CN112557058A - Automatic driving test system - Google Patents
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- CN112557058A CN112557058A CN202011454467.5A CN202011454467A CN112557058A CN 112557058 A CN112557058 A CN 112557058A CN 202011454467 A CN202011454467 A CN 202011454467A CN 112557058 A CN112557058 A CN 112557058A
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- 238000013500 data storage Methods 0.000 claims description 11
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
Abstract
The embodiment of the invention discloses an automatic driving test system which comprises a vehicle-mounted test device, wherein the vehicle-mounted test device comprises a body, a vehicle-mounted host, a pose information acquisition module, a driving data acquisition module and a data sending module, wherein the vehicle-mounted host, the pose information acquisition module, the driving data acquisition module and the data sending module are arranged in the body; the data sending module is used for sending virtual perception information to the vehicle to be tested; the driving data acquisition module is used for acquiring driving data generated by a vehicle to be tested in the process of executing automatic driving operation; the vehicle-mounted host is used for generating virtual perception information according to the real pose information and evaluating automatic driving according to the driving data. The vehicle-mounted testing device in the embodiment of the invention adopts a modular design, hardware of each module is convenient to maintain and replace, the modules can be quickly moved and deployed, the number of models and modules to be carried in the vehicle-mounted host is correspondingly reduced, and the construction cost of the vehicle-mounted host is reduced.
Description
Technical Field
The embodiment of the invention relates to the technical field of automatic driving, in particular to an automatic driving test system.
Background
Autodrive digital twin testing is an emerging autodrive vehicle testing technology. The method comprises the steps that models of an environment, a road, traffic participants and a test vehicle are established in a virtual simulation system, target information detected by a virtual sensor in the simulation environment is sent to the test vehicle carrying an automatic driving algorithm for information fusion and decision control, and when the test vehicle runs in a test field, motion state information of the test vehicle is collected and fed back to a virtual scene, so that closed-loop real-time simulation test of the whole digital twin system is realized.
The existing method usually needs to carry a plurality of models and modules in the vehicle-mounted host to realize automatic driving test, which undoubtedly increases the construction cost of the vehicle-mounted host and is not easy for later maintenance.
Disclosure of Invention
The embodiment of the invention provides an automatic driving test system, which aims to solve the problems that the construction cost of a vehicle-mounted host is high and the later maintenance is not easy to realize due to the fact that a plurality of models and modules are carried in the vehicle-mounted host to realize the automatic driving test.
The embodiment of the invention provides an automatic driving test system, which comprises a vehicle-mounted test device, wherein the vehicle-mounted test device comprises a body, and a vehicle-mounted host, a pose information acquisition module, a driving data acquisition module and a data sending module which are arranged in the body, the vehicle-mounted host comprises a vehicle-mounted pose mapping module and a vehicle-mounted data analysis module, the vehicle-mounted host is respectively connected with the pose information acquisition module, the driving data acquisition module and the data sending module, the pose information acquisition module, the driving data acquisition module and the data sending module are respectively connected with a vehicle to be tested,
the pose information acquisition module is used for acquiring the actual pose information of the vehicle to be tested and sending the actual pose information to the vehicle-mounted host;
the vehicle-mounted host is used for receiving the real pose information, so that the vehicle-mounted pose mapping module maps the real pose information into a preset virtual scene to obtain virtual pose information, and virtual perception information is generated according to the virtual pose information;
the vehicle-mounted host is further used for sending the virtual perception information to the data sending module, so that the data sending module sends the virtual perception information to the vehicle to be tested, and the vehicle to be tested executes automatic driving operation according to the virtual perception information;
the driving data acquisition module is used for acquiring driving data generated by the vehicle to be tested in the process of executing automatic driving operation and sending the driving data to the vehicle-mounted host; wherein the travel data includes at least one of an acceleration, a braking force, and a steering angle;
the vehicle-mounted host is further used for receiving the running data, so that the vehicle-mounted data analysis module evaluates the automatic driving operation of the vehicle to be tested according to the running data to obtain the automatic driving score of the vehicle to be tested.
The vehicle-mounted testing device in the embodiment of the invention realizes the evaluation of the automatic driving operation of the vehicle to be tested to obtain the effect of automatic driving scoring, and because the vehicle-mounted testing device adopts a modular design, the maintenance and replacement of hardware of each module are convenient, the modules can be quickly moved and deployed, the number of the models and the modules which need to be carried in the vehicle-mounted host computer is correspondingly reduced, and the construction cost of the vehicle-mounted host computer is reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1A is a schematic structural diagram of an automatic driving test system according to a first embodiment of the present invention;
FIG. 1B is a schematic diagram of another automatic driving test system according to one embodiment of the present invention;
fig. 2A is a schematic structural diagram of an automatic driving test system according to a second embodiment of the present invention;
fig. 2B is a schematic structural diagram of another automatic driving test system according to a second embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1A is a schematic structural diagram of an automatic driving test system in an embodiment of the present invention, and the embodiment is applicable to a case of evaluating an automatic driving function of a vehicle to be tested. As shown in fig. 1A, the automatic driving test system specifically includes:
the vehicle-mounted testing device 100 comprises a body 101, and a vehicle-mounted host 102, a pose information acquisition module 103, a driving data acquisition module 104 and a data transmission module 105 which are arranged in the body 101, wherein the vehicle-mounted host comprises a vehicle-mounted pose mapping module 106 and a vehicle-mounted data analysis module 107, the vehicle-mounted host 102 is respectively connected with the pose information acquisition module 103, the driving data acquisition module 104 and the data transmission module 105, the pose information acquisition module 103, the driving data acquisition module 104 and the data transmission module 105 are respectively connected with a vehicle to be tested 108, and the pose information acquisition module 103, the driving data acquisition module 104 and the data transmission module 105 are respectively connected with the vehicle to be tested,
the pose information acquisition module 103 is configured to acquire actual pose information of a vehicle to be tested, and send the actual pose information to the on-vehicle host 102.
In one embodiment, the pose information collection module 103 collects real pose information generated by the vehicle 108 to be tested during running in a real environment in real time, and optionally, the pose information includes at least one of a longitude position, a latitude position, vehicle orientation information and vehicle speed, for example, "east longitude 23 ° 27' 30" is a specific value of pose information; for another example, "30 ° north latitude" is a specific value of pose information; for another example, "the vehicle is oriented in the southeast direction" is a specific value of the pose information; and for example, "vehicle speed 30 km/h" is a specific value of pose information. After the pose information acquisition module 103 acquires the actual pose information, the actual pose information is sent to the connected vehicle-mounted host 102.
Optionally, the pose information acquisition module 103 includes an inertial navigator, a differential positioning sub-module, and an ultra-wideband positioning sub-module; correspondingly, if the pose information acquisition module 103 determines that the vehicle 108 to be tested is in an indoor environment, the inertial navigator and the differential positioning sub-module are called to start, and the actual pose information of the vehicle 108 to be tested is acquired in a combined positioning manner; if the pose information acquisition module 103 determines that the vehicle 108 to be tested is in an outdoor environment, the inertial navigator and the ultra-wideband positioning sub-module are called to start working, and the actual pose information of the vehicle 108 to be tested is acquired in a combined positioning mode.
The vehicle-mounted host 102 is configured to receive the real pose information, so that the vehicle-mounted pose mapping module 106 maps the real pose information to a preset virtual scene to obtain virtual pose information, and generates virtual perception information according to the virtual pose information.
In one embodiment, a virtual scene is established in advance in the vehicle-mounted pose mapping module 106 in the vehicle-mounted host 102, and the virtual scene is used for simulating a driving environment of a vehicle so as to avoid a safety accident situation caused by an automatic driving test in a real driving environment, and the virtual scene comprises an environment, a road, a traffic participant, a virtual vehicle model of a vehicle to be tested, a virtual sensor configured in the virtual vehicle model, and the like. After receiving the real pose information sent by the pose information acquisition module 103, the vehicle-mounted host 102 calls the vehicle-mounted pose mapping module 106 carried inside, so that the vehicle-mounted pose mapping module 106 inputs the real pose information into a virtual vehicle model in a virtual scene to map the real pose information into the virtual scene, so as to obtain virtual pose information corresponding to the virtual vehicle model, and further generate virtual perception information according to the virtual pose information and virtual road information detected by a virtual sensor.
The on-board host 102 is further configured to send the virtual perception information to the data sending module 105, so that the data sending module 105 sends the virtual perception information to the vehicle 108 to be tested, and the vehicle 108 to be tested executes an automatic driving operation according to the virtual perception information.
In one embodiment, the vehicle 108 under test is equipped with an advanced driver assistance system and/or an autonomous driving system. The vehicle-mounted host 102 sends the virtual perception information generated by the vehicle-mounted pose mapping module 106 to the data sending module 105, after receiving the virtual perception information, the data sending module 105 sends the virtual perception information to the vehicle 108 to be tested through a preset data sending interface, and the vehicle 108 to be tested performs decision control according to the virtual perception information and executes automatic driving operation, such as keeping a driving state, accelerating, decelerating or steering.
Optionally, the data sending module 105 may send data by using a CAN (Controller Area Network) protocol.
The driving data acquisition module 104 is configured to acquire driving data generated by the vehicle 108 to be tested during the automatic driving operation, and send the driving data to the on-board host 102; wherein the travel data includes at least one of an acceleration, a braking force, and a steering angle.
In one embodiment, the vehicle 108 to be tested performs an automatic driving operation according to the virtual perception information, and various types of sensors are disposed in the vehicle 108 to be tested to detect the driving data of the vehicle 108 to be tested. The driving data acquisition module 104 acquires driving data, such as acceleration, braking force, steering angle and the like, from the CAN bus of the vehicle 108 to be tested in real time through a preset data interface. And transmits the acquired driving data to the on-vehicle host 102.
The vehicle-mounted host 102 is further configured to receive the driving data, so that the vehicle-mounted data analysis module 107 evaluates the automatic driving operation of the vehicle 108 to be tested according to the driving data, and obtains an automatic driving score of the vehicle 108 to be tested.
In one embodiment, the on-board host 102 receives the driving data sent by the driving data acquisition module 104, and invokes an on-board data analysis module 107 installed inside, so that the on-board data analysis module 107 uses the driving data as an input parameter of a preset automatic driving evaluation algorithm to calculate an automatic driving score of the vehicle 108 to be tested, wherein a higher score indicates that the automatic driving performance of the vehicle 108 to be tested is better, and correspondingly, a lower score indicates that the automatic driving performance of the vehicle 108 to be tested is worse.
According to the embodiment of the invention, the position and pose information acquisition module 103 in the vehicle-mounted testing device 100 is used for acquiring the real position and pose information of a vehicle to be tested, the data transmission module 105 is used for transmitting the virtual perception information to the vehicle to be tested, the driving data acquisition module 104 is used for acquiring the driving data generated by the vehicle to be tested in the process of executing automatic driving operation, the vehicle-mounted host 102 is used for generating the virtual perception information according to the real position and evaluating the automatic driving according to the driving data, so that the automatic driving operation of the vehicle to be tested is evaluated, and the automatic driving scoring effect is obtained.
On the basis of the above embodiment, the on-board host 102 further includes an on-board data storage module 109, configured to store the real pose information, the virtual perception information, the driving data, and the automatic driving score.
The on-board data storage module 109 may be any device with a storage function, such as a storage hard disk or a storage magnetic disk.
By storing the real pose information, the virtual perception information, the driving data and the automatic driving score, the data storage effect is achieved, and the data tracing of relevant personnel is facilitated.
On the basis of the above embodiment, the vehicle-mounted testing device 100 further includes a vehicle-mounted display 110 disposed outside the body 101, and the vehicle-mounted display 110 is connected to the vehicle-mounted host 102; wherein the content of the first and second substances,
the driving data acquisition module 104 is further configured to acquire real video data captured by the vehicle to be tested 108 during the automatic driving operation, and send the real video data to the on-board host 102.
In one embodiment, the vehicle under test 108 captures real-time video data ahead of the vehicle in real-time by onboard video capture equipment during the automated driving maneuver. The driving data acquisition module 104 acquires real video data from the vehicle 108 to be tested through a preset video acquisition interface, and sends the real video data to the on-board host 102.
The vehicle-mounted host 102 is further configured to receive the real video data, acquire virtual scene data corresponding to shooting time of the real video data from the vehicle-mounted pose mapping module 106, and send the real video data, the virtual scene data, and the automatic driving score to the vehicle-mounted display 110.
In one embodiment, the vehicle-mounted host 102 receives the real video data sent by the driving data collection module 104, parses the real video data to obtain the shooting time of the real video data, and then invokes the virtual scene in the vehicle-mounted pose mapping module 106 to obtain the virtual scene data corresponding to the shooting time, for example, if the shooting time is 10: 05 minutes, then obtains the virtual scene data corresponding to 10: 05 minutes in the virtual scene. The in-vehicle host 102 transmits the real video data, the virtual scene data, and the automatic driving assessment to the in-vehicle display 110.
The vehicle-mounted display 110 is configured to receive the real video data, the virtual scene data, and the automatic driving score, render the real video data, the virtual scene data, and the automatic driving score, and display the rendered real video data, virtual scene data, and automatic driving score.
In one embodiment, the in-vehicle display 110 is connected to the in-vehicle host 102 through an HDMI (High Definition Multimedia Interface) line to receive real video data, virtual scene data, and an automatic driving score transmitted by the in-vehicle host 102, and render the real video data, the virtual scene data, and the automatic driving score through a preset rendering plug-in, so that the in-vehicle display 110 can display the rendered real video data, virtual scene data, and the automatic driving score. Relevant testers can watch the real video data and the corresponding virtual scene data through the vehicle-mounted display 110 so as to subjectively evaluate the automatic driving operation of the vehicle 108 to be tested, and can also watch the automatic driving score through the vehicle-mounted display 110 so as to know the objective evaluation of the automatic driving operation of the vehicle 108 to be tested by the vehicle-mounted testing device 100.
Fig. 1B is a schematic structural diagram of another automatic driving test system in the first embodiment of the present invention, and as shown in fig. 1B, the automatic driving test system specifically includes:
the vehicle-mounted testing device 100 comprises a body 101, a vehicle-mounted host 102, a pose information acquisition module 103, a driving data acquisition module 104, a data sending module 105 and a vehicle-mounted display 110, wherein the vehicle-mounted host 102, the pose information acquisition module 103, the driving data acquisition module 104, the data sending module 105 and the vehicle-mounted display 110 are arranged inside the body 101, the vehicle-mounted host comprises a vehicle-mounted pose mapping module 106, a vehicle-mounted data analysis module 107 and a vehicle-mounted data storage module 109, the vehicle-mounted host 102 is respectively connected with the pose information acquisition module 103, the driving data acquisition module 104, the data sending module 105 and the vehicle-mounted display 110, and the pose information acquisition module 103, the driving data acquisition module 104 and the data sending module 105 are respectively connected with a vehicle. The functions of the above modules are described in the first embodiment, and are not described in detail herein.
In the research and development process of the applicant, the existing automatic driving test method can only obtain the test result by means of the calculation power of the vehicle-mounted host, but the efficiency of the automatic driving test is low due to the fact that the calculation power of the vehicle-mounted host is limited.
Example two
Fig. 2A is a schematic structural diagram of an automatic driving test system in a second embodiment of the present invention, which is applicable to a case of performing an automatic driving test by relying on computing power of a remote server. As shown in fig. 2A, the automatic driving test system specifically includes:
on the basis of the first embodiment, optionally, the vehicle-mounted testing device 100 further includes a remote server 111, the remote server 111 includes a remote pose mapping module 112 and a remote data analysis module 113, the remote testing device 100 further includes a remote communication module 114 disposed in the body 101, and the remote communication module 114 is connected to the vehicle-mounted host 102 and is in communication connection with the remote server 111; wherein the content of the first and second substances,
the remote communication module 114 is configured to acquire the real pose information from the on-board host 102 and send the real pose information to the remote server 111.
In one embodiment, the remote communication module 114 obtains the real pose information of the vehicle 108 to be tested from the on-board host 102 and transmits the real pose information to the remote server 111 through 5G communication technology.
The remote server 111 is configured to receive the real pose information, so that the remote pose mapping module 112 maps the real pose information to a preset virtual scene to obtain virtual pose information, and generates virtual perception information according to the virtual pose information.
In one embodiment, a virtual scene is established in advance in the remote pose mapping module 112 in the remote server 111, and the virtual scene is used for simulating a driving environment of a vehicle to avoid a safety accident situation when an automatic driving test is performed in a real driving environment, and the virtual scene comprises an environment, a road, a traffic participant, a virtual vehicle model of a vehicle to be tested, a virtual sensor configured in the virtual vehicle model, and the like. After receiving the real pose information, the remote server 111 invokes an internally-carried remote pose mapping module 112, so that the remote pose mapping module 112 inputs the real pose information into a virtual vehicle model in a virtual scene to map the real pose information into the virtual scene, so as to obtain virtual pose information corresponding to the virtual vehicle model, and further generate virtual perception information according to the virtual pose information and virtual road information detected by a virtual sensor.
The remote server 111 is further configured to send the virtual awareness information to the remote communication module 114, so that the remote communication module 114 sends the virtual awareness information to the on-board host 102, so that the data sending module 105 receives the virtual awareness information sent by the on-board host 102 and sends the virtual awareness information to the vehicle 108 to be tested.
In one embodiment, the remote server 111 transmits the virtual perception information to the remote communication module 114 through a 5G communication technology, the remote communication module 114 transmits the received virtual perception information to the on-board host 102, the on-board host 102 transmits the virtual perception information to the data transmission module 105 after receiving the virtual perception information, the data transmission module 105 transmits the virtual perception information to the vehicle 108 to be tested, the vehicle 108 to be tested performs decision control according to the virtual perception information, and performs automatic driving operations, such as keeping a driving state, accelerating, decelerating, or turning.
The remote communication module 114 is further configured to obtain the driving data from the on-board host 102 and send the driving data to the remote server 111.
In one embodiment, the remote communication module 114 obtains driving data generated by the vehicle 108 under test during execution of the autonomous driving operation from the on-board host 102 and transmits the driving data to the remote server 111.
The remote server 111 is further configured to receive the driving data, so that the remote data analysis module 113 evaluates the automatic driving operation of the vehicle 108 to be tested according to the driving data, and obtains an automatic driving score of the vehicle 108 to be tested.
In one embodiment, the remote server 111 receives the driving data sent by the communication module 114, and invokes the remote data analysis module 113 installed inside, so that the remote data analysis module 113 calculates the automatic driving score of the vehicle 108 to be tested by using the driving data as an input parameter of a preset automatic driving evaluation algorithm, where a higher score indicates that the automatic driving performance of the vehicle 108 to be tested is better, and correspondingly, a lower score indicates that the automatic driving performance of the vehicle 108 to be tested is worse.
The remote server 111 is also configured to send the autopilot score to the remote communication module 114 such that the remote communication module 114 sends the autopilot score to the on-board host 102.
In one embodiment, the remote server 111 sends the calculated autopilot score to the remote communication module 114, and the remote communication module 114 sends the autopilot score to the on-board host 102 for subsequent correlation processing by the on-board host 102.
In the embodiment of the invention, the remote communication module 114 sends the real pose information of the vehicle 108 to be tested to the remote server 111, so that the remote pose mapping module 112 generates the virtual perception information according to the real pose information, and the remote communication module 114 sends the driving data generated in the process of executing the automatic driving operation of the vehicle 108 to be tested to the remote server 111, so that the remote data analysis module 113 evaluates the automatic driving operation of the vehicle 108 to be tested according to the driving data to obtain the automatic driving score of the vehicle 108 to be tested, and the effect of carrying out the automatic driving test on the vehicle 108 to be tested by means of the calculation force of the remote server 111 is realized, and the calculation force of the remote server 111 is far greater than that of the vehicle-mounted host 102, so that the efficiency of the automatic driving test is greatly improved.
On the basis of the above embodiment, the remote communication module 114 is further configured to obtain the real video data from the in-vehicle host 102 and send the real video data to the remote server 111.
In one embodiment, the remote communication module 114 obtains real video data captured by the vehicle 108 to be tested from the on-board host 102 and sends the real video data to the remote server 111.
The remote server 111 is further configured to receive the real video data, acquire virtual scene data corresponding to the shooting time of the real video data from the remote pose mapping module 112, and further send the virtual scene data to the remote communication module 114.
In one embodiment, the remote server 111 receives the real video data sent by the remote communication module 114, parses the shooting time of the real video data, and further invokes the virtual scene in the remote pose mapping module 112 to obtain the virtual scene data corresponding to the shooting time. The virtual scene data is finally transmitted to the remote communication module 114.
The remote communication module 114 is further configured to send the virtual scene data to the vehicle host 102, so that the vehicle display 110 receives the real video data, the virtual scene data, and the automatic driving score sent by the vehicle host 102, and renders and displays the real video data, the virtual scene data, and the automatic driving score.
In one embodiment, the remote communication module 114 receives the virtual scene data and transmits the virtual scene data to the in-vehicle host 102, the in-vehicle host 102 transmits the real video data, the virtual scene data and the automatic driving score to the in-vehicle display 110, and the in-vehicle display 110 renders the real video data, the virtual scene data and the automatic driving score through a preset rendering plug-in, so that the in-vehicle display 110 can display the rendered real video data, the rendered virtual scene data and the automatic driving score.
On the basis of the above embodiment, the remote server 111 further includes a remote data storage module 115, configured to store the real pose information, the virtual perception information, the driving data, and the automatic driving score.
The remote data storage module 115 may be any device with a storage function, such as a storage hard disk or a storage magnetic disk.
By storing the real pose information, the virtual perception information, the driving data and the automatic driving score, the data storage effect is achieved, and the data tracing of relevant personnel is facilitated.
On the basis of the above embodiment, a remote display 116 is further included, the remote display 116 is connected to the remote server 111, wherein,
the remote server 111 is also configured to send the real video data, the virtual scene data, and the autopilot score to the remote display 116.
The remote display 116 is configured to receive the real video data, the virtual scene data, and the autopilot score, and render and display the real video data, the virtual scene data, and the autopilot score.
In one embodiment, the remote display 116 is connected to the remote server 111 through an HDMI line to receive the real video data, the virtual scene data, and the automatic driving score transmitted by the remote server 111, and render the real video data, the virtual scene data, and the automatic driving score through a preset rendering plug-in, so that the remote display 116 can display the rendered real video data, the virtual scene data, and the automatic driving score. Relevant testers can view the real video data and the corresponding virtual scene data through the remote display 116, so that subjective evaluation is performed on the automatic driving operation of the vehicle 108 to be tested, and can also view the automatic driving score through the remote display 116, so that objective evaluation of the remote server 111 on the automatic driving operation of the vehicle 108 to be tested is known.
On the basis of the above embodiment, the vehicle-mounted testing device 100 further includes a battery 117 disposed inside the body 101, and configured to provide electric energy for the vehicle-mounted host 102, the pose information acquisition module 103, the driving data acquisition module 104, the data transmission module 105, the remote communication module 114, and the vehicle-mounted display 110.
Fig. 2B is a schematic structural diagram of another automatic driving test system in the second embodiment of the present invention, and as shown in fig. 2B, the automatic driving test system specifically includes:
the vehicle-mounted testing device 100 comprises a body 101, a vehicle-mounted host 102, a pose information acquisition module 103, a driving data acquisition module 104, a data transmission module 105, a remote communication module 114 and a battery 117 which are arranged inside the body 101, and further comprises a vehicle-mounted display 110 arranged outside the body 101, wherein the vehicle-mounted host comprises a vehicle-mounted pose mapping module 106, a vehicle-mounted data analysis module 107 and a vehicle-mounted data storage module 109, the vehicle-mounted host 102 is respectively connected with the pose information acquisition module 103, the driving data acquisition module 104, the data transmission module 105, the vehicle-mounted display 110 and the remote communication module 114, and the pose information acquisition module 103, the driving data acquisition module 104 and the data transmission module 105 are respectively connected with a vehicle 108 to be tested.
And a remote server 111 including a remote pose mapping module 112 and a remote data analysis module 113. A remote data storage module 115 and a remote display 116. Wherein the remote display 116 is connected to the remote server 111.
The functions of the modules are described in the first embodiment and/or the second embodiment, and are not described again here.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. An automatic driving test system is characterized by comprising a vehicle-mounted test device, wherein the vehicle-mounted test device comprises a body, and a vehicle-mounted host, a pose information acquisition module, a driving data acquisition module and a data transmission module which are arranged in the body, the vehicle-mounted host comprises a vehicle-mounted pose mapping module and a vehicle-mounted data analysis module, the vehicle-mounted host is respectively connected with the pose information acquisition module, the driving data acquisition module and the data transmission module, the pose information acquisition module, the driving data acquisition module and the data transmission module are respectively connected with a vehicle to be tested, wherein,
the pose information acquisition module is used for acquiring the actual pose information of the vehicle to be tested and sending the actual pose information to the vehicle-mounted host;
the vehicle-mounted host is used for receiving the real pose information, so that the vehicle-mounted pose mapping module maps the real pose information into a preset virtual scene to obtain virtual pose information, and virtual perception information is generated according to the virtual pose information;
the vehicle-mounted host is further used for sending the virtual perception information to the data sending module, so that the data sending module sends the virtual perception information to the vehicle to be tested, and the vehicle to be tested executes automatic driving operation according to the virtual perception information;
the driving data acquisition module is used for acquiring driving data generated by the vehicle to be tested in the process of executing automatic driving operation and sending the driving data to the vehicle-mounted host; wherein the travel data includes at least one of an acceleration, a braking force, and a steering angle;
the vehicle-mounted host is further used for receiving the running data, so that the vehicle-mounted data analysis module evaluates the automatic driving operation of the vehicle to be tested according to the running data to obtain the automatic driving score of the vehicle to be tested.
2. The autopilot testing system of claim 1 wherein the real pose information includes at least one of a longitude location, a latitude location, vehicle heading information, and vehicle speed.
3. The autopilot testing system of claim 1 wherein the pose information acquisition module comprises an inertial navigator, a differential positioning sub-module, and an ultra-wideband positioning sub-module;
correspondingly, if the vehicle to be tested is in an outdoor environment, the pose information acquisition module calls the inertial navigator and the differential positioning sub-module to acquire the actual pose information of the vehicle to be tested;
if the vehicle to be tested is in an indoor environment, the pose information acquisition module calls the inertial navigator and the ultra-wideband positioning sub-module to acquire the actual pose information of the vehicle to be tested.
4. The autopilot testing system of claim 1 wherein the on-board host further includes an on-board data storage module for storing the real pose information, the virtual perception information, the travel data, and the autopilot score.
5. The autopilot testing system of claim 1 wherein the onboard testing device further includes an onboard display disposed outside the body, the onboard display being connected to the onboard host; wherein the content of the first and second substances,
the driving data acquisition module is also used for acquiring real video data shot by the vehicle to be tested in the process of executing automatic driving operation and sending the real video data to the vehicle-mounted host;
the vehicle-mounted host is further used for receiving the real video data, acquiring virtual scene data corresponding to the shooting time of the real video data from the vehicle-mounted pose mapping module, and further sending the real video data, the virtual scene data and the automatic driving score to the vehicle-mounted display;
the vehicle-mounted display is used for receiving the real video data, the virtual scene data and the automatic driving score, rendering the real video data, the virtual scene data and the automatic driving score and displaying the rendered real video data, the virtual scene data and the automatic driving score.
6. The autopilot testing system of claim 5 further comprising a remote server, the remote server including a remote pose mapping module and a remote data analysis module, the onboard testing device further including a remote communication module disposed within the body, the remote communication module coupled to the onboard host and communicatively coupled to the remote server; wherein the content of the first and second substances,
the remote communication module is used for acquiring the real pose information from the vehicle-mounted host computer and sending the real pose information to the remote server;
the remote server is used for receiving the real pose information, so that the remote pose mapping module maps the real pose information to a preset virtual scene to obtain virtual pose information, and virtual perception information is generated according to the virtual pose information;
the remote server is further used for sending the virtual perception information to the remote communication module, so that the remote communication module sends the virtual perception information to the vehicle-mounted host computer, the data sending module receives the virtual perception information sent by the vehicle-mounted host computer, and the data sending module sends the virtual perception information to the vehicle to be tested;
the remote communication module is also used for acquiring the driving data from the vehicle-mounted host computer and sending the driving data to the remote server;
the remote server is further used for receiving the driving data, so that the remote data analysis module evaluates the automatic driving operation of the vehicle to be tested according to the driving data to obtain an automatic driving score of the vehicle to be tested;
the remote server is further configured to send the autopilot score to the remote communication module, so that the remote communication module sends the autopilot score to the on-board host.
7. The autopilot system of claim 6 wherein the remote communication module is further configured to obtain the real video data from the on-board host and send the real video data to the remote server;
the remote server is further used for receiving the real video data, acquiring virtual scene data corresponding to the real video data shooting time from the remote pose mapping module, and further sending the virtual scene data to the remote communication module;
the remote communication module is further used for sending the virtual scene data to the vehicle-mounted host computer, so that the vehicle-mounted display can receive the real video data, the virtual scene data and the automatic driving score sent by the vehicle-mounted host computer and can display the real video data, the virtual scene data and the automatic driving score after rendering.
8. The autopilot testing system of claim 6 wherein the remote server further includes a remote data storage module for storing the real pose information, the virtual perception information, the travel data, and the autopilot score.
9. The autopilot testing system of claim 7 further comprising a remote display, the remote display coupled to the remote server, wherein,
the remote server is further configured to send the real video data, the virtual scene data, and the autopilot score to the remote display;
the remote display is used for receiving the real video data, the virtual scene data and the automatic driving score, rendering the real video data, the virtual scene data and the automatic driving score and displaying the rendered real video data, the virtual scene data and the automatic driving score.
10. The automatic driving test system of any one of claims 6-9, wherein the vehicle-mounted test device further comprises a battery disposed inside the body for providing power to the vehicle-mounted host, the pose information acquisition module, the driving data acquisition module, the data transmission module, the remote communication module, and the vehicle-mounted display.
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