CN112557058B - Automatic driving test system - Google Patents
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- CN112557058B CN112557058B CN202011454467.5A CN202011454467A CN112557058B CN 112557058 B CN112557058 B CN 112557058B CN 202011454467 A CN202011454467 A CN 202011454467A CN 112557058 B CN112557058 B CN 112557058B
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- 230000008447 perception Effects 0.000 claims abstract description 39
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- 238000004891 communication Methods 0.000 claims description 43
- 238000013507 mapping Methods 0.000 claims description 27
- 238000007405 data analysis Methods 0.000 claims description 19
- 238000013500 data storage Methods 0.000 claims description 11
- 238000011156 evaluation Methods 0.000 claims description 6
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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
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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, 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, wherein the pose information acquisition module is used for acquiring the actual pose information of a vehicle to be tested; the data transmission module is used for transmitting virtual perception information to the vehicle to be tested; the driving data acquisition module is used for acquiring driving data generated in the process of executing automatic driving operation of the vehicle to be tested; 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 modularized design, is convenient for hardware maintenance and replacement of each module, can be quickly migrated and deployed, correspondingly reduces the number of models and modules to be carried in the vehicle-mounted host, and reduces the construction cost of the vehicle-mounted host.
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
The autopilot digital twin test is an emerging autopilot vehicle testing technique. And establishing an environment, a road, a traffic participant and a model of a test vehicle in the virtual simulation system, transmitting target information detected by the virtual sensor in the simulation environment to the test vehicle carrying an automatic driving algorithm for information fusion and decision control, and collecting and feeding back motion state information of the test vehicle to the virtual scene while the test vehicle runs in a test site to realize closed-loop real-time simulation test of the whole digital twin system.
The existing method generally needs to carry a plurality of models and modules in the vehicle-mounted host machine to realize automatic driving test, which clearly increases the construction cost of the vehicle-mounted host machine 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 because a plurality of models and modules are carried in the vehicle-mounted host to realize 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 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,
the pose information acquisition module is used for acquiring the real pose information of the vehicle to be tested and transmitting the real 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 in the process of executing automatic driving operation of the vehicle to be tested and transmitting the driving data to the vehicle-mounted host; wherein the travel data includes at least one of acceleration, braking force, and steering angle;
the vehicle-mounted host is further used for receiving the driving data, so that the vehicle-mounted data analysis module evaluates the automatic driving operation of the vehicle to be tested according to the driving 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 and obtains the effect of automatic driving scoring, and because the vehicle-mounted testing device adopts a modularized design, the hardware of each module is convenient to maintain and replace, the vehicle-mounted testing device can be quickly migrated 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.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1A is a schematic diagram of an autopilot test system in accordance with a first embodiment of the present invention;
FIG. 1B is a schematic diagram of another autopilot test system in accordance with one embodiment of the present invention;
FIG. 2A is a schematic diagram of an autopilot test system in accordance with a second embodiment of the present invention;
fig. 2B is a schematic structural diagram of another automatic driving test system according to the second embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
Example 1
Fig. 1A is a schematic structural diagram of an autopilot test system according to a first embodiment of the present invention, which is applicable to evaluating autopilot functions of a vehicle under test. As shown in fig. 1A, the autopilot test system specifically includes:
the vehicle-mounted testing device 100, 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 108 to be tested,
the pose information acquisition module 103 is configured to acquire real pose information of a vehicle to be tested, and send the real pose information to the vehicle-mounted host 102.
In one embodiment, the pose information acquisition module 103 may acquire real pose information generated during the running of the vehicle 108 to be tested in real environment in real time, where the pose information includes at least one of longitude position, latitude position, vehicle orientation information, and vehicle speed, for example, "east longitude 23 ° 27'30" is a specific value of the pose information; for example, "30 ° north latitude" is a specific value of pose information; for example, "the vehicle is oriented in the southeast direction" is a specific value of pose information; for another example, "vehicle speed 30km/h" is a specific value of pose information. After the pose information acquisition module 103 acquires the real pose information, the real 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 working, and the real pose information of the vehicle 108 to be tested is acquired in a combined positioning mode; 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 real 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 into a preset virtual scene to obtain virtual pose information, and generate virtual perception information according to the virtual pose information.
In one embodiment, a virtual scene is previously established in the vehicle pose mapping module 106 in the vehicle-mounted host 102, where the virtual scene is used to simulate the running environment of the vehicle, so as to avoid the situation that an automatic driving test occurs in the real running environment and the safety accident occurs, and the virtual scene includes an environment, a road, a traffic participant, a virtual vehicle model of the vehicle to be tested, a virtual sensor configured by 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 invokes the vehicle-mounted pose mapping module 106, 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, virtual pose information corresponding to the virtual vehicle model is obtained, and virtual perception information is generated according to the virtual pose information and virtual road information detected by the virtual sensor.
The vehicle-mounted 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 performs an automatic driving operation according to the virtual perception information.
In one embodiment, the vehicle 108 to be tested is equipped with an advanced auxiliary driving system and/or an automatic 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, the data sending module 105 sends the virtual perception information to the vehicle 108 to be tested through a preset data sending interface after receiving the virtual perception information, the vehicle 108 to be tested performs decision control according to the virtual perception information, and performs automatic driving operation, such as maintaining a driving state, accelerating, decelerating or steering, and the like.
Alternatively, the data transmission module 105 may use a CAN (Controller Area Network, controller area network bus) protocol for data transmission.
The driving data acquisition module 104 is configured to acquire driving data generated by the vehicle 108 to be tested in the process of executing an autopilot operation, and send the driving data to the vehicle-mounted host 102; wherein the travel data includes at least one of acceleration, braking force, and steering angle.
In one embodiment, the vehicle under test 108 performs an automatic driving operation according to the virtual perception information, and a plurality of types of sensors are disposed within the vehicle under test 108 to detect driving data of the vehicle under test 108. 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 collected driving data to the vehicle-mounted 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 autopilot operation of the vehicle 108 to be tested according to the driving data, and obtains an autopilot score of the vehicle 108 to be tested.
In one embodiment, the on-vehicle host 102 receives the driving data sent by the driving data acquisition module 104, and invokes the on-vehicle data analysis module 107 carried therein, so that the on-vehicle data analysis module 107 uses the driving data as an input parameter of a preset autopilot evaluation algorithm to calculate and obtain an autopilot score of the vehicle 108 to be tested, where a higher score indicates that the autopilot performance of the vehicle 108 to be tested is better, and a lower score indicates that the autopilot performance of the vehicle 108 to be tested is worse.
According to the embodiment of the invention, the pose information acquisition module 103 in the vehicle-mounted testing device 100 is used for acquiring the real pose information of the 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 the automatic driving operation, the vehicle-mounted host 102 is used for generating the virtual perception information according to the real pose information and evaluating the automatic driving according to the driving data, the automatic driving operation of the vehicle to be tested is evaluated, the automatic driving scoring effect is achieved, and because the vehicle-mounted testing device adopts a modularized design, the hardware maintenance and replacement of each module are convenient, the vehicle-mounted host can be quickly migrated 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.
On the basis of the above embodiment, the on-vehicle host 102 further includes an on-vehicle data storage module 109 for storing the real pose information, the virtual perception information, the driving data, and the autopilot score.
The in-vehicle data storage module 109 may be any device having 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 realized, and the follow-up data tracing of related 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, where the vehicle-mounted display 110 is connected to the vehicle-mounted host 102; wherein,
the driving data collection module 104 is further configured to collect real video data captured by the vehicle 108 to be tested during the automatic driving operation, and send the real video data to the vehicle-mounted host 102.
In one embodiment, the vehicle 108 to be tested captures real-time video data in front of the vehicle through an onboard video capture device during execution of an autopilot operation. 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 vehicle-mounted host 102.
The vehicle-mounted host 102 is further configured to receive the real video data, obtain virtual scene data corresponding to the capturing time of the real video data from the vehicle-mounted pose mapping module 106, and further send the real video data, the virtual scene data, and the autopilot score to the vehicle-mounted display 110.
In one embodiment, the on-vehicle host 102 receives the real video data sent by the driving data acquisition module 104, analyzes the shooting time of the real video data, and further invokes the virtual scene in the on-vehicle pose mapping module 106 to obtain virtual scene data corresponding to the shooting time, for example, the shooting time is 10:05 minutes, and then obtains 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 autopilot score 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 autopilot score, and render the real video data, the virtual scene data, and the autopilot score for display.
In one embodiment, the in-vehicle display 110 is connected to the in-vehicle host 102 through an HDMI (High Definition Multimedia Interface, high-definition multimedia interface) line to receive real video data, virtual scene data, and autopilot score transmitted by the in-vehicle host 102, and render the real video data, virtual scene data, and autopilot 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 autopilot score. The relevant tester can view 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 view the automatic driving score through the vehicle-mounted display 110, so as to understand 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 autopilot test system in accordance with a first embodiment of the present invention, as shown in fig. 1B, the autopilot 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 and a data transmission module 105 which are arranged in the body 101, and a vehicle-mounted display 110 which is 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 and the vehicle-mounted display 110, 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. The function of each module is described in the first embodiment, and will not be described in detail here.
The applicant finds that the existing automatic driving test method can only obtain a test result by means of the calculation force of the vehicle-mounted host computer in the research and development process, but the efficiency of the automatic driving test is lower due to the limited calculation force of the vehicle-mounted host computer.
Example two
Fig. 2A is a schematic structural diagram of an autopilot test system according to a second embodiment of the present invention, and the present embodiment is applicable to an autopilot test by means of calculation from a remote server. As shown in fig. 2A, the autopilot test system specifically includes:
on the basis of the first embodiment, optionally, the vehicle-mounted testing device further comprises a remote server 111, wherein the remote server 111 comprises a remote pose mapping module 112 and a remote data analysis module 113, and the vehicle-mounted testing device 100 further comprises a remote communication module 114 arranged in the body 101, and the remote communication module 114 is connected with the vehicle-mounted host 102 and is in communication connection with the remote server 111; wherein,
the remote communication module 114 is configured to obtain the real pose information from the on-vehicle 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 under test from the on-board host 102 and sends the real pose information to the remote server 111 via a 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 generate virtual perception information according to the virtual pose information.
In one embodiment, a virtual scene is previously established in the remote pose mapping module 112 in the remote server 111, where the virtual scene is used to simulate the running environment of the vehicle, so as to avoid the situation that the automatic driving test is performed in the real running environment to generate a safety accident, and the virtual scene includes an environment, a road, a traffic participant, a virtual vehicle model of the vehicle to be tested, a virtual sensor configured by the virtual vehicle model, and the like. After receiving the real pose information, the remote server 111 invokes the remote pose mapping module 112 carried inside, so that the remote pose mapping module 112 inputs the real pose information into the virtual vehicle model in the virtual scene to map the real pose information into the virtual scene, 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 the virtual sensor.
The remote server 111 is further configured to send the virtual perception information to the remote communication module 114, so that the remote communication module 114 sends the virtual perception information to the on-board host 102, and the data sending module 105 receives the virtual perception information sent by the on-board host 102 and sends the virtual perception information to the vehicle 108 to be tested.
In one embodiment, the remote server 111 sends the virtual sensing information to the remote communication module 114 through the 5G communication technology, the remote communication module 114 sends the received virtual sensing information to the on-vehicle host 102, the on-vehicle host 102 sends the virtual sensing information to the data sending module 105 after receiving the virtual sensing information, the data sending module 105 sends the virtual sensing information to the vehicle 108 to be tested, the vehicle 108 to be tested performs decision control according to the virtual sensing information, and performs automatic driving operations, such as maintaining a driving state, accelerating, decelerating or steering, and the like.
The remote communication module 114 is further configured to obtain the driving data from the on-vehicle host 102, and send the driving data to the remote server 111.
In one embodiment, the remote communication module 114 obtains travel data generated by the vehicle under test 108 during the execution of the autopilot operation from the on-board host 102 and transmits the travel 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 autopilot operation of the vehicle to be tested 108 according to the driving data, and obtains an autopilot score of the vehicle to be tested 108.
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 carried in the remote data analysis module 113, so that the remote data analysis module 113 uses the driving data as an input parameter of a preset autopilot evaluation algorithm to calculate and obtain an autopilot score of the vehicle 108 to be tested, where a higher score indicates that the autopilot performance of the vehicle 108 to be tested is better, and a lower score indicates that the autopilot performance of the vehicle 108 to be tested is worse.
The remote server 111 is further configured to send the automated driving score to the remote communication module 114, such that the remote communication module 114 sends the automated driving score to the in-vehicle 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 onboard host 102 for subsequent correlation by the onboard host 102.
According to the embodiment of the invention, the remote communication module 114 is used for sending 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 virtual perception information according to the real pose information, and the remote communication module 114 is used for sending the driving data generated by the vehicle 108 to be tested in the process of executing the automatic driving operation to the remote server 111, so that the remote data analysis module 113 is used for evaluating the automatic driving operation of the vehicle 108 to be tested according to the driving data, the automatic driving score of the vehicle 108 to be tested is obtained, the effect of automatically driving 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 under test 108 from the on-board host 102 and transmits the real video data to the remote server 111.
The remote server 111 is further configured to receive the real video data, and obtain virtual scene data corresponding to the capturing time of the real video data from the remote pose mapping module 112, and then 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 real video data to obtain a capturing time of the real video data, and further invokes the virtual scene in the remote pose mapping module 112 to obtain virtual scene data corresponding to the capturing 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 on-vehicle host 102, so that the on-vehicle display 110 receives the real video data, the virtual scene data, and the autopilot score sent by the on-vehicle host 102, and renders the real video data, the virtual scene data, and the autopilot score for display.
In one embodiment, the remote communication module 114 receives the virtual scene data and transmits the virtual scene data to the on-board host 102, the on-board host 102 transmits the real video data, the virtual scene data, and the autopilot score to the on-board display 110, and the on-board display 110 renders the real video data, the virtual scene data, and the autopilot score through a preset rendering plug-in, so that the on-board display 110 can display the rendered real video data, virtual scene data, and autopilot score.
On the basis of the above embodiment, the remote server 111 further includes a remote data storage module 115 for storing the real pose information, the virtual perception information, the driving data, and the autopilot score.
The remote data storage module 115 may be any device having 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 realized, and the follow-up data tracing of related personnel is facilitated.
Further comprising a remote display 116, said remote display 116 being connected to said 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 accept the real video data, the virtual scene data, and the autopilot score, and render the real video data, the virtual scene data, and the autopilot score for display.
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 autopilot score transmitted by the remote server 111, and render the real video data, the virtual scene data, and the autopilot score through a preset rendering plug-in, so that the remote display 116 can display the rendered real video data, virtual scene data, and autopilot score. The relevant testers can view the real video data and the corresponding virtual scene data through the remote display 116 so as to subjectively evaluate 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 as to know the objective evaluation of the automatic driving operation of the vehicle 108 to be tested by the remote server 111.
On the basis of the above embodiment, the vehicle-mounted testing device 100 further includes a battery 117 disposed inside the body 101, for providing electric power 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 autopilot test system in a second embodiment of the present invention, as shown in fig. 2B, the autopilot 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 in the body 101, and a vehicle-mounted display 110 which is 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, a remote data analysis module 113. A remote data storage module 115 and a remote display 116. Wherein a remote display 116 is coupled to the remote server 111.
The functions of the above modules have been described in the first and/or second embodiments, and are not described herein.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. 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, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (10)
1. The 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,
the pose information acquisition module is used for acquiring the real pose information of the vehicle to be tested and transmitting the real pose information to the vehicle-mounted host; the vehicle to be tested is provided with an advanced auxiliary driving system and/or an automatic driving system;
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 through a preset data sending interface, 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 in the process of executing automatic driving operation of the vehicle to be tested and transmitting the driving data to the vehicle-mounted host; wherein the travel data includes at least one of acceleration, braking force, and steering angle;
the vehicle-mounted host is further used for receiving the driving data, so that the vehicle-mounted data analysis module evaluates the automatic driving operation of the vehicle to be tested according to the driving data to obtain the automatic driving score of the vehicle to be tested.
2. The automated driving test system of claim 1, wherein the real pose information comprises at least one of a longitude position, a latitude position, vehicle heading information, and a vehicle speed.
3. The autopilot testing system of claim 1 wherein the pose information acquisition module includes 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 invokes the inertial navigator and the differential positioning sub-module to acquire the real pose information of the vehicle to be tested;
and 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 real pose information of the vehicle to be tested.
4. The autopilot testing system of claim 1 wherein the onboard host further includes an onboard 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 externally of the body, the onboard display being coupled to the onboard host; wherein,
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 transmitting the real video data to the vehicle-mounted host;
the vehicle-mounted host is also 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 evaluation 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 then displaying the rendered real video data, the rendered virtual scene data and the rendered 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 being coupled to the onboard host and in communication with the remote server; wherein,
the remote communication module is used for acquiring the real pose information from the vehicle-mounted host 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 into 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 configured to send 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, and the data sending module receives the virtual perception information sent by the vehicle-mounted host and 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 the automatic driving score of the vehicle to be tested;
the remote server is further configured to send the automated driving score to the remote communication module, such that the remote communication module sends the automated driving score to the on-board host.
7. The autopilot testing system of claim 6 wherein the remote communication module is further configured to obtain the real video data from the onboard 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 shooting time of the real video data from the remote pose mapping module, and further sending the virtual scene data to the remote communication module;
the remote communication module is further configured to send the virtual scene data to the vehicle-mounted host, and the vehicle-mounted display receives the real video data, the virtual scene data and the autopilot score sent by the vehicle-mounted host, and renders the real video data, the virtual scene data and the autopilot score for display.
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 awareness information, the travel data, and the autopilot score.
9. The autopilot test system of claim 7 further comprising a remote display, the remote display being 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, and displaying the real video data, the virtual scene data and the automatic driving score after rendering.
10. The automated driving test system of any of claims 6-9, wherein the in-vehicle test device further comprises a battery disposed within the body for providing electrical power to the in-vehicle host, the pose information acquisition module, the travel data acquisition module, the data transmission module, the remote communication module, and the in-vehicle display.
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| CN113759867A (en) * | 2021-08-10 | 2021-12-07 | 南京新吾技科技有限公司 | Automatic driving test system and method |
| CN114061596B (en) * | 2021-11-19 | 2024-03-22 | 北京国家新能源汽车技术创新中心有限公司 | Automatic driving positioning method, system, testing method, equipment and storage medium |
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