provided in the second mobile device. Because the trajectory tracking controller to be tested is arranged in the second mobile device, compared with the existing mode of testing the trajectory tracking controller by using a simulator, the method and the device are beneficial to avoiding the phenomenon that the test result is inaccurate due to the difference between the test environment of the simulator and the real environment, and further avoiding the phenomenon that the time cost and the labor cost are wasted due to the need of further debugging when the trajectory tracking controller is arranged in the actual mobile device.

In some application scenarios, the second mobile device may be the same mobile device as the first mobile device in step S100. If a vehicle is equipped with a trajectory tracking controller, the present disclosure needs to test the trajectory tracking controller in the vehicle, i.e., the trajectory tracking controller in the vehicle is the trajectory tracking controller to be tested. The present disclosure may first ask the driver to drive the vehicle to follow a predetermined route (e.g., an S-shaped route or an 8-shaped route or an O-shaped route or a spiral route, etc.) when the vehicle is used as the first mobile device. The present disclosure may continuously collect and store raw data during the driving of the vehicle (as described in step S100). The present disclosure may process the collected and stored raw data by using the method described in step S110 during or after the vehicle is running, so as to generate a plurality of trace point information, where all the trace point information forms a test reference trace. Then, the vehicle is set at any position on the predetermined route (such as the starting point of the predetermined route) or near the predetermined route (such as the starting point of the predetermined route), so that the vehicle is in a running state under the control of the trajectory tracking controller to be tested, namely, the vehicle is in an automatic driving mode, and the vehicle is used as a second mobile device.

In some application scenarios, the second mobile device may also be a different mobile device than the first mobile device in step S100. If a vehicle is equipped with a trajectory tracking controller, the present disclosure needs to test the trajectory tracking controller in the vehicle, i.e., the trajectory tracking controller in the vehicle is the trajectory tracking controller to be tested. The present disclosure may first ask the driver to drive another vehicle to travel along a predetermined route (e.g., an S-shaped route or an 8-shaped route or an O-shaped route or a spiral route, etc.), while the other vehicle is being used as the first mobile device. The other vehicle may or may not have a trajectory tracking controller installed therein. The present disclosure may continuously collect and store raw data during the travel of the other vehicle. The present disclosure may process the collected and stored raw data by using the method described in the above S110 during or after the other vehicle is driven, so as to generate a plurality of trace point information, where all the trace point information forms a test reference trace. Then, the vehicle equipped with the trajectory tracking controller to be tested is set at any position on the predetermined route (such as the starting point of the predetermined route) or near the predetermined route (such as the starting point of the predetermined route), so that the vehicle equipped with the trajectory tracking controller to be tested is in a running state controlled by the trajectory tracking controller to be tested, that is, the vehicle equipped with the trajectory tracking controller to be tested is in an automatic driving mode, and the vehicle equipped with the trajectory tracking controller to be tested is used as the second mobile device.

Optionally, in a case that the first mobile device and the second mobile device are two different mobile devices, the second mobile device in the present disclosure is also provided with a positioning apparatus, so as to receive a positioning signal (such as a satellite positioning signal, etc.) through the positioning apparatus, so that the present disclosure may obtain the positioning information of the second mobile device through the positioning signal received by the positioning apparatus. Likewise, the location information of the second mobile device includes, but is not limited to: a location time (e.g., a location timestamp) and location information of the second mobile device. The location information of the second mobile device includes, but is not limited to: coordinates of the second mobile device in a real world coordinate system, such as the UTM coordinate system. Optionally, the positioning device provided on the second mobile device may include but is not limited to: a positioning device based on an RTK carrier phase difference technology. The positioning means mounted on the second mobile device may be the same as the positioning means mounted on the first mobile device. The description will not be repeated here.

In an alternative example, the present disclosure may intercept a part of the trajectory (which may also be referred to as a section of trajectory) from the test reference trajectory according to the location of the second mobile device in real time, and the intercepted part of trajectory may be referred to as a sub-test reference trajectory. According to the method and the device, corresponding input information can be provided for the track tracking controller to be tested according to track point information contained in the sub-test reference track obtained in real time. Optionally, when the sub-test reference track is obtained each time, the present disclosure provides the to-be-tested track tracking controller with once input information according to the track point information in the sub-test reference track.

According to the method and the device, the sub-test reference track is intercepted according to the position of the second mobile equipment, and the sub-test reference track is utilized to provide input information for the track tracking controller to be tested, so that the track tracking controller to be tested is favorably ensured to provide proper input information, and the second mobile equipment controlled by the track tracking controller to be tested is favorably enabled to track the test reference track to run.

In an optional example, the implementation process of providing input information for the trajectory tracking controller to be tested according to the trajectory point information may include the following steps:

step 1, obtaining current position information of a second mobile device provided with a to-be-tested track tracking controller.

Alternatively, the present disclosure may obtain the current location information of the second mobile device provided with the trajectory tracking controller to be tested in real time according to a predetermined frequency (e.g., 100 hz, etc.), that is, the present disclosure obtains the current location information of the second mobile device once every certain time (e.g., 0.01 sec). For example, after the second mobile device is ready at the starting point of the test reference trajectory, the present disclosure may acquire the current location information of the second mobile device from the mobile station device provided in the second mobile device in real time according to a predetermined frequency.

Optionally, the current position information of the second mobile device obtained by the present disclosure may be position information of a centimeter level, and thus, the present disclosure may implement accurate positioning of the second mobile device, thereby facilitating improvement of accuracy of the intercepted sub-test reference trajectory, and further facilitating improvement of test accuracy of the trajectory tracking controller.

And 2, determining track points which are closest to the current position information in the test reference track according to the current position information and the track point information.

Optionally, the present disclosure may obtain position information (e.g., an X coordinate and a Y coordinate based on the UTM coordinate system) of all track points located in the test reference track that is not traveled by the second mobile device, calculate a distance between the current second mobile device and each track point according to the obtained position information and current position information of the second mobile device (e.g., an X coordinate and a Y coordinate based on the UTM coordinate system), and select a track point with a closest distance from the obtained position information and current position information of the second mobile device. The test reference track which is not driven is the test reference track which is positioned in front of the second mobile equipment and waits for the second mobile equipment to drive. In some application scenarios, the second mobile device may travel away from the test reference trajectory, and the deviated portion of the test reference trajectory generally does not belong to the test reference trajectory that has not traveled.

And 3, intercepting the sub-test reference track from the test reference track according to the track point with the closest distance.

Optionally, when the closest track point is determined, the sub-test reference track can be intercepted from the test reference track directly according to the closest track point. The method can also judge the track point with the shortest distance, and determine whether the track point with the shortest distance is taken as a basis according to the judgment result, and intercept the sub-test reference track from the test reference track. For example, it is determined whether the distance between the closest track point and the current position information satisfies a predetermined distance requirement (e.g., whether the distance is less than k meters, and k is a non-zero positive integer, such as k being 4, 4.5, or 5 meters). If the judgment result is that the preset distance requirement is met (for example, the distance is smaller than k meters), the sub-test reference track is intercepted from the test reference track according to the track point closest to the test reference track, for example, the track point closest to the test reference track is the 1 st track point, and j (j is a preset constant value, and if j is larger than 30 or 35 or 40) track points are intercepted. If the judgment result does not meet the requirement of the preset distance (if the judgment result is not less than k meters), the interception operation of the sub-test reference track can not be executed, and therefore input information cannot be provided for the track tracking controller to be tested.

According to the method and the device, whether the track point closest to the current position information meets the requirement of the preset distance is judged, so that the potential safety hazards and other phenomena caused by overlarge steering angle (such as severe steering of a steering wheel) under the condition that the second mobile device is far away from the track point closest to the current position information are avoided.

Optionally, for one trajectory tracking controller to be tested, in the case that the second mobile device continuously moves during the test, the sub-test reference trajectories intercepted from the test reference trajectory each time are usually different. For any two different trajectory tracking controllers to be tested, all the sub-test reference trajectories intercepted by one test procedure are generally different from all the sub-test reference trajectories intercepted by the other test procedure. Accordingly, a sub-test reference trajectory in the present disclosure may be referred to as a local test reference trajectory.

Correspondingly, for any two different trajectory tracking controllers to be tested, the test reference trajectory used in the test process of one trajectory tracking controller to be tested is generally the same as the test reference trajectory used in the other test process, and the test reference trajectory formed by the method faces the multiple trajectory tracking controllers to be tested, namely, the multiple trajectory tracking controllers to be tested all realize testing based on the test reference trajectory. Therefore, the test reference track formed by the present disclosure may be referred to as a global test reference track, and may be applicable to different track following controllers for testing.

And step 4, providing input information for the track tracking controller to be tested according to the track point information in the sub-test reference track.

Optionally, the sub-test reference trajectories in the present disclosure generally include a plurality of trajectory points. The method can select one track point from the sub-test reference track, and provide input information for the track tracking controller to be tested according to the track point information of the selected track point. For example, a track point is selected from the middle section or the middle-rear section of the sub-test reference track (for example, the 25 th or 30 th track point in the sub-test reference track is selected), and according to the track point information, input information is provided for the track tracking controller to be tested. The method and the device can also select a plurality of track points from the subtest reference track and calculate the track point information of the selected plurality of track points (such as calculation based on weight) so as to provide input information for the to-be-tested track tracking controller according to the calculation result. For example, a plurality of continuous track points are selected from the middle section or the middle and rear sections of the sub-test reference track, and the track point information of the plurality of track points is calculated according to the respective corresponding weights of the selected plurality of track points, so that input information is provided for the to-be-tested track tracking controller according to the calculation result. The weights corresponding to the track points may be different or the same (i.e., performing a mean calculation). Under the condition that the weight values corresponding to the track points are different, the weight values corresponding to the track points can be set according to the distance between the track points and the second mobile device. For example, the weight corresponding to a trace point that is close to the second mobile device is greater than the weight corresponding to a trace point that is far from the second mobile device.

Optionally, when providing input information for the trajectory tracking controller to be tested, the present disclosure needs to perform mapping processing from global-based information to local-based information to obtain local-based information required by the trajectory tracking controller to be tested. For example, first, the position information, the speed direction and the acceleration direction in the track point information in the global test reference track are respectively converted into the position information, the speed direction and the acceleration direction based on the second mobile device coordinate system; and then, the speed magnitude, the acceleration magnitude, and the converted position information, speed direction and acceleration direction are used as input information and are provided for a to-be-tested track tracking controller arranged in the second mobile device. In addition, the method can also map the information such as the yaw angle and the curvature of the track point from the information based on the global to the information based on the local, and provide the information such as the yaw angle and the curvature after the mapping processing as the input information to the track tracking controller to be tested arranged in the second mobile equipment.

Optionally, assuming that a rotation matrix between a coordinate system (e.g., UTM coordinate system) of the position information in the track point information in the global test reference track and the coordinate system based on the second mobile device is R, and a translation matrix is p, the present disclosure may convert the position information in the track point information in the global test reference track into the position information based on the coordinate system of the second mobile device by using the following formula (3):

in the above formula (3), P_vRepresenting track point position information based on a second mobile device coordinate system; p_wRepresenting position information in track point information in the global test reference track;

represents T_v ^wAn inverse matrix of

R represents a rotation matrix, and is a preset known value; p represents a translation matrix, which is a known value set in advance.

Alternatively, the present disclosure may convert the velocity direction in the track point information in the global test reference track into a velocity direction based on the second mobile device coordinate system using the following formula (4):

V_v＝R^TV_wformula (4)

In the above formula (4), V_vRepresenting a velocity direction based on a second mobile device coordinate system; v_wRepresenting the speed direction in the track point information in the global test reference track; r^TA transpose of the rotation matrix R is represented.

Optionally, the tracking controller to be tested may output a corresponding automatic driving control instruction by using the received velocity and acceleration of the trace point, and the converted position information, velocity direction, and acceleration direction as target information, in combination with information such as the current position information, current velocity, and current acceleration of the second mobile device, where the automatic driving control instruction may be provided to a corresponding component in the second mobile device through a CAN bus or the like.

Optionally, in the case that the second mobile device is a vehicle, the automatic driving control instruction in the present disclosure includes but is not limited to: at least one of a steering wheel angle control amount, an accelerator control amount, and a brake control amount. And corresponding components in the vehicle execute corresponding operations according to the received automatic running control instruction, so that the vehicle realizes automatic driving. In the case where the second mobile device is a robot arm, a robot, or the like, the automatic travel control instruction in the present disclosure includes, but is not limited to: at least one of a steering control amount and a behavior frequency control amount of the robot or the robot arm. The content specifically included in the automatic driving control command may be set according to actual requirements, which is not limited by the present disclosure.

And S130, acquiring the running information of the second mobile equipment running according to the automatic running control instruction.

In one optional example, the travel information in the present disclosure may include: at least one of an actual movement locus of the second mobile device, an actual speed magnitude and direction of the second mobile device, an actual acceleration magnitude and direction, an actual pose, a curvature of the actual movement locus of the second mobile device, and the like.

Optionally, the present disclosure may obtain, in real time, a positioning time, position information, and a pose (for example, an actual yaw angle of the second mobile device) of the second mobile device according to a positioning apparatus disposed on the second mobile device, so as to obtain an actual movement track of the second mobile device and an actual pose at different positions on the actual movement track. The speed time (namely the speed timestamp), the speed magnitude and the acceleration (comprising the acceleration magnitude and the acceleration direction) of the second mobile device can be read out from the second mobile device in real time. For example, the speed time, the speed magnitude and the acceleration of the second mobile device are read out in real time through the CAN bus of the second mobile device. The present disclosure may obtain a plurality of actual track point information of the second mobile device by using the method shown in step S110 described above. The plurality of actual trace point information forms an actual movement trace of the second mobile device. The distance between two adjacent actual track points may be the same as the distance between two adjacent track points in the test reference track. The specific process of obtaining the actual trace point information is not repeated here.

Optionally, the present disclosure may compare actual track point information in an actual moving track of the second mobile device with track point information in a test reference track, and obtain and output a difference formed by the comparison, where the difference may reflect performance of the track tracking controller. The present disclosure may display the contrasted differences in the form of visualization. Such as may be displayed visually on-line during travel of the second mobile device. For another example, the performance analysis report may be displayed or formed offline visually after the second mobile device is driven.

Optionally, in the driving process of the second mobile device, the present disclosure may display the global test reference trajectory, the current position of the second mobile device, and the historical actual movement trajectory of the second mobile device in real time, as shown in fig. 5, an 8-shaped route is the global test reference trajectory, and a rectangle represents the second mobile device. The position of the rectangle is the current position of the second mobile device. The second mobile apparatus starts to travel from the lower right of fig. 5, and a partial trajectory of the historical actual movement trajectory thereof does not completely coincide with the test reference trajectory. The sub-test reference trajectories currently obtained by the second mobile device are shown as white curve portions in fig. 5. With the movement of the second mobile device, the sub-test reference tracks which need to be moved by the second mobile device along the tracks can be intercepted from the 8-shaped route in real time to replace the currently displayed sub-test reference tracks. When the sub-test reference trajectory which requires the second mobile device to move along the trajectory is intercepted, the interception may be performed according to the current position of the second mobile device. As can be seen from the above description, the present disclosure can intuitively and clearly show the situation that the second mobile device moves along the trajectory.

In an alternative example, the visualization of the present disclosure contrasts one example of the resulting difference as shown in fig. 6. In the upper left diagram in fig. 6, there are two curves, one of which represents a test reference trajectory formed in the UTM coordinate system by the plurality of trajectory point position information, and the other of which represents an actual trajectory formed in the UTM coordinate system by actual trajectory point position information formed by the second mobile device moving along the test reference trajectory. Since the two tracks are completely coincident, only one curve is shown in the upper left diagram of fig. 6. The abscissa in the upper left graph represents the X-axis (in meters) of the UTM coordinate system, and the ordinate represents the Y-axis (in meters) of the UTM coordinate system. In the upper right diagram of fig. 6, there are two curves, one of which is formed by the respective velocity magnitudes of the plurality of trajectory points in the test reference trajectory, and the other of which is formed by the respective velocity magnitudes of the plurality of actual trajectory points in the actual trajectory of the second mobile device. The abscissa in the upper right graph represents the distance (in meters) from the starting track point and the ordinate represents the magnitude of the velocity (in meters per second). In the lower left diagram in fig. 6, there are two curves, one of which is formed by the velocity directions of a plurality of trace points in the test reference trajectory, and the other of which is formed by the respective velocity directions of a plurality of actual trace points in the actual trajectory of the second mobile device. The abscissa in the lower left diagram in fig. 6 represents the distance (in meters) from the start locus point, and the ordinate represents the velocity direction (e.g., θ described above). The lower right diagram in fig. 6 includes two curves, one of which is formed by curvatures corresponding to respective plural locus points in the test reference locus, and the other of which is formed by curvatures corresponding to respective plural actual locus points in the actual locus of the second mobile device; the abscissa in the lower right graph represents the distance (in meters) relative to the starting track point and the ordinate represents the curvature. The track tracking controller sends control instructions such as an accelerator, a brake, a steering wheel corner and the like to the second mobile equipment to control the second mobile equipment to run according to the test reference track, and in the running process, information such as speed, speed direction, curvature and the like and the difference between information such as speed, speed direction, curvature and the like included in corresponding track point information of the first mobile equipment according to the formation of the test reference track can be seen from the figure, the difference or the proximity degree between the control of the track tracking controller and the control of a driver of the first mobile equipment or the control of other controllers can be visually embodied, and then the performance of the track tracking controller can be visually displayed or tested and evaluated.

Alternatively, another example of a visually contrasting difference formed by the present disclosure is shown in fig. 7.

The abscissa of the upper, middle and lower graphs in fig. 7 is time (in seconds). The curve in the upper graph of fig. 7 shows the error in the yaw angle of the second mobile device over time, i.e. the difference between the yaw angle of a track point in the test reference trajectory and the yaw angle of the corresponding track point in the actual trajectory. The ordinate of the upper graph of fig. 7 is in meters. The curve in the graph in fig. 7 shows the error of the second mobile device over time in the velocity direction, i.e. the difference between the velocity direction of a track point in the test reference trajectory and the velocity direction of the corresponding track point in the actual trajectory. The ordinate of the graph in fig. 7 is angle (in degrees). The curve in the lower graph of fig. 7 shows the error in the velocity magnitude of the second mobile device over time, i.e. the difference between the velocity magnitude of a track point in the test reference trajectory and the velocity magnitude of the corresponding track point in the actual trajectory. The unit of the ordinate of the lower graph of fig. 7 is the speed (in meters/second). The track tracking controller sends control instructions such as an accelerator, a brake or a steering wheel corner to the second mobile equipment to control the second mobile equipment to run according to the test reference track, and in the running process, information such as a yaw angle, a speed magnitude, a speed direction and the like and the difference between the information such as the yaw angle, the speed magnitude, the speed direction and the like included in corresponding track point information of the first mobile equipment according to the test reference track are formed.

FIG. 8 is a schematic structural diagram of an embodiment of a testing apparatus of a trajectory tracking controller according to the present disclosure. The apparatus shown in fig. 8 comprises: a first obtaining module 800, a first generating module 810, a providing input module 820, and a second obtaining module 830. Optionally, the testing apparatus of the trajectory tracking controller may further include: at least one of the difference module 840, the display module 850, and the adjustment parameter module 860 is formed. Each module is described in detail below.

The first obtaining module 800 is configured to obtain a plurality of positioning information and a plurality of motion state information of the first mobile device when the first mobile device is in a driving state that is not controlled by the trajectory tracking controller to be tested. The first mobile device may be a vehicle, a robot or a robotic arm.

Optionally, the first obtaining module 800 may include: a first sub-module and a second sub-module. The first obtaining module 800 may further include at least one of a third sub-module and a fourth sub-module. The first submodule is used for acquiring a real-time dynamic carrier phase difference signal and a satellite positioning signal. The second submodule is used for determining the position information of the first mobile equipment according to the real-time dynamic carrier phase difference signal and the satellite positioning signal. Wherein the position information of the first mobile device has a higher position accuracy than the position accuracy of the satellite positioning signals. For example, the second sub-module may obtain the position information of the first mobile device according to the satellite positioning signal and the real-time dynamic carrier phase difference signal having the same positioning time. For another example, the second sub-module may obtain the location information of the first mobile device according to the satellite positioning signal and the real-time dynamic carrier phase difference signal, where the time interval is smaller than the predetermined time interval. The positioning information comprises: based on the X-axis coordinates and the Y-axis coordinates of the UTM coordinate system. The motion state information comprises: at least one of yaw angle, velocity, and acceleration. The third submodule is used for acquiring the speed and the acceleration of the first mobile equipment according to the data read from the CAN bus of the first mobile equipment. The fourth submodule is used for acquiring the yaw angle of the first mobile device according to data output by an inertia measurement unit arranged in the first mobile device. Track point information includes: and at least one of the track point position information, the speed size and the speed direction corresponding to the track point, the acceleration size and the acceleration direction corresponding to the track point, the track curvature corresponding to the track point and the yaw angle corresponding to the track point.

The operation specifically performed by the first obtaining module 800 and the operation specifically performed by each sub-module included in the first obtaining module 800 may refer to the related description of S100 in the above method embodiment, and will not be described in detail here.

The first generating module 810 is configured to generate a test reference track including information of a plurality of track points according to the positioning information and the motion state information.

Optionally, the first generating module 810 may include: a first sampling sub-module and a second sampling sub-module. The first generating module 810 may further include: at least one of a determine direction submodule and a determine curvature submodule. The first sampling submodule is used for sampling a plurality of positioning information according to the preset distance between adjacent track points to obtain the position information of the plurality of track points. The second sampling submodule is used for sampling the motion state information according to the positioning time corresponding to the position information of the track points respectively to obtain the motion state information corresponding to the track points respectively. The direction determining submodule is used for determining the speed direction and the acceleration direction corresponding to the track point according to the slope of a connecting line of the front track point and the rear track point of any track point. And the curvature determining submodule is used for determining the curvature of the track corresponding to one track point in the adjacent track points according to the variable quantity of the speed direction of the adjacent track points and the distance between the adjacent track points.

The operations specifically performed by the first generating module 810 and the operations specifically performed by the sub-modules included in the first generating module 810 may be referred to the related description of S110 in the above method embodiment, and are not described in detail here.

The input module 820 is provided for providing input information for the trajectory tracking controller to be tested according to at least part of the trace point information of the test reference trajectory, so that the trajectory tracking controller to be tested outputs a corresponding automatic driving control instruction to the second mobile device in control connection with the trajectory tracking controller to be tested. The second mobile device may be the same mobile device as the first mobile device, or may be two different mobile devices.

Optionally, providing the input module 820 may include: a fifth sub-module, a sixth sub-module, a seventh sub-module, and an eighth sub-module. The fifth submodule is used for obtaining the current position information of the second mobile device where the to-be-tested track tracking controller is located. And the sixth submodule is used for determining the track point which is closest to the current position information in the test reference track according to the current position information and the track point information. And the seventh sub-module is used for intercepting the sub-test reference track from the test reference track according to the track point with the closest distance. For example, in the case of determining the closest track point, the seventh sub-module may directly intercept the sub-test reference track from the test reference track based on the closest track point. The seventh sub-module can also judge the track point with the closest distance, and decide whether to intercept the sub-test reference track from the test reference track according to the judgment result. For example, the seventh sub-module determines whether the distance between the closest track point and the current position information satisfies a predetermined distance requirement. And if the judgment result is that the preset distance requirement is met, the seventh sub-module intercepts the sub-test reference track from the test reference track according to the track point closest to the seventh sub-module. If the judgment result does not meet the requirement of the preset distance, the seventh sub-module can not execute the intercepting operation of the sub-test reference track, so that the eighth sub-module does not provide input information for the track tracking controller to be tested. The eighth submodule is used for providing input information for the track tracking controller to be tested according to track point information in the sub-test reference track. For example, the eighth sub-module selects a track point from the sub-test reference track, and determines the input information of the track tracking controller to be tested according to the track point information of the selected track point. For another example, the eighth sub-module selects a plurality of track points from the sub-test reference track, performs comprehensive processing on track point information of the selected plurality of track points, and determines input information of the to-be-tested track tracking controller according to a comprehensive processing result. Optionally, the eighth sub-module may convert the position information, the velocity direction, and the acceleration direction in the trace point information into position information, velocity direction, and acceleration direction in the coordinate system of the mobile device, respectively. The eighth sub-module may further provide the velocity magnitude, the acceleration magnitude, and the converted position information, velocity direction, and acceleration direction to the trajectory tracking controller to be tested.

The operations specifically performed by the providing input module 820 and the operations specifically performed by the sub-modules included in the providing input module 820 may refer to the related description of S120 in the above method embodiment, and are not described in detail here.

The second obtaining module 830 is configured to obtain driving information of the second mobile device driving according to the automatic driving control instruction.

Optionally, the second obtaining module 830 may obtain a plurality of positioning information and a plurality of motion state information of the second mobile device in a driving process of the second mobile device according to the automatic driving control instruction, and then the second obtaining module 830 may generate an actual track including a plurality of actual track point information according to the plurality of positioning information and the motion state information of the second mobile device. The operation performed by the second obtaining module 830 may refer to the related description of S130 in the above method embodiment, and is not described in detail here.

The form difference module 840 is configured to obtain and/or output a difference between the actual trajectory and the test reference trajectory. For example, position errors, yaw angle errors, errors in speed magnitudes, and the like of the track points in the actual trajectory and the track points in the test reference trajectory are acquired and output.

The display module 850 is used for visually displaying the difference between the actual track and the test reference track. For example, the display module 850 may display the online visualization during the driving of the second mobile device. For another example, the display module 850 may display the offline visualization after the second mobile device is driven. Reference may be made in particular to the description of fig. 5 to 7 in the above-described method embodiments, which are not described in detail here.

The adjustment parameter module 860 is configured to adjust a parameter of the trajectory tracking controller according to a difference between the actual trajectory and the test reference trajectory. The parameter adjusting module 860 can adjust parameters of the trajectory tracking controller to be tested in a targeted manner, thereby being beneficial to improving the performance of the trajectory tracking controller.

Exemplary device

Fig. 9 illustrates an exemplary device 900 suitable for implementing the present disclosure, the device 900 may be a control system/electronic system configured in an automobile, a mobile terminal (e.g., a smart mobile phone, etc.), a personal computer (PC, e.g., a desktop or laptop computer, etc.), a tablet computer, a server, and so forth. In fig. 9, the device 900 includes one or more processors, communication sections, and the like, and the one or more processors may be: one or more Central Processing Units (CPU)901, and/or one or more acceleration units (e.g., GPU, image processor) 913 and the like, which may perform various appropriate actions and processes according to executable instructions stored in a Read Only Memory (ROM)902 or loaded from a storage portion 908 into a Random Access Memory (RAM) 903. The communication portion 912 may include, but is not limited to, a network card, which may include, but is not limited to, an ib (infiniband) network card. The processor may communicate with the read only memory 902 and/or the random access memory 903 to execute executable instructions, communicate with the communication portion 912 through the bus 904, and communicate with other target devices through the communication portion 912 to accomplish the corresponding steps in the present disclosure.

The operations performed by the above instructions can be referred to the related description in the above method embodiments, and are not described in detail here. In addition, in the RAM903, various programs and data necessary for the operation of the device can be stored. The CPU901, ROM902, and RAM903 are connected to each other via a bus 904.

The ROM902 is an optional module in case of the RAM 903. The RAM903 stores or writes executable instructions into the ROM902 at run-time, which cause the central processing unit 901 to execute the steps included in the above-described object segmentation method. An input/output (I/O) interface 905 is also connected to bus 904. The communication unit 912 may be provided integrally with the bus, or may be provided with a plurality of sub-modules (e.g., a plurality of IB network cards) and connected to the bus.

The following components are connected to the I/O interface 905: an input portion 906 including a keyboard, a mouse, and the like; an output section 907 including components such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker; a storage portion 908 including a hard disk and the like; and a communication section 909 including a network interface card such as a LAN card, a modem, or the like. The communication section 909 performs communication processing via a network such as the internet. The drive 910 is also connected to the I/O interface 905 as necessary. A removable medium 911 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 910 as necessary, so that a computer program read out therefrom is mounted in the storage section 908 as necessary.

It should be particularly noted that the architecture shown in fig. 9 is only an optional implementation manner, and in a specific practical process, the number and types of the components in fig. 9 may be selected, deleted, added or replaced according to actual needs; in different functional component settings, implementation manners such as a separate setting or an integrated setting may also be adopted, for example, the acceleration unit 913 and the CPU901 may be separately provided, and as a matter of course, the acceleration unit 913 may be integrated with the CPU901, the communication portion may be separately provided, or the acceleration unit 913 and the CPU901 may be integrally provided, and the like. These alternative embodiments are all within the scope of the present disclosure.

In particular, according to embodiments of the present disclosure, the processes described below with reference to the flowcharts may be implemented as a computer software program, for example, embodiments of the present disclosure include a computer program product comprising a computer program tangibly embodied on a machine-readable medium, the computer program comprising program code for performing the steps illustrated in the flowcharts, the program code may include instructions corresponding to performing the steps in the methods provided by the present disclosure.

In such an embodiment, the computer program may be downloaded and installed from a network via the communication section 909, and/or installed from the removable medium 911. When the computer program is executed by a Central Processing Unit (CPU)901, instructions described in the present disclosure to realize the respective steps described above are executed.

In one or more optional embodiments, the present disclosure further provides a computer program product for storing computer readable instructions, which when executed, cause a computer to perform the method for testing a trajectory tracking controller described in any of the above embodiments.

The computer program product may be embodied in hardware, software or a combination thereof. In one alternative, the computer program product is embodied in a computer storage medium, and in another alternative, the computer program product is embodied in a Software product, such as a Software Development Kit (SDK), or the like.

In one or more alternative embodiments, the disclosed embodiments further provide another visual tracking method and training method of a neural network, and corresponding apparatus and electronic device, computer storage medium, computer program, and computer program product, wherein the method includes: the first device sends a test instruction of the trajectory tracking controller to the second device, wherein the instruction causes the second device to execute the test method of the trajectory tracking controller in any one of the possible embodiments; and the first device receives the test result of the trajectory tracking controller sent by the second device.

In some embodiments, the test instruction of the trace tracking controller may be embodied as a call instruction, and the first device may instruct the second device to perform the test operation of the trace tracking controller by calling, and accordingly, in response to receiving the call instruction, the second device may perform the steps and/or processes in any embodiment of the test method of the trace tracking controller.

It is to be understood that the terms "first," "second," and the like in the embodiments of the present disclosure are used for distinguishing and not limiting the embodiments of the present disclosure. It is also understood that in the present disclosure, "plurality" may refer to two or more and "at least one" may refer to one, two or more. It is also to be understood that any reference to any component, data, or structure in this disclosure is generally to be construed as one or more, unless explicitly stated otherwise or indicated to the contrary hereinafter. It should also be understood that the description of the various embodiments of the present disclosure emphasizes the differences between the various embodiments, and the same or similar parts may be referred to each other, so that the descriptions thereof are omitted for brevity.

The methods and apparatus, electronic devices, and computer-readable storage media of the present disclosure may be implemented in a number of ways. For example, the methods and apparatus, the electronic devices, and the computer-readable storage media of the present disclosure may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. The above-described order for the steps of the method is for illustration only, and the steps of the method of the present disclosure are not limited to the order specifically described above unless specifically stated otherwise. Further, in some embodiments, the present disclosure may also be embodied as a program recorded in a recording medium, the program including machine-readable instructions for implementing a method according to the present disclosure. Thus, the present disclosure also covers a recording medium storing a program for executing the method according to the present disclosure.

The description of the present disclosure has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the disclosure in the form disclosed. Many modifications and variations will be apparent to practitioners skilled in this art. The embodiment was chosen and described in order to best explain the principles of the disclosure and the practical application, and to enable others of ordinary skill in the art to understand the disclosure for various embodiments with various modifications as are suited to the particular use contemplated.

Claims

1. A testing method of a trajectory tracking controller is characterized by comprising the following steps:

the method comprises the steps that when a first mobile device is in a running state which is not controlled by a track tracking controller to be tested, a plurality of positioning information and a plurality of motion state information of the first mobile device are obtained;

determining a plurality of track point information according to the positioning information and the motion state information, and forming a test reference track comprising the plurality of track point information;

providing input information for a to-be-tested track tracking controller according to at least part of track point information of the test reference track, and enabling the to-be-tested track tracking controller to output a corresponding automatic driving control instruction to second mobile equipment in control connection with the to-be-tested track tracking controller;

and acquiring the running information of the second mobile equipment running according to the automatic running control instruction.

2. The method of claim 1, wherein the first mobile device and the second mobile device comprise at least one of: vehicles, robots, and robotic arms; and/or the presence of a gas in the gas,

the first mobile device and the second mobile device may be the same or different.

3. The method according to claim 1 or 2, wherein the obtaining of the plurality of positioning information and the plurality of motion state information of the first mobile device in the driving state of the first mobile device not controlled by the trajectory tracking controller to be tested comprises:

acquiring a real-time dynamic carrier phase differential signal and a satellite positioning signal;

determining the position information of the first mobile equipment according to the real-time dynamic carrier phase difference signal and the satellite positioning signal;

wherein the positioning accuracy of the position information of the first mobile device is higher than the position positioning accuracy of the satellite positioning signal.

4. The method of claim 3, wherein determining the position information of the first mobile device from the real-time dynamic carrier phase difference signal and the satellite positioning signal comprises:

determining the position information of the first mobile equipment according to the satellite positioning signals with the same positioning time and the real-time dynamic carrier phase difference signals; or

And determining the position information of the first mobile equipment according to the satellite positioning signals and the real-time dynamic carrier phase difference signals, wherein the time interval is smaller than the preset time interval.

5. The method according to any of claims 1 to 4, wherein the positioning information comprises: x-axis coordinates and Y-axis coordinates of the UTM coordinate system are projected based on the universal transverse-axis mercator.

6. The method according to any one of claims 1 to 5, wherein the motion state information comprises: at least one of yaw angle, velocity, and acceleration.

7. A testing apparatus for a trajectory tracking controller, comprising:

the system comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring a plurality of positioning information and a plurality of motion state information of a first mobile device when the first mobile device is in a running state which is not controlled by a track tracking controller to be tested;

the first generation module is used for determining a plurality of track point information according to the positioning information and the motion state information and forming a test reference track comprising the plurality of track point information;

providing an input module for providing input information for the track tracking controller to be tested according to at least part of track point information of the test reference track, so that the track tracking controller to be tested outputs a corresponding automatic driving control instruction to a second mobile device in control connection with the track tracking controller to be tested;

and the second acquisition module is used for acquiring the driving information of the second mobile equipment driving according to the automatic driving control instruction.

8. An electronic device, comprising:

a memory for storing a computer program;

a processor for executing a computer program stored in the memory, and which, when executed, implements the method of any of the preceding claims 1-6.

9. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method of any one of the preceding claims 1 to 6.

10. A computer program comprising computer instructions for implementing the method of any of claims 1-6 when said computer instructions are run in a processor of a device.