CN112071066A - Automatic driving vehicle testing method, judging method and device - Google Patents
Automatic driving vehicle testing method, judging method and device Download PDFInfo
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- CN112071066A CN112071066A CN202010977225.8A CN202010977225A CN112071066A CN 112071066 A CN112071066 A CN 112071066A CN 202010977225 A CN202010977225 A CN 202010977225A CN 112071066 A CN112071066 A CN 112071066A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
- G08G1/0129—Traffic data processing for creating historical data or processing based on historical data
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
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Abstract
The invention discloses an automatic driving vehicle testing method, which comprises the following steps: selecting a plurality of positioning points on a running route of an automatic driving vehicle, and determining the key time when the automatic driving vehicle passes through the positioning points, wherein a plurality of key links are positioned near a traffic intersection; reading a log file corresponding to the traffic signal lamp according to the plurality of key moments, and determining the running states of the signal lamp corresponding to the plurality of key moments; and judging whether the automatic driving vehicle violates the traffic light rule or not according to the running states of the traffic lights corresponding to the plurality of key moments. The invention also provides a method for judging the compliance of the traffic signal lamp of the automatic driving vehicle and a testing device of the automatic driving vehicle. The invention can test and judge the compliance of the automatic driving vehicle to the traffic lights and can better deal with the condition that the traffic intersection is not provided with the video capturing equipment.
Description
Technical Field
The invention relates to the technical field of automatic driving vehicles. More particularly, the present invention relates to a method and apparatus for testing an autonomous vehicle.
Background
With the continuous development of automobile technology, the automatic driving vehicle is closer to people in open road driving. In the first principle of safety, the behavior of an autonomous vehicle is constantly supervised, and in particular in the autonomous driving state, the supervision of the compliance of traffic lights is of central importance. In view of the fact that current automatic driving vehicles are all temporary license plates (paper license plates), shooting and extracting information through a camera in a current traffic system has certain difficulty, and current illegal shooting and extracting of traffic signal lamps are not covered completely. Therefore, it is necessary to develop a low-cost and reliable method for determining the compliance of traffic signal lamps.
Disclosure of Invention
An object of the present invention is to provide a method, a device and a program for testing and determining an automatic driving vehicle, which can test and determine the compliance of the automatic driving vehicle with traffic lights, and can better cope with the situation that no video capturing device is installed at a traffic intersection.
To achieve these objects and other advantages in accordance with the purpose of the invention, according to one aspect of the invention, there is provided an autonomous vehicle testing method including:
selecting a plurality of positioning points on a running route of an automatic driving vehicle, and determining the key time when the automatic driving vehicle passes through the positioning points, wherein a plurality of key links are positioned near a traffic intersection;
reading a log file corresponding to the traffic signal lamp according to the plurality of key moments, and determining the running states of the signal lamp corresponding to the plurality of key moments;
and judging whether the automatic driving vehicle violates the traffic light rule or not according to the running states of the traffic lights corresponding to the plurality of key moments.
Further, the method for testing an autonomous vehicle further comprises:
establishing a road network topological graph, wherein the road network topological graph comprises a lane line, a stop line, position information of the lane line and position information of the stop line;
and acquiring the position information of the automatic driving vehicle in the driving process, and determining the driving route in the road network topological graph according to the matching degree.
Furthermore, the method for testing the automatic driving vehicle presets a plurality of key links on a route from one traffic intersection to an adjacent traffic intersection, and selects a plurality of positioning points from the key links.
Further, the automatic driving vehicle testing method determines the driving route according to the positioning point passed by the automatic driving vehicle.
Further, in the automatic driving vehicle testing method, the log file stores the signal lamp running state and the corresponding time point information.
Further, according to the automatic driving vehicle testing method, a positioning device is arranged in the automatic driving vehicle, and the automatic driving vehicle determines the outline position information of the automatic driving vehicle according to the position information acquired by the positioning device and the outline of the automatic driving vehicle;
and determining the driving route of the automatic driving vehicle in the road network topological graph according to the outline position information.
Further, the automatic driving vehicle testing method determines the position relation between the automatic driving vehicle and the lane line and the stop line according to the outline position information.
Further, the automatic driving vehicle testing method includes that the traffic intersections at least include crossroads, T-shaped intersections and special-shaped intersections, and the driving routes at least include left-turning routes, right-turning routes and straight-going routes.
According to another aspect of the present invention, there is provided an automated driving vehicle traffic light compliance determination method, including:
selecting a plurality of positioning points on a running route of an automatic driving vehicle, and determining the key time when the automatic driving vehicle passes through the positioning points, wherein a plurality of key links are positioned near a traffic intersection;
reading a log file corresponding to the traffic signal lamp according to the plurality of key moments, and determining the running states of the signal lamp corresponding to the plurality of key moments;
and judging whether the automatic driving vehicle violates the traffic light rule or not according to the running states of the traffic lights corresponding to the plurality of key moments.
According to yet another aspect of the present invention, there is provided an autonomous vehicle testing apparatus comprising:
a processor;
a memory storing executable instructions;
wherein the processor is configured to execute the executable instructions to perform the autonomous vehicle testing method.
The invention at least comprises the following beneficial effects:
the testing method is timely and reliable, has the advantages of clear method and low cost, can be well suitable for traffic intersections without video capture equipment, is also suitable for judging the states of traffic signal lamps of automatically driven vehicles, and fills the blank of the prior art.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
FIG. 1 is a distribution diagram of traffic signal lights and traffic intersections in accordance with an embodiment of the present invention;
fig. 2 is a schematic diagram of a key link and a positioning point in an embodiment of the present invention.
Detailed Description
The present invention is further described in detail below with reference to the attached drawings so that those skilled in the art can implement the invention by referring to the description text.
It will be understood that terms such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.
As shown in fig. 1-2, embodiments of the present application provide an autonomous vehicle testing method, comprising: selecting a plurality of positioning points (see black dots in fig. 2) on a running route of an autonomous vehicle 1, and determining a key moment when the autonomous vehicle passes through the plurality of positioning points, wherein a plurality of key links are located near a traffic intersection 3; reading a log file corresponding to the traffic signal lamp 2 according to the plurality of key moments, and determining the running states of the signal lamps corresponding to the plurality of key moments; and judging whether the automatic driving vehicle violates the traffic light rule or not according to the running states of the traffic lights corresponding to the plurality of key moments.
In the above embodiments, the driving route is any route that can be indicated by the traffic signal lamp, such as left turn, straight line, turning around, and the like. The key links are distributed on the driving route and can reflect the relative positions of the automatic driving vehicle and the traffic intersection. The key time when the automatic driving vehicle passes through the key link is recorded, and the key time is obtained by obtaining corresponding position information according to a positioning device of the automatic driving vehicle and obtaining the key time according to the position information or other prior arts. And reading the log file of the traffic signal lamp, and acquiring the signal lamp running state of the traffic signal lamp at the key moment, namely the indicating state of the traffic signal lamp. The running state of the signal lamp corresponds to the key moment, so that whether the automatic driving vehicle violates the traffic signal lamp rule or not can be judged, and whether the automatic driving vehicle can better obey the traffic rule or not can be judged. It can be seen that the testing method of the embodiment is timely and reliable, has the advantages of clear method and low cost, and can be well suitable for traffic intersections without video capture equipment.
In other embodiments, further comprising: establishing a road network topological graph, wherein the road network topological graph comprises a lane line, a stop line, position information of the lane line and position information of the stop line; and acquiring the position information of the automatic driving vehicle in the driving process, and determining the driving route in the road network topological graph according to the matching degree. The road network topological graph can be established in a remote computer or a local computer, the road network topological graph needs to clearly reflect the lane lines, the stop lines and the corresponding position information, the position information is obtained in real time by utilizing a positioning device of an automatic driving vehicle, then the fine driving route to the lane can be obtained by combining the road network topological graph, and the comparison with the log file of a traffic signal lamp is convenient and better.
In other embodiments, a plurality of key links, see the segments 1-8 in fig. 2, are preset on the route from one traffic intersection to the adjacent traffic intersection, and preferably, the stop line of one traffic intersection extends to the stop line of the adjacent traffic intersection, so as to facilitate the selection of a plurality of positioning points in the plurality of key links.
In other embodiments, determining the travel route based on the location points traversed by the autonomous vehicle may allow for faster acquisition of the travel route.
In other embodiments, the log file stores the signal lamp operating state and the corresponding time point information, and the traffic signal lamp needs to have a storage function and a communication function to store and transmit the log file.
In other embodiments, a positioning device is arranged in the autonomous vehicle, and the autonomous vehicle determines the outline position information of the autonomous vehicle according to the position information acquired by the positioning device and the outline of the autonomous vehicle; and determining the driving route of the automatic driving vehicle in the road network topological graph according to the outline position information, and determining the driving route according to the outline position, so that the accuracy is higher.
In other embodiments, the position relationship between the automatic driving vehicle and the lane line and the stop line is determined according to the outline position information so as to accurately reflect the line crossing condition of the automatic driving vehicle and accurately determine the key link.
In other embodiments, the traffic intersections include at least crossroads, T-junctions, and special-shaped intersections, and the driving routes include at least a left-turn route, a right-turn route, and a straight-going route, and the traffic intersections and the driving routes can meet the common requirements.
The embodiment of the application also provides a method for judging the compliance condition of the traffic signal lamp of the automatic driving vehicle, which comprises the following steps: selecting a plurality of positioning points on a running route of an automatic driving vehicle, and determining the key time when the automatic driving vehicle passes through the positioning points, wherein a plurality of key links are positioned near a traffic intersection; reading a log file corresponding to the traffic signal lamp according to the plurality of key moments, and determining the running states of the signal lamp corresponding to the plurality of key moments; and judging whether the automatic driving vehicle violates the traffic light rule or not according to the running states of the traffic lights corresponding to the plurality of key moments. The embodiment provides the method for judging the compliance of the automatic driving vehicle to the traffic signal lamp, and can reflect the compliance in time after judging that the automatic driving vehicle does not comply with the traffic signal lamp by referring to the description of the test method part.
Embodiments of the present application further provide an autonomous driving vehicle testing device, including: a processor; a memory storing executable instructions; wherein the processor is configured to execute the executable instructions to perform the autonomous vehicle testing method. The present embodiment is based on the same inventive concept as the automated driving vehicle test method, and reference may be made to the description of the test method section. The device of the technical scheme is not limited to a pc, a terminal and a server, and for example, the device can be arranged in the server and automatically executed at intervals of set time.
The number of apparatuses and the scale of the process described herein are intended to simplify the description of the present invention. Applications, modifications and variations of the present invention for the automatic driving vehicle testing method, the judging method and the apparatus will be apparent to those skilled in the art.
While embodiments of the invention have been described above, it is not limited to the applications set forth in the description and the embodiments, which are fully applicable in various fields of endeavor to which the invention pertains, and further modifications may readily be made by those skilled in the art, it being understood that the invention is not limited to the details shown and described herein without departing from the general concept defined by the appended claims and their equivalents.
Claims (10)
1. An autonomous vehicle testing method, comprising:
selecting a plurality of positioning points on a running route of an automatic driving vehicle, and determining the key time when the automatic driving vehicle passes through the positioning points, wherein a plurality of key links are positioned near a traffic intersection;
reading a log file corresponding to the traffic signal lamp according to the plurality of key moments, and determining the running states of the signal lamp corresponding to the plurality of key moments;
and judging whether the automatic driving vehicle violates the traffic light rule or not according to the running states of the traffic lights corresponding to the plurality of key moments.
2. The autonomous-capable vehicle testing method of claim 1, further comprising:
establishing a road network topological graph, wherein the road network topological graph comprises a lane line, a stop line, position information of the lane line and position information of the stop line;
and acquiring the position information of the automatic driving vehicle in the driving process, and determining the driving route in the road network topological graph according to the matching degree.
3. The automated guided vehicle testing method of claim 2, wherein a plurality of key links are preset on a route from one traffic intersection to an adjacent traffic intersection, and a plurality of the anchor points are selected among the plurality of key links.
4. The autonomous-capable vehicle testing method of claim 3, wherein the travel route is determined based on a location point through which the autonomous vehicle passes.
5. The automated driving vehicle testing method of claim 1, wherein the log file stores signal lamp operating states and corresponding time point information.
6. The automated guided vehicle testing method of claim 2, wherein a positioning device is provided in the automated guided vehicle, and the automated guided vehicle determines the contour position information of the automated guided vehicle according to the position information acquired by the positioning device and the contour of the automated guided vehicle;
and determining the driving route of the automatic driving vehicle in the road network topological graph according to the outline position information.
7. The automated guided vehicle testing method of claim 6, wherein the positional relationship of the automated guided vehicle to a lane line and a stop line is determined based on the contour position information.
8. The autonomous-capable vehicle testing method of claim 3, wherein the traffic intersections include at least intersections, T-junctions, and intersections, and the driving routes include at least a left-turn route, a right-turn route, and a straight-going route.
9. The method for judging the compliance of the traffic light of the automatic driving vehicle is characterized by comprising the following steps:
selecting a plurality of positioning points on a running route of an automatic driving vehicle, and determining the key time when the automatic driving vehicle passes through the positioning points, wherein a plurality of key links are positioned near a traffic intersection;
reading a log file corresponding to the traffic signal lamp according to the plurality of key moments, and determining the running states of the signal lamp corresponding to the plurality of key moments;
and judging whether the automatic driving vehicle violates the traffic light rule or not according to the running states of the traffic lights corresponding to the plurality of key moments.
10. An autonomous vehicle testing device, comprising:
a processor;
a memory storing executable instructions;
wherein the processor is configured to execute the executable instructions to perform the autonomous vehicle testing method of any of claims 1-9.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010977225.8A CN112071066A (en) | 2020-09-17 | 2020-09-17 | Automatic driving vehicle testing method, judging method and device |
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Cited By (3)
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| CN112863212A (en) * | 2020-12-31 | 2021-05-28 | 北京赛目科技有限公司 | Road intersection processing method and device for simulation test |
| CN112925311A (en) * | 2021-01-22 | 2021-06-08 | 北京智能车联产业创新中心有限公司 | Parking accuracy detection device and method |
| CN116647968A (en) * | 2023-05-17 | 2023-08-25 | 襄阳达安汽车检测中心有限公司 | Signal lamp control method and system for automatic driving test |
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