CN112781887A - Method, device and system for testing vehicle performance - Google Patents
Method, device and system for testing vehicle performance Download PDFInfo
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Abstract
The invention discloses a method, a device and a system for testing vehicle performance. Wherein, the method comprises the following steps: acquiring a demand scene of a vehicle to be tested and a test index under the demand scene, wherein the demand scene at least comprises: a test scene for testing the test function of the vehicle to be tested; in a demand scene, testing a vehicle to be tested based on the test indexes to obtain a test set, wherein the test set comprises a test value corresponding to each test index; obtaining a comprehensive evaluation vector based on the membership degree of each test index in each test dimension; and obtaining an evaluation result of the vehicle to be tested based on the test set and the comprehensive evaluation vector, wherein the evaluation result represents the perception and the coping ability of the vehicle to be tested to the traffic environment in the demand scene. The invention solves the technical problem of inaccurate test result when the existing simulation test technology is adopted to test the vehicle.
Description
Technical Field
The invention relates to the field of vehicle testing, in particular to a method, a device and a system for testing vehicle performance.
Background
The rapid development of computer technology, internet and internet of things thinking brings brand-new innovation to the traditional automobile manufacturing industry, the automatic driving technology can improve the efficiency of a traffic system and the safety of travel, and the automatic driving becomes the inevitable trend of the development of the automobile industry.
An automatic driving car, also called as unmanned car, computer driving car or wheeled mobile robot, is an intelligent car which can realize unmanned driving by an automatic driving system, and depends on the cooperation of artificial intelligence, visual calculation, radar, monitoring device and global positioning system, so that a computer can automatically and safely operate a motor vehicle without any active operation of human.
Along with the increasing maturity of intelligent networking technology, commercial vehicle intelligent networking is gradually leading to commercialization, more and more intelligent networking commercial vehicles such as unmanned buses, port cars, garden logistics vehicles and smart mine trucks enter the visual field of people, and the automatic driving automobile becomes an essential part in social life of people, but the requirement on the intelligent networking vehicle is higher and higher. The test of the intelligent networked automobile mainly examines the perception and the coping ability of the automobile to the traffic environment and is a test facing coupled systems of automobile-road, automobile-human, human-automobile-road and the like.
At present, because the intelligent internet vehicle does not really land on the ground, public test road facilities are not sound, and particularly like commercial vehicles, the requirements for testing roads are more strict, and at present, the automatic driving automobile is usually tested in a simulation test mode. Although the simulation test can shorten the development and test period, the simulation test cannot completely reflect the test condition of the real vehicle in the real traffic environment, so in the prior art, during the process of carrying out the simulation test on the automatic driving vehicle, the field test on the real vehicle is also needed to carry out the field test on the automatic driving vehicle.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the invention provides a method, a device and a system for testing vehicle performance, which at least solve the technical problem of inaccurate test result when the existing simulation test technology is adopted to test vehicles.
According to an aspect of an embodiment of the present invention, there is provided a method of testing vehicle performance, including: acquiring a demand scene of a vehicle to be tested and a test index under the demand scene, wherein the demand scene at least comprises: a test scene for testing the test function of the vehicle to be tested; in a demand scene, testing a vehicle to be tested based on the test indexes to obtain a test set, wherein the test set comprises a test value corresponding to each test index; obtaining a comprehensive evaluation vector based on the membership degree of each test index in each test dimension; and obtaining an evaluation result of the vehicle to be tested based on the test set and the comprehensive evaluation vector, wherein the evaluation result represents the perception and the coping ability of the vehicle to be tested to the traffic environment in the demand scene.
Further, the test dimensions include at least one of: the method for testing the vehicle performance comprises the following steps of safety dimension, technical dimension, experience dimension and economic dimension: obtaining a weight vector corresponding to the test index based on an analytic hierarchy process; obtaining a membership matrix according to the membership degree corresponding to each test index; and calculating the product of the weight vector and the membership matrix to obtain a comprehensive evaluation vector.
Further, the method for testing vehicle performance further comprises the following steps: calculating the relative values of any two test indexes to obtain a judgment matrix, wherein the relative values represent the relative importance degrees of the two compared test indexes; obtaining an initial weight vector according to the judgment matrix; and carrying out consistency check on the initial weight vector to obtain the weight vector.
Further, the method for testing vehicle performance further comprises the following steps: the method comprises the steps of determining the vehicle grade of a vehicle to be tested before acquiring a demand scene of the vehicle to be tested and a test index under the demand scene, wherein the vehicle grade represents the degree of automatic driving of the vehicle to be tested.
Further, the method for testing vehicle performance further comprises the following steps: before acquiring a demand scene of a vehicle to be tested and a test index under the demand scene, determining a test environment for testing the vehicle to be tested, wherein the test environment comprises one of the following conditions: the simulation test environment, the real test environment and the environment combining the simulation test environment and the real test environment.
Further, the method for testing vehicle performance further comprises the following steps: before acquiring a demand scene of a vehicle to be tested and a test index under the demand scene, determining the test index of each demand scene and a test value corresponding to the test index under each demand scene from a plurality of indexes contained in each demand scene, wherein the test index is a necessary index when the vehicle to be tested is tested under the demand scene.
According to another aspect of the embodiments of the present invention, there is also provided a system for testing vehicle performance, including: a vehicle to be tested; and the processing unit is used for carrying out performance results on the vehicle to be tested by adopting the vehicle performance testing method and obtaining an evaluation result.
According to another aspect of the embodiments of the present invention, there is also provided an apparatus for testing vehicle performance, including: the acquisition module is used for acquiring a demand scene of a vehicle to be tested and a test index under the demand scene, wherein the demand scene at least comprises: a test scene for testing the test function of the vehicle to be tested; the test module is used for testing the vehicle to be tested based on the test indexes under the demand scene to obtain a test set, wherein the test set comprises a test value corresponding to each test index; the first processing module is used for obtaining a comprehensive evaluation vector based on the membership degree of each test index in each test dimension; and the second processing module is used for obtaining an evaluation result of the vehicle to be tested based on the test set and the comprehensive evaluation vector, wherein the evaluation result represents the perception and the response capability of the vehicle to be tested on the traffic environment in the demand scene.
According to another aspect of the embodiments of the present invention, there is also provided a non-volatile storage medium having a computer program stored therein, wherein the computer program is arranged to be run as the above-mentioned method of testing vehicle performance.
According to another aspect of embodiments of the present invention, there is also provided a processor for running a program, wherein the program is arranged to perform the above-described method of testing vehicle performance when run.
In the embodiment of the invention, a test mode combining a test scene and a test function is adopted, after a demand scene of a vehicle to be tested and a test index under the demand scene are obtained, the vehicle to be tested is tested under the demand scene based on the test index to obtain a test set, a comprehensive evaluation vector is obtained based on the membership degree of each test index under each test dimension, and finally, an evaluation result of the vehicle to be tested is obtained based on the test set and the comprehensive evaluation vector. Wherein, the demand scenario at least includes: and in a test scene for testing the test functions of the vehicles to be tested, the test set comprises a test value corresponding to each test index, and the evaluation result represents the perception and the response capability of the vehicles to be tested on the traffic environment in the demand scene.
In the process, the vehicle to be tested is tested based on the test indexes, and the function of the vehicle to be tested in the demand scene is tested substantially, namely the vehicle to be tested is tested based on the mode of combining the test scene with the test function. In addition, in the process of testing the vehicle to be tested, a fuzzy comprehensive evaluation method is adopted to test the vehicle to be tested, and the method combines subjective evaluation with objective evaluation, and qualitative and quantitative evaluation, so that the accuracy of the test result of the vehicle to be tested is improved.
Therefore, the purpose of testing the vehicle to be tested is achieved by the scheme provided by the application, the technical effect of improving the accuracy of the test result of the vehicle to be tested is achieved, and the technical problem that the test result is inaccurate when the vehicle is tested by adopting the conventional simulation test technology is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a flow chart of a method of testing vehicle performance according to an embodiment of the present invention;
FIG. 2 is a test dimension diagram of an alternative autonomous vehicle test evaluation in accordance with an embodiment of the present invention;
FIG. 3 is a flow chart of an alternative fuzzy synthesis evaluation method according to an embodiment of the present invention;
FIG. 4 is a flow chart of an alternative method of testing a vehicle under test according to an embodiment of the present invention;
FIG. 5 is a schematic illustration of an alternative adaptive cruise test evaluation of an autonomous vehicle in accordance with an embodiment of the present invention;
FIG. 6 is a schematic illustration of an alternative automated driving vehicle lane-change test evaluation in accordance with an embodiment of the present invention;
FIG. 7 is a schematic illustration of an alternative vehicle to be tested according to an embodiment of the present invention;
FIG. 8 is a schematic view of an alternative sensor installation according to an embodiment of the present invention;
FIG. 9 is a schematic diagram of an apparatus for testing vehicle performance according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
In accordance with an embodiment of the present invention, there is provided an embodiment of a method of testing vehicle performance, it being noted that the steps illustrated in the flowchart of the drawings may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than presented herein.
FIG. 1 is a flow chart of a method of testing vehicle performance according to an embodiment of the present invention, as shown in FIG. 1, the method comprising the steps of:
step S102, acquiring a demand scene of a vehicle to be tested and a test index under the demand scene, wherein the demand scene at least comprises: and testing the testing function of the vehicle to be tested.
In step S102, the vehicle to be tested is an automatic driving vehicle, wherein the automatic driving vehicle may be a passenger vehicle or a commercial vehicle. Preferably, the vehicle to be tested in the present embodiment is a commercial autonomous vehicle. Optionally, the commercial autonomous vehicle may be applied to closed roads or specific scenes such as ports, mines, sanitation cleaning, transit and garden ferry, main logistics, and the like.
In addition, the requirement scene of the vehicle to be tested represents which functions of the vehicle to be tested need to be tested, for example, the requirement scene can be used for testing the adaptive cruise function of the vehicle to be tested, testing the lane change function of the vehicle to be tested, and testing the traffic light intersection passing function of the vehicle to be tested.
It should be noted that, in different demand scenarios, the test indexes corresponding to the vehicle to be tested are different, for example, in the process of testing the adaptive cruise function of the vehicle to be tested, the relative speed, distance, angle, the overshoot of speed given to the vehicle to be tested and the target object (for example, other vehicles, people, or a wall, a railing, etc.), the speed control accuracy, the average acceleration, the average deceleration, the maximum acceleration, the maximum deceleration, the minimum distance, the collision time, the temperature detected by the cooling water temperature sensor, etc. may be performed on the vehicle to be tested.
And S104, testing the vehicle to be tested based on the test indexes in a demand scene to obtain a test set, wherein the test set comprises a test value corresponding to each test index.
It should be noted that, in the process of testing the vehicle to be tested based on each test index, after testing the vehicle to be tested based on each test index, the test value corresponding to the test index can be obtained. Optionally, the test value reflects a reaction capability of the vehicle to be tested under the test index, for example, when detecting whether the vehicle to be tested can distinguish the type of the target object, if the vehicle to be tested can accurately identify the types of all the target objects, the test value corresponding to the test index is 1; if the vehicle to be tested can not identify the type of any target object, the test value corresponding to the test index is 0; if the vehicle to be tested only identifies the type of part of the target object, the test value corresponding to the test index is 0.5.
And S106, obtaining a comprehensive evaluation vector based on the membership degree of each test index in each test dimension.
Optionally, in step S106, the testing dimension includes at least one of: security dimensions, technology dimensions, experience dimensions, and economic dimensions. Fig. 2 is a schematic diagram of test dimensions of an optional test evaluation of an autonomous vehicle, where in fig. 2, the test dimensions include four, that is, a safety dimension (e.g., safety in fig. 2, e.g., evaluation of influence of traffic safety and traffic efficiency, and energy consumption after the autonomous vehicle infiltrates into road traffic), a technical dimension (e.g., autonomous driving function, performance evaluation) as in fig. 2, an experience dimension (e.g., experience in fig. 2, e.g., interaction between a driver and a vehicle, driving task switching, and user satisfaction evaluation) and an economic dimension (e.g., economy in fig. 2, e.g., evaluation of compatibility between an autonomous vehicle and traffic flow, and evaluation of satisfaction of other traffic participants). Each test dimension includes multiple levels of indexes, for example, in fig. 2, safety is a first-level index, functional safety, information safety, and collision safety are second-level indexes in the safety dimension, and sensor failure, vehicle failure, system failure, and system defect are third-level indexes in the functional safety.
It should be noted that fig. 2 only shows the testing dimension including three levels, and in practical applications, the levels of the testing dimension and the testing index included in each level may be set according to requirements.
In addition, in the present application, the degree of membership represents the degree of membership of the current test index to the test index of the previous level.
Optionally, in step S106, the comprehensive evaluation vector is a comprehensive evaluation fuzzy vector, wherein the comprehensive evaluation fuzzy vector is obtained by using a fuzzy comprehensive evaluation method, and the fuzzy comprehensive evaluation method can be an effective multi-factor decision method for comprehensively evaluating objects influenced by various factors. It is easy to notice that, because the fuzzy comprehensive evaluation method considers the influence of various factors on the test result of the vehicle to be tested, the test result of the vehicle to be tested is calculated based on the fuzzy comprehensive evaluation method, and the obtained evaluation result can accurately reflect the perception and the response capability of the vehicle to be tested on the traffic environment in the demand scene.
And S108, obtaining an evaluation result of the vehicle to be tested based on the test set and the comprehensive evaluation vector, wherein the evaluation result represents the perception and the response capability of the vehicle to be tested to the traffic environment in the demand scene.
In step S108, after obtaining the test set and the comprehensive evaluation vector, an evaluation result of the vehicle to be tested may be obtained by calculating a product of the test set and the comprehensive evaluation vector, where the evaluation result of the vehicle to be tested may be represented in a numerical manner. Optionally, the larger the numerical value corresponding to the evaluation result is, the stronger the perception and the coping ability of the vehicle to be tested to the traffic environment in the demand scene is.
Based on the schemes defined in the above steps S102 to S108, it can be known that, in the embodiment of the present invention, after a test mode combining a test scenario and a test function is adopted, a demand scenario for a vehicle to be tested and a test index in the demand scenario are obtained, in the demand scenario, the vehicle to be tested is tested based on the test index to obtain a test set, a comprehensive evaluation vector is obtained based on a membership degree of each test index in each test dimension, and finally, an evaluation result of the vehicle to be tested is obtained based on the test set and the comprehensive evaluation vector. Wherein, the demand scenario at least includes: and in a test scene for testing the test functions of the vehicles to be tested, the test set comprises a test value corresponding to each test index, and the evaluation result represents the perception and the response capability of the vehicles to be tested on the traffic environment in the demand scene.
It is easy to note that, in the above process, the vehicle to be tested is tested based on the test index, which is substantially to test the function of the vehicle to be tested in the demand scenario, that is, the vehicle to be tested is tested based on the combination of the test scenario and the test function. In addition, in the process of testing the vehicle to be tested, a fuzzy comprehensive evaluation method is adopted to test the vehicle to be tested, and the method combines subjective evaluation with objective evaluation, and qualitative and quantitative evaluation, so that the accuracy of the test result of the vehicle to be tested is improved.
Therefore, the purpose of testing the vehicle to be tested is achieved by the scheme provided by the application, the technical effect of improving the accuracy of the test result of the vehicle to be tested is achieved, and the technical problem that the test result is inaccurate when the vehicle is tested by adopting the conventional simulation test technology is solved.
In an alternative embodiment, fig. 3 shows a flow chart of an alternative fuzzy comprehensive evaluation method. Specifically, firstly, a weight vector corresponding to the test index is obtained based on an analytic hierarchy process, then a membership matrix is obtained according to the membership degree corresponding to each test index, and finally, the product of the weight vector and the membership matrix is calculated to obtain a comprehensive evaluation vector.
It should be noted that an Analytic Hierarchy Process (AHP) is a decision method that decomposes elements always related to a decision into a Hierarchy of objects, criteria, schemes, and the like, and performs qualitative and quantitative analysis on the basis of the decomposition.
Optionally, obtaining a weight vector corresponding to the test index based on an analytic hierarchy process includes: firstly, calculating the relative value of any two test indexes to obtain a judgment matrix, then obtaining an initial weight vector according to the judgment matrix, and finally, carrying out consistency check on the initial weight vector to obtain the weight vector. Wherein the relative value characterizes the relative importance of the two compared test indices.
Specifically, a positive and negative evaluation matrix (i.e., the above-mentioned evaluation matrix) a (m × n) is first constructed based on the mutual importance comparison, and the elements in a represent the relative importance degree between any two test elements. The initial weight vector w (1 m) is then solved based on the "sum method", where m represents the number of test indices. After the initial weight vector is obtained, consistency check is carried out on the initial weight vector to obtain the weight vector.
Further, in the process of calculating the membership matrix, the membership function is constructed, then the membership degree corresponding to each test index is calculated through the membership function, and finally, the membership matrix is constructed based on the membership degrees corresponding to all the test indexes.
Further, after obtaining the weight vector and the membership matrix, the comprehensive evaluation vector can be calculated by the following formula:
B＝w*R
in the above formula, B is the comprehensive evaluation vector, w is the weight vector, and R is the membership matrix.
It should be noted that, as can be seen from fig. 3, before calculating the weight vector, an evaluation factor set and an evaluation level set need to be determined, where the evaluation factor set represents what kind of working conditions the vehicle to be tested is under when the vehicle to be tested is tested based on each test index, for example, when the vehicle to be tested is tested for safety, the functional safety of the vehicle to be tested is tested under the overall working conditions.
Optionally, the evaluation level set at least includes a reaction set of the vehicle to be tested and a value corresponding to the reaction in the working condition of the vehicle to be tested, for example, the reaction of the vehicle to be tested at the traffic light intersection, and if the vehicle to be tested is running at a speed reduction of 100 meters in front of the traffic light intersection, the value is 1; if the vehicle to be tested is decelerated and driven 50 meters in front of the traffic light intersection, the value is 0.5; and if the vehicle to be tested does not decelerate at the traffic light intersection, the value is 0.
It should be noted that by constructing the evaluation factor set and the evaluation grade set, the test result is digitized in the process of testing the vehicle to be tested, so that the evaluation result of the vehicle to be tested is more accurate.
In an alternative embodiment, fig. 4 shows a flow chart of an alternative test of the vehicle to be tested, and it can be seen from fig. 4 that before a demand scenario of the vehicle to be tested and a test index under the demand scenario are obtained, a vehicle grade of the vehicle to be tested needs to be determined, where the vehicle grade represents a degree of automatic driving of the vehicle to be tested. For example, the vehicle class is divided into 6 classes, where a class 0 indicates that the vehicle to be tested is any car that can warn the driver about collisions, speed and other potentially dangerous conditions, but the driver can always be in full control of the vehicle; level 1 represents that the vehicle to be tested is any vehicle sharing control with the driver, in which scenario the driver still needs to operate a part of the vehicle to be tested, e.g. when using cruise control, the driver is still responsible for steering and braking when necessary; level 2 means that the vehicle to be tested is any vehicle that is fully capable of operating on its own, but the driver is still responsible for paying attention to the surrounding environment and should be ready to regain control whenever necessary. Level 3 indicates that the vehicle to be tested is any vehicle which enables the driver to move the sight line away from the road for a long time, and the driver still needs to be ready to control the vehicle to be tested when necessary; level 4 indicates that the vehicle to be tested is any vehicle that allows the driver to be completely detached from the driver while the vehicle is running; level 5 indicates that the vehicle to be tested is any vehicle that does not require a driver at all.
Optionally, as shown in fig. 4, before acquiring a demand scenario of a vehicle to be tested and a test index in the demand scenario, a test environment for testing the vehicle to be tested needs to be determined, where the test environment includes one of the following: the simulation test environment, the real test environment and the environment combining the simulation test environment and the real test environment.
In addition, as can be seen from fig. 4, before the requirement scenario of the vehicle to be tested and the test indexes in the requirement scenario are obtained, a test case needs to be determined, where the test case is an index that needs to test the vehicle to be tested and is determined from a plurality of indexes. Optionally, before a demand scenario and a test index under the demand scenario for a vehicle to be tested are obtained, a test index of each demand scenario and a test value corresponding to the test index under each demand scenario are determined from a plurality of indexes included in each demand scenario, where the test index is a necessary index when the vehicle to be tested is tested under the demand scenario.
Further, after the test case is obtained, the vehicle to be tested may be tested, as shown in fig. 4, after the vehicle to be tested is tested, an evaluation object and a target of the vehicle to be tested are performed, that is, the evaluation object in the vehicle to be tested is evaluated, that is, whether the evaluation object in the vehicle to be tested meets a target requirement is detected, for example, whether a sensor, a control module, and an evaluation module of the vehicle to be tested meet the target requirement is detected. And then evaluating the dimensionality and the target, namely determining which test indexes are used for testing the vehicle to be tested, and determining whether the test value corresponding to the vehicle to be tested meets the target requirement under the test target. Finally, based on the above tests, an evaluation result is obtained.
In an optional embodiment, fig. 5 shows a schematic diagram of an optional self-adaptive cruise test evaluation of an automatic driving vehicle, in the demand scenario shown in fig. 5, an open field is selected at first, the vehicle to be tested is placed in a neutral position after being started, an automatic driving system starting instruction is issued by a cloud, high-precision map data of the test field is updated, the vehicle to be tested can start stably and accelerate to a cruise vehicle speed, and cruise driving in a current lane is kept. Under the condition of the requirement, the test shall cover the cruising working condition, the following working condition, the curve following, the ramp following, the walking and stopping working condition, the cut-in and cut-out and the like.
Optionally, the vehicle to be tested is equipped with a data acquisition device, which can acquire motion attitude data of the vehicle to be tested in real time, and the test device measures information such as relative speed, distance, angle, etc. between the vehicle to be tested and a target object (e.g., other vehicles), and can perform data playback. The testing device comprises a high-precision positioning module, a network communication module, a motion attitude measuring module, a calculating unit, a data acquisition module and the like. The objective evaluation and measurement is speed overshoot, speed control precision, average acceleration and deceleration, maximum acceleration and deceleration, minimum vehicle distance, collision time, temperature detected by a cooling water temperature sensor and the like; the subjective evaluation measures are automatic driving decision-making behavior, interactive experience, human simulation and the like.
And finally, evaluating and grading the automatic driving system according to the comprehensive fuzzy evaluation method, and determining the evaluation result of the automatic driving system in the scene according to the value.
In an alternative embodiment, fig. 6 shows a schematic diagram of an alternative evaluation of a lane change test of an automatic driving vehicle, in the demand scenario shown in fig. 6, in an open field, a vehicle to be tested is placed in a neutral position after being started, an automatic driving system starting instruction is issued by a cloud, high-precision map data of the test field is updated at the same time, the cloud judges whether a lane change condition is met currently according to input information, and if the lane change condition is met, the cloud issues a lane change instruction; in the lane-changing overtaking process, after overtaking the front vehicle, the lane returns to the original lane.
Optionally, the vehicle to be tested is provided with a data acquisition device, which can acquire motion attitude data of the vehicle to be tested in real time, and the test device measures information such as relative speed, distance, angle and the like between the vehicle to be tested and the target object and can perform data playback. The testing device comprises a high-precision positioning module, a network communication module, a motion attitude measuring module, a calculating unit, a data acquisition module and the like. Wherein the objective evaluation and measurement is speed control precision, average acceleration and deceleration, maximum acceleration and deceleration, minimum vehicle distance, collision time, temperature detected by a cooling water temperature sensor and the like; the subjective evaluation measures are automatic driving decision-making behavior, interactive experience, human simulation and the like.
And finally, evaluating and grading the automatic driving system according to the comprehensive fuzzy evaluation method, and determining the evaluation result of the automatic driving system in the scene according to the value.
In an optional embodiment, in a test scene of traffic light intersection traffic, in an open field, a vehicle to be tested is placed at a neutral position after being started, an automatic driving system starting instruction is issued by a cloud end, and high-precision map data of a test field are updated; a traffic light RSU device is arranged at a proper position of a test site, vehicles to be tested can identify traffic signal lights, the vehicles can accurately stop in a stop line for waiting when the vehicles are at the red light, and the vehicles pass through the intersection at a low speed when the vehicles are at the green light.
Optionally, the vehicle to be tested is provided with a data acquisition device, which can acquire motion attitude data of the vehicle to be tested in real time, and the test device measures information such as relative speed, distance, angle and the like between the vehicle to be tested and the target object and can perform data playback. The testing device comprises a high-precision positioning module, a network communication module, a motion attitude measuring module, a calculating unit, a data acquisition module and the like. Wherein the objective evaluation and measurement is speed control precision, average acceleration and deceleration, maximum acceleration and deceleration, minimum vehicle distance, collision time, temperature detected by a cooling water temperature sensor and the like; the subjective evaluation measures are automatic driving decision-making behavior, interactive experience, human simulation and the like.
And finally, evaluating and grading the automatic driving system according to the comprehensive fuzzy evaluation method, and determining the evaluation result of the automatic driving system in the scene according to the value.
Example 2
There is also provided, in accordance with an embodiment of the present invention, an embodiment of a system for testing vehicle performance, the system including: the system comprises a vehicle to be tested and a processing unit. Wherein, the vehicle to be tested is an automatic driving vehicle, and the processing unit performs the performance result on the vehicle to be tested by adopting the method for testing the vehicle performance in the embodiment 1 and obtains the evaluation result.
In an alternative embodiment, fig. 7 is a schematic diagram of a vehicle to be tested according to an embodiment of the present invention, as shown in fig. 7, the vehicle to be tested comprising: the device comprises a collecting unit, a control unit and an execution unit.
The system comprises a collecting unit, a processing unit and a processing unit, wherein the collecting unit is used for collecting vehicle information and traffic environment information of a vehicle to be tested; the control unit is used for generating a control instruction according to the vehicle information and the traffic environment information; and the execution unit is used for controlling the vehicle to be tested to execute the action matched with the vehicle information and the traffic environment information according to the control instruction.
Optionally, the acquisition unit includes a sensor and an interface device, and also includes a processing unit for data storage and fusion, and the acquisition module can realize information input such as accurate positioning, target recognition and high-precision map data.
Optionally, fig. 8 shows a schematic installation diagram of an alternative sensor, as can be seen from fig. 8, the sensor includes a front view camera a, the distance measurement range is about 200m, and the sensor is installed below a windshield in front of a central axis of a vehicle to be tested; the three middle-distance cameras B are arranged on the positions of left and right rearview mirrors of a vehicle to be tested and rear glass of a cab, and the distance measuring range is about 70 m; the two wide-angle cameras C are arranged below left and right rearview mirrors of a vehicle to be tested, and the testing range of the two wide-angle cameras C is about 10 m; 4 corner radars D, 1 front radar E; 2 laser radars can realize 4-level automatic driving.
Optionally, the control unit mainly responds to the intelligent processing unit according to the input of the sensing information and the current state of the vehicle to be tested, such as path planning, driving mode selection, control of the lateral and longitudinal speeds and distances of the vehicle, response time, completion time and the like.
Optionally, the execution unit is configured to receive a relevant control instruction, and control a relevant actuator to respond.
Optionally, as shown in fig. 7, the vehicle to be tested further includes a cloud module and an I/O interface module. The cloud module is communicated with the vehicle end and the road end, remote control can be achieved, and I/O (input/output) interface modules for monitoring, remote traffic scheduling and the like can complete interface connection, communication and the like among the modules.
Example 3
According to an embodiment of the present invention, there is also provided an embodiment of an apparatus for testing vehicle performance, wherein fig. 9 is a schematic diagram of the apparatus for testing vehicle performance according to the embodiment of the present invention, and as shown in fig. 9, the apparatus includes: an acquisition module 901, a test module 903, a first processing module 905, and a second processing module 907.
The obtaining module 901 is configured to obtain a demand scenario of a vehicle to be tested and a test index under the demand scenario, where the demand scenario at least includes: a test scene for testing the test function of the vehicle to be tested; the test module 903 is configured to test a vehicle to be tested based on test indexes in a demand scenario to obtain a test set, where the test set includes a test value corresponding to each test index; the first processing module 905 is configured to obtain a comprehensive evaluation vector based on the membership degree of each test index in each test dimension; the second processing module 907 is configured to obtain an evaluation result of the vehicle to be tested based on the test set and the comprehensive evaluation vector, where the evaluation result represents perception and response capability of the vehicle to be tested on a traffic environment in a demand scene.
It should be noted that the acquiring module 901, the testing module 903, the first processing module 905, and the second processing module 907 correspond to steps S102 to S108 in the foregoing embodiment, and the four modules are the same as the corresponding steps in the implementation example and application scenario, but are not limited to the disclosure in embodiment 1.
Optionally, the test dimension includes at least one of: safety dimension, technical dimension, experience dimension and economic dimension, wherein, first processing module includes: the device comprises a third processing module, a fourth processing module and a first calculating module. The third processing module is used for obtaining a weight vector corresponding to the test index based on an analytic hierarchy process; the fourth processing module is used for obtaining a membership matrix according to the membership degree corresponding to each test index; and the first calculation module is used for calculating the product of the weight vector and the membership matrix to obtain a comprehensive evaluation vector.
Optionally, the third processing module includes: the device comprises a second calculation module, a fifth processing module and a checking module. The second calculation module is used for calculating the relative values of any two test indexes to obtain a judgment matrix, wherein the relative values represent the relative importance degrees of the two compared test indexes; the fifth processing module is used for obtaining an initial weight vector according to the judgment matrix; and the checking module is used for carrying out consistency check on the initial weight vector to obtain the weight vector.
Optionally, the apparatus for testing vehicle performance further includes: the first determining module is used for determining the vehicle grade of the vehicle to be tested before acquiring a demand scene of the vehicle to be tested and a test index under the demand scene, wherein the vehicle grade represents the degree of automatic driving of the vehicle to be tested.
Optionally, the apparatus for testing vehicle performance further includes: the second determining module is used for determining a testing environment for testing the vehicle to be tested before acquiring a demand scene of the vehicle to be tested and a testing index under the demand scene, wherein the testing environment comprises one of the following conditions: the simulation test environment, the real test environment and the environment combining the simulation test environment and the real test environment.
Optionally, the apparatus for testing vehicle performance further includes: the third determining module is used for determining the test index of each demand scene and the test value corresponding to the test index in each demand scene from a plurality of indexes contained in each demand scene before acquiring the demand scene of the vehicle to be tested and the test index in the demand scene, wherein the test index is a necessary index when the vehicle to be tested is tested in the demand scene.
Example 4
According to another aspect of the embodiments of the present invention, there is also provided a non-volatile storage medium having a computer program stored therein, wherein the computer program is configured to run the method of testing vehicle performance in embodiment 1 above.
Example 5
According to another aspect of the embodiments of the present invention, there is also provided a processor for running a program, wherein the program is configured to execute the method for testing vehicle performance in embodiment 1 described above when running.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A method of testing vehicle performance, comprising:
acquiring a demand scene of a vehicle to be tested and a test index under the demand scene, wherein the demand scene at least comprises: a test scene for testing the test function of the vehicle to be tested;
under the demand scene, testing the vehicle to be tested based on the test indexes to obtain a test set, wherein the test set comprises test values corresponding to each test index;
obtaining a comprehensive evaluation vector based on the membership degree of each test index in each test dimension;
and obtaining an evaluation result of the vehicle to be tested based on the test set and the comprehensive evaluation vector, wherein the evaluation result represents the perception and the coping ability of the vehicle to be tested on the traffic environment in the demand scene.
2. The method of claim 1, wherein the test dimensions comprise at least one of: the method comprises the following steps of obtaining a comprehensive evaluation vector based on the membership degree of each test index in each test dimension, wherein the comprehensive evaluation vector comprises the following steps:
obtaining a weight vector corresponding to the test index based on an analytic hierarchy process;
obtaining a membership matrix according to the membership degree corresponding to each test index;
and calculating the product of the weight vector and the membership matrix to obtain the comprehensive evaluation vector.
3. The method of claim 2, wherein obtaining the weight vector corresponding to the test indicator based on an analytic hierarchy process comprises:
calculating relative values of any two test indexes to obtain a judgment matrix, wherein the relative values represent the relative importance degrees of the two compared test indexes;
obtaining an initial weight vector according to the judgment matrix;
and carrying out consistency check on the initial weight vector to obtain the weight vector.
4. The method of claim 1, wherein prior to obtaining a demand scenario for a vehicle under test and a test index under the demand scenario, the method further comprises:
determining a vehicle grade of the vehicle to be tested, wherein the vehicle grade characterizes a degree to which the vehicle to be tested is automatically driven.
5. The method of claim 1, wherein prior to obtaining a demand scenario for a vehicle under test and a test index under the demand scenario, the method further comprises:
determining a test environment for testing the vehicle to be tested, wherein the test environment comprises one of: the system comprises a simulation test environment, a real test environment and an environment combining the simulation test environment and the real test environment.
6. The method of claim 1, wherein prior to obtaining a demand scenario for a vehicle under test and a test index under the demand scenario, the method further comprises:
determining a test index of each demand scene and a test value corresponding to the test index in each demand scene from a plurality of indexes contained in each demand scene, wherein the test index is a necessary index when the vehicle to be tested is tested in the demand scene.
7. A system for testing vehicle performance, comprising:
a vehicle to be tested;
a processing unit, wherein the processing unit adopts the method for testing vehicle performance as claimed in any one of claims 1 to 6 to perform performance result on the vehicle to be tested and obtain evaluation result.
8. An apparatus for testing vehicle performance, comprising:
the system comprises an acquisition module, a storage module and a processing module, wherein the acquisition module is used for acquiring a demand scene of a vehicle to be tested and a test index under the demand scene, and the demand scene at least comprises: a test scene for testing the test function of the vehicle to be tested;
the testing module is used for testing the vehicle to be tested based on the testing indexes under the demand scene to obtain a testing set, wherein the testing set comprises testing values corresponding to each testing index;
the first processing module is used for obtaining a comprehensive evaluation vector based on the membership degree of each test index in each test dimension;
and the second processing module is used for obtaining an evaluation result of the vehicle to be tested based on the test set and the comprehensive evaluation vector, wherein the evaluation result represents the perception and the coping ability of the vehicle to be tested on the traffic environment in the demand scene.
9. A non-volatile storage medium, in which a computer program is stored, wherein the computer program is arranged to perform the method of testing vehicle performance as claimed in any one of claims 1 to 6 when run.
10. A processor for running a program, wherein the program is arranged to perform the method of testing vehicle performance as claimed in any one of claims 1 to 6 when run.
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| CN115655752A (en) * | 2022-12-09 | 2023-01-31 | 成都鲁易科技有限公司 | New energy vehicle automatic test method and device, electronic equipment and storage medium |
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| CN116358902B (en) * | 2023-06-02 | 2023-08-22 | 中国第一汽车股份有限公司 | Vehicle function testing method and device, electronic equipment and storage medium |
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