CN113640014A - Method and device for constructing test scene of automatic driving vehicle and readable storage medium - Google Patents
Method and device for constructing test scene of automatic driving vehicle and readable storage medium Download PDFInfo
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Abstract
The application provides a method and a device for constructing a test scene of an automatic driving vehicle and a readable storage medium, which are used for acquiring system configuration parameters of a vehicle control system equipped for the automatic driving vehicle and a plurality of candidate scene conditions input by a user; determining at least one vehicle control defect of a vehicle control system according to the system configuration parameters; determining a plurality of scene conditions to be constructed for constructing a vehicle test scene of the automatic driving vehicle from the plurality of candidate scene conditions based on the at least one vehicle control defect; a plurality of vehicle test scenarios for testing the driving performance of the autonomous vehicle are constructed. Therefore, the vehicle test scene suitable for testing the automatic driving vehicle can be constructed in a targeted manner, and further the vehicle test scene unsuitable for testing the automatic driving vehicle is avoided being constructed, so that a large amount of time is wasted on unnecessary vehicle test scenes, and the accuracy of the test result is improved.
Description
Technical Field
The application relates to the technical field of vehicle control, in particular to a method and a device for constructing a test scene of an automatic driving vehicle and a readable storage medium.
Background
With the continuous development of vehicle control technology, an automatic driving system is continuously introduced into vehicle control, and the automatic driving system is an integrated system integrating a plurality of technologies, and mainly depends on the acquisition of environmental information, a sensing technology, an image recognition technology and the like. These technologies, while performing the intended function, have situational awareness (situational awareness) that can directly affect the safety of the driving process in some cases.
At present, when an automatic driving vehicle is tested, the automatic driving vehicle can be comprehensively tested only by traversing the vehicle test scenes in the existing scene library, the automatic driving vehicle equipped with the vehicle control system cannot be tested aiming at the vehicle control system, time is wasted in unnecessary vehicle tests, and then the problem that the automatic driving vehicle can exist is omitted, so that potential safety hazards exist in the automatic driving vehicle.
Disclosure of Invention
In view of the above, an object of the present application is to provide a method and an apparatus for constructing a test scenario of an autonomous vehicle, and a readable storage medium, which can construct a vehicle test scenario suitable for testing the autonomous vehicle in a targeted manner according to system configuration parameters of the autonomous vehicle, thereby avoiding constructing a vehicle test scenario unsuitable for testing the autonomous vehicle, so that a large amount of time is wasted in unnecessary vehicle test scenarios, and the accuracy of test results is improved.
The embodiment of the application provides a construction method of an automatic driving vehicle test scene, which comprises the following steps:
acquiring system configuration parameters of a vehicle control system equipped for an automatic driving vehicle and a plurality of candidate scene conditions input by a user;
determining at least one vehicle control deficiency present in the vehicle control system based on the system configuration parameters;
determining a plurality of scene conditions to be constructed for constructing a vehicle test scene of the autonomous vehicle from the plurality of candidate scene conditions based on the at least one vehicle control deficiency;
and constructing and obtaining a plurality of vehicle test scenes for testing the running performance of the automatic driving vehicle based on the plurality of scene conditions to be constructed.
Further, after the building a plurality of vehicle test scenarios for testing the driving performance of the autonomous vehicle, the building method further includes:
obtaining expected driving parameters of the autonomous vehicle;
for each vehicle test scene, testing the running performance of the automatic driving vehicle in the vehicle test scene, and determining the test running parameters of the automatic driving vehicle in the vehicle test scene;
and determining the safety level of the automatic driving vehicle under the vehicle test scene based on the expected running parameters and the test running parameters.
Further, the determining a plurality of scene conditions to be constructed for constructing a test scene of the autonomous vehicle from the plurality of candidate scene conditions based on the at least one vehicle control deficiency includes:
determining candidate scene conditions under which the autonomous vehicle is not drivable based on the at least one vehicle control deficiency;
and eliminating the candidate scene conditions which cannot run from the candidate scene conditions to obtain a plurality of scene conditions to be constructed for constructing the test scene of the automatic driving vehicle.
Further, the constructing and obtaining a plurality of vehicle test scenes for testing the driving performance of the autonomous vehicle based on the plurality of scene conditions to be constructed includes:
and arranging and combining the plurality of scene conditions to be constructed according to preset combination logic to construct and obtain a plurality of vehicle test scenes for testing the running performance of the automatic driving vehicle.
Further, the candidate scene conditions include at least one or more of geographic conditions, environmental conditions, road conditions, and driving situation conditions.
The embodiment of the present application further provides a device for constructing a test scenario of an autonomous vehicle, where the device for constructing includes:
the system comprises a parameter acquisition module, a parameter selection module and a parameter selection module, wherein the parameter acquisition module is used for acquiring system configuration parameters of a vehicle control system equipped for an automatic driving vehicle and a plurality of candidate scene conditions input by a user;
a defect determination module for determining at least one vehicle control defect present in the vehicle control system based on the system configuration parameters;
a condition screening module for determining a plurality of scene conditions to be constructed for constructing a vehicle test scene of the autonomous vehicle from the plurality of candidate scene conditions based on the at least one vehicle control defect;
and the scene construction module is used for constructing and obtaining a plurality of vehicle test scenes for testing the running performance of the automatic driving vehicle based on the plurality of scene conditions to be constructed.
Further, the building device further comprises a vehicle testing module, and the vehicle testing module is used for:
obtaining expected driving parameters of the autonomous vehicle;
for each vehicle test scene, testing the running performance of the automatic driving vehicle in the vehicle test scene, and determining the test running parameters of the automatic driving vehicle in the vehicle test scene;
and determining the safety level of the automatic driving vehicle under the vehicle test scene based on the expected running parameters and the test running parameters.
Further, when the condition screening module is configured to determine, from the plurality of candidate scene conditions, a plurality of scene conditions to be constructed for constructing a vehicle test scene of the autonomous vehicle based on the at least one vehicle control deficiency, the condition screening module is configured to:
determining candidate scene conditions under which the autonomous vehicle is not drivable based on the at least one vehicle control deficiency;
and eliminating the candidate scene conditions which cannot run from the candidate scene conditions to obtain a plurality of scene conditions to be constructed for constructing the test scene of the automatic driving vehicle.
Further, when the scene construction module is configured to construct a plurality of vehicle test scenes for testing the driving performance of the autonomous vehicle based on the plurality of scene conditions to be constructed, the scene construction module is configured to:
and arranging and combining the plurality of scene conditions to be constructed according to preset combination logic to construct and obtain a plurality of vehicle test scenes for testing the running performance of the automatic driving vehicle.
Further, the candidate scene conditions include at least one or more of geographic conditions, environmental conditions, road conditions, and driving situation conditions.
An embodiment of the present application further provides an electronic device, including: the system comprises a processor, a memory and a bus, wherein the memory stores machine readable instructions executable by the processor, the processor and the memory are communicated through the bus when an electronic device runs, and the machine readable instructions are executed by the processor to execute the steps of the method for constructing the automatic driving vehicle test scene.
The embodiment of the application also provides a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and when the computer program is executed by a processor, the steps of the method for constructing the test scene of the automatic driving vehicle are executed.
According to the construction method, the construction device and the readable storage medium of the test scene of the automatic driving vehicle, system configuration parameters of a vehicle control system equipped for the automatic driving vehicle and a plurality of candidate scene conditions input by a user are obtained; determining at least one vehicle control deficiency present in the vehicle control system based on the system configuration parameters; determining a plurality of scene conditions to be constructed for constructing a vehicle test scene of the autonomous vehicle from the plurality of candidate scene conditions based on the at least one vehicle control deficiency; and constructing and obtaining a plurality of vehicle test scenes for testing the running performance of the automatic driving vehicle based on the plurality of scene conditions to be constructed. Therefore, a vehicle test scene suitable for testing the automatic driving vehicle can be constructed in a targeted manner according to the system configuration parameters of the automatic driving vehicle, and further, the vehicle test scene unsuitable for testing the automatic driving vehicle is avoided being constructed, so that a large amount of time is wasted on unnecessary vehicle test scenes, and the accuracy of a test result is improved.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a flowchart of a method for constructing an automatic driving vehicle test scenario according to an embodiment of the present disclosure;
FIG. 2 is a flow chart of another method for constructing a test scenario for an autonomous vehicle provided by an embodiment of the present application;
FIG. 3 is a schematic diagram of a vehicle testing environment rationality determination process provided by an embodiment of the present application;
fig. 4 is a schematic structural diagram of a device for constructing an autopilot vehicle test scenario according to an embodiment of the present application;
fig. 5 is a second schematic structural diagram of a device for constructing an automatic driving vehicle test scenario according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. Every other embodiment that can be obtained by a person skilled in the art without making creative efforts based on the embodiments of the present application falls within the protection scope of the present application.
Research shows that at present, when an automatic driving vehicle is tested, the automatic driving vehicle can be comprehensively tested only by traversing the vehicle test scenes in the existing scene library, and the automatic driving vehicle equipped with the vehicle control system cannot be tested aiming at the vehicle control system, so that time is wasted in unnecessary vehicle test, and further, the problem that the automatic driving vehicle can be missed is solved, and the automatic driving vehicle has potential safety hazards.
Based on this, the embodiment of the application provides a method for constructing a test scene of an automatic driving vehicle, which can improve the accuracy of a test result and is beneficial to avoiding the waste of test time on unnecessary vehicle test scenes.
Referring to fig. 1, fig. 1 is a flowchart illustrating a method for constructing a test scenario of an autonomous vehicle according to an embodiment of the present disclosure. As shown in fig. 1, a method for constructing an autonomous vehicle test scenario provided in an embodiment of the present application includes:
s101, system configuration parameters of a vehicle control system equipped for the automatic driving vehicle and a plurality of candidate scene conditions input by a user are obtained.
And S102, determining at least one vehicle control defect existing in the vehicle control system based on the system configuration parameters.
S103, determining a plurality of scene conditions to be constructed for constructing the vehicle test scene of the automatic driving vehicle from the plurality of candidate scene conditions based on the at least one vehicle control defect.
And S104, constructing and obtaining a plurality of vehicle test scenes for testing the running performance of the automatic driving vehicle based on the plurality of scene conditions to be constructed.
In the field of vehicle driving, driving can be classified into different levels according to the control subject of the driving process: l0: manual driving, in which a human driver drives an automobile in full authority; l1: auxiliary driving, wherein the vehicle provides driving for one operation of a steering wheel and acceleration and deceleration, and the human driver is responsible for the rest driving actions; l2: partial automatic driving, wherein the vehicle drives a steering wheel and multiple operations in acceleration and deceleration, and the human driver is responsible for the rest driving actions; l3: the condition automatic driving is that the vehicle completes most driving operations, and human drivers need to keep attention for the occasional needs; l4: highly automatic driving, all driving operations are completed by a vehicle, a human driver does not need to keep attention, but road and environmental conditions are limited; l5: the full automatic driving, all driving operations are completed by the vehicle, and the human driver does not need to keep attention.
Before the automatic driving vehicle leaves a factory, the automatic driving vehicle needs to be tested in different vehicle test scenes so as to realize the performance test of the automatic driving vehicle. In general, a user formulates a vehicle test environment for an autonomous vehicle, and the user selects as many input candidate scene conditions as possible in order to comprehensively test the autonomous vehicle when formulating the vehicle test environment; however, for different automatic driving vehicles, different test scenes may be required due to different software and hardware conditions; for example, in the case of an electric vehicle, a scene condition for which "the vehicle battery is dead" is meaningless, and therefore, it is not necessary to waste test time in the meaningless scene condition when testing; for another example, in the case of a highly autonomous vehicle, the driving situation is limited, for example, the autonomous driving is limited on a road on snowy days, and it makes no sense for the vehicle to test it in the snowy days.
In order to construct a vehicle test scene of an autonomous vehicle more specifically, in step S101, system configuration parameters of a vehicle control system equipped for the autonomous vehicle and a plurality of candidate scene conditions input by a user are acquired; here, the system configuration parameters include a driving level of the autonomous vehicle, hardware system configuration parameters of the autonomous vehicle, and software system configuration parameters.
The hardware system configuration parameters comprise a sensing system, an automatic positioning system, a decision-making system and a motion control system; the sensing system consists of a left camera, a right camera, a 32-line laser radar and four millimeter wave radars, wherein the cameras, the laser radar and the millimeter wave radars respectively have corresponding models and performance parameters. The automatic positioning system consists of an IMU and a GNSS, wherein the IMU and the GNSS respectively have corresponding models and performance parameters. The decision-making system consists of two computing platforms, and each computing platform has a corresponding model and performance parameters. The motion control system is composed of devices which move longitudinally and transversely, and each device has a corresponding model and performance parameters.
The software system configuration parameters comprise software module design: the system comprises a perception fusion module, a traffic signal identification module, a decision-making module and a motion control module; operating system development language: linux, C/C + +; data relationship between modules: data flow, data structure, data interaction frequency, etc. among the various modules.
Here, the candidate scene condition includes at least one or more of a geographical condition, an environmental condition, a road condition, and a driving situation condition.
Here, the geographical conditions may be: at least one of conditions of city or mountain area, sea or inland, mountain or plain, etc.; the environmental conditions may be: at least one of conditions such as travel time (day, night, whole day, time period, and the like), travel weather (rainfall, snowfall, visibility, wind direction, probability of rainfall, probability of snowfall, and the like), illumination (light intensity, light range, and the like); the road conditions may be: at least one of road type (freeway, ordinary road, dirt road, driveway exclusive to autonomous vehicles, etc.), road parameters (grade, inclination, curve curvature), road friction coefficient, speed limit, etc.; driving situation conditions (host vehicle \ driver's action, other vehicles): at least one of lane change, speed change, overtaking, traffic conditions, pedestrian behavior, and the like.
In step S102, at least one vehicle control defect of a vehicle control system of the autonomous vehicle is determined according to the system configuration parameters of the autonomous vehicle, for example, when the autonomous vehicle is a highly autonomous vehicle, the vehicle control defect is that the driving environment is limited, for example, the autonomous vehicle cannot drive in snow when being equipped with the current vehicle control system, and therefore, the autonomous vehicle does not need to be tested in an environment scene of "snow" in the vehicle testing stage.
In step S103, according to at least one determined vehicle control defect of the vehicle control system, a plurality of scene conditions to be constructed that can be used for training a vehicle test scene of the autonomous vehicle are screened from a plurality of candidate scene conditions input by the user, that is, candidate scene conditions that do not need to be tested on the autonomous vehicle are removed from the plurality of candidate scene conditions input by the user, so as to avoid wasting test time on meaningless vehicle tests.
In one embodiment, step S103 includes: determining candidate scene conditions under which the autonomous vehicle is not drivable based on the at least one vehicle control deficiency; and eliminating the candidate scene conditions which cannot run from the candidate scene conditions to obtain a plurality of scene conditions to be constructed for constructing the test scene of the automatic driving vehicle.
Determining candidate scene conditions that an automatic driving vehicle provided with the vehicle control system cannot drive according to at least one vehicle control defect existing in the vehicle control system; removing candidate scene conditions which cannot be driven by the automatic driving vehicle from a plurality of candidate scene conditions input by a user, and further obtaining a plurality of scene conditions to be constructed for constructing a test scene of the automatic driving vehicle; for example, the candidate scene conditions input by the user include "snow day", and the autonomous vehicle that needs to be subjected to the vehicle test is equipped with a vehicle control system such that the autonomous vehicle cannot travel in snow day, that is, the candidate scene condition that is not possible to travel of the autonomous vehicle is "snow day", so that the candidate scene condition that is not possible to travel of "snow day" is excluded from the candidate scene conditions input by the user.
In step S104, after determining a plurality of to-be-constructed scene conditions, a plurality of vehicle test scenes for testing the driving performance of the autonomous vehicle may be constructed using the plurality of to-be-constructed scene conditions; in the construction process, a plurality of vehicle test scenes need to be reasonably matched, and several to-be-constructed scene conditions in a plurality of to-be-constructed scene conditions can be selectively used for constructing the vehicle test scenes in each construction.
In one embodiment, step S104 includes: and arranging and combining the plurality of scene conditions to be constructed according to preset combination logic to construct and obtain a plurality of vehicle test scenes for testing the running performance of the automatic driving vehicle.
As an example, assuming that the scene conditions to be constructed include a sunny day, a normal road, an ascending slope, a sudden occurrence of a pedestrian, a traffic accident, and a cloudy day, and the preset combination logic is "weather condition + road condition 1+ road condition 2+ emergency", the vehicle test scene that can be obtained is "a sudden occurrence of a pedestrian during ascending slope on a normal road in a sunny day", or "a traffic accident during ascending slope on a normal road in a cloudy day".
According to the construction method of the test scene of the automatic driving vehicle, system configuration parameters of a vehicle control system equipped for the automatic driving vehicle and a plurality of candidate scene conditions input by a user are obtained; determining at least one vehicle control deficiency present in the vehicle control system based on the system configuration parameters; determining a plurality of scene conditions to be constructed for constructing a vehicle test scene of the autonomous vehicle from the plurality of candidate scene conditions based on the at least one vehicle control deficiency; and constructing and obtaining a plurality of vehicle test scenes for testing the running performance of the automatic driving vehicle based on the plurality of scene conditions to be constructed. Therefore, a vehicle test scene suitable for testing the automatic driving vehicle can be constructed in a targeted manner according to the system configuration parameters of the automatic driving vehicle, and further, the vehicle test scene unsuitable for testing the automatic driving vehicle is avoided being constructed, so that a large amount of time is wasted on unnecessary vehicle test scenes, and the accuracy of a test result is improved.
Referring to fig. 2, fig. 2 is a flowchart illustrating another method for constructing an auto-driving vehicle test scenario according to an embodiment of the present disclosure. As shown in fig. 2, the method for constructing the test scenario of the autonomous vehicle provided in the embodiment of the present application includes:
s201, system configuration parameters of a vehicle control system equipped for the automatic driving vehicle and a plurality of candidate scene conditions input by a user are obtained.
S202, determining at least one vehicle control defect existing in the vehicle control system based on the system configuration parameters.
S203, determining a plurality of scene conditions to be constructed for constructing the vehicle test scene of the automatic driving vehicle from the plurality of candidate scene conditions based on the at least one vehicle control defect.
And S204, constructing and obtaining a plurality of vehicle test scenes for testing the running performance of the automatic driving vehicle based on the plurality of scene conditions to be constructed.
The descriptions of S201 to S204 may refer to the descriptions of S101 to S104, and the same technical effects can be achieved, which are not described in detail herein.
S205, obtaining expected running parameters of the automatic driving vehicle.
S206, aiming at each vehicle test scene, testing the running performance of the automatic driving vehicle in the vehicle test scene, and determining the test running parameters of the automatic driving vehicle in the vehicle test scene.
In the step, in each vehicle test scene, the running performance of the automatic driving vehicle is tested to obtain the test running parameters of the automatic driving vehicle in the vehicle test scene, wherein the test running parameters can indicate whether the automatic driving vehicle can be safely driven in the scene, and the condition of causing casualties cannot exist.
And S207, determining the safety level of the automatic driving vehicle under the vehicle test scene based on the expected running parameters and the test running parameters.
In the step, a test driving parameter obtained by testing in the vehicle test scene is compared with an expected driving parameter of the automatic driving vehicle, and the safety level of the automatic driving vehicle in the vehicle test scene is determined by determining the difference between the test driving parameter and the expected driving parameter.
If the safety level indicates that the condition of causing casualties possibly exists in the vehicle test scene, the vehicle test is considered to be failed, and the vehicle test scene is unreasonable for the automatic driving vehicle; if the safety level indicates that the automatic driving vehicle can have sudden braking under the vehicle test scene, and only can cause the on-vehicle personnel to have uncomfortable conditions, the vehicle test can be considered to pass, and the vehicle test scene is reasonable for the automatic driving vehicle.
By way of example, as shown in fig. 3, fig. 3 is a schematic diagram of a vehicle test environment rationality determination process provided by an embodiment of the present application. As shown in fig. 3, step S301: acquiring a plurality of candidate scene conditions input by a user; step S302: acquiring system configuration parameters of a vehicle control system; step S303: determining at least one vehicle control defect existing in a vehicle control system according to the system configuration parameters; step S304: determining a plurality of scene conditions to be constructed for constructing a vehicle test scene from the plurality of candidate scene conditions; step S305: arranging and combining a plurality of scene conditions to be constructed according to preset combination logic; step S306: constructing and obtaining a plurality of vehicle test scenes; step S307: testing the automatic driving vehicle in each vehicle test scene, and determining the test driving parameters of the automatic driving vehicle in the vehicle test scene; step S308: and comparing the test driving parameters with the expected driving parameters to determine the rationality of the vehicle test scene.
According to the construction method of the test scene of the automatic driving vehicle, system configuration parameters of a vehicle control system equipped for the automatic driving vehicle and a plurality of candidate scene conditions input by a user are obtained; determining at least one vehicle control deficiency present in the vehicle control system based on the system configuration parameters; determining a plurality of scene conditions to be constructed for constructing a vehicle test scene of the autonomous vehicle from the plurality of candidate scene conditions based on the at least one vehicle control deficiency; constructing and obtaining a plurality of vehicle test scenes for testing the running performance of the automatic driving vehicle based on the plurality of scene conditions to be constructed; obtaining expected driving parameters of the autonomous vehicle; for each vehicle test scene, testing the running performance of the automatic driving vehicle in the vehicle test scene, and determining the test running parameters of the automatic driving vehicle in the vehicle test scene; and determining the safety level of the automatic driving vehicle under the vehicle test scene based on the expected running parameters and the test running parameters. Therefore, a vehicle test scene suitable for testing the automatic driving vehicle can be constructed in a targeted manner according to the system configuration parameters of the automatic driving vehicle, further, the vehicle test scene unsuitable for testing the automatic driving vehicle is avoided being constructed, a large amount of time is wasted on unnecessary vehicle test scenes, the accuracy of a test result is improved, and whether the vehicle test environment is reasonable for the automatic driving vehicle or not can be determined by comparing the test running parameters of the automatic driving vehicle in the vehicle test environment with the expected running parameters of the automatic driving vehicle.
Referring to fig. 4 and 5, fig. 4 is a first schematic structural diagram of a device for constructing an auto-driving vehicle test scenario provided in an embodiment of the present application, and fig. 5 is a second schematic structural diagram of the device for constructing an auto-driving vehicle test scenario provided in the embodiment of the present application. As shown in fig. 3, the construction apparatus 400 includes:
a parameter obtaining module 410, configured to obtain system configuration parameters of a vehicle control system equipped in the autonomous vehicle, and a plurality of candidate scene conditions input by a user;
a defect determination module 420 for determining at least one vehicle control defect present in the vehicle control system based on the system configuration parameters;
a condition screening module 430 configured to determine a plurality of scene conditions to be constructed for constructing a vehicle test scene of the autonomous vehicle from the plurality of candidate scene conditions based on the at least one vehicle control deficiency;
and a scene construction module 440, configured to construct a plurality of vehicle test scenes for testing the driving performance of the autonomous vehicle based on the plurality of conditions of the scene to be constructed.
Further, as shown in fig. 4, the building apparatus 400 further includes a vehicle testing module 450, where the vehicle testing module 450 is configured to:
obtaining expected driving parameters of the autonomous vehicle;
for each vehicle test scene, testing the running performance of the automatic driving vehicle in the vehicle test scene, and determining the test running parameters of the automatic driving vehicle in the vehicle test scene;
and determining the safety level of the automatic driving vehicle under the vehicle test scene based on the expected running parameters and the test running parameters.
Further, when the condition screening module 430 is configured to determine a plurality of scene conditions to be constructed for constructing a vehicle test scene of the autonomous vehicle from the plurality of candidate scene conditions based on the at least one vehicle control defect, the condition screening module 430 is configured to:
determining candidate scene conditions under which the autonomous vehicle is not drivable based on the at least one vehicle control deficiency;
and eliminating the candidate scene conditions which cannot run from the candidate scene conditions to obtain a plurality of scene conditions to be constructed for constructing the test scene of the automatic driving vehicle.
Further, when the scene construction module 440 is configured to construct a plurality of vehicle test scenes for testing the driving performance of the autonomous vehicle based on the plurality of scene conditions to be constructed, the scene construction module 440 is configured to:
and arranging and combining the plurality of scene conditions to be constructed according to preset combination logic to construct and obtain a plurality of vehicle test scenes for testing the running performance of the automatic driving vehicle.
Further, the candidate scene conditions include at least one or more of geographic conditions, environmental conditions, road conditions, and driving situation conditions.
The device for constructing the test scene of the automatic driving vehicle, provided by the embodiment of the application, is used for acquiring system configuration parameters of a vehicle control system equipped for the automatic driving vehicle and a plurality of candidate scene conditions input by a user; determining at least one vehicle control deficiency present in the vehicle control system based on the system configuration parameters; determining a plurality of scene conditions to be constructed for constructing a vehicle test scene of the autonomous vehicle from the plurality of candidate scene conditions based on the at least one vehicle control deficiency; and constructing and obtaining a plurality of vehicle test scenes for testing the running performance of the automatic driving vehicle based on the plurality of scene conditions to be constructed. Therefore, a vehicle test scene suitable for testing the automatic driving vehicle can be constructed in a targeted manner according to the system configuration parameters of the automatic driving vehicle, and further, the vehicle test scene unsuitable for testing the automatic driving vehicle is avoided being constructed, so that a large amount of time is wasted on unnecessary vehicle test scenes, and the accuracy of a test result is improved.
Referring to fig. 6, fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure. As shown in fig. 6, the electronic device 600 includes a processor 610, a memory 620, and a bus 630.
The memory 620 stores machine-readable instructions executable by the processor 610, when the electronic device 600 runs, the processor 610 communicates with the memory 620 through the bus 630, and when the machine-readable instructions are executed by the processor 610, the steps of the method for constructing the test scenario of the autonomous vehicle in the embodiment of the method shown in fig. 1 and fig. 2 may be executed.
An embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method for constructing an automatic driving vehicle test scenario in the method embodiments shown in fig. 1 and fig. 2 may be executed.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of 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 of devices or units through some communication interfaces, and may be in an electrical, mechanical 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 network 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 application 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 functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer-readable storage medium executable by a processor. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including 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 application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present application, and are used for illustrating the technical solutions of the present application, but not limiting the same, and the scope of the present application is not limited thereto, and although the present application is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope disclosed in the present application; such modifications, changes or substitutions do not depart from the spirit and scope of the exemplary embodiments of the present application, and are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A construction method of an automatic driving vehicle test scene is characterized by comprising the following steps:
acquiring system configuration parameters of a vehicle control system equipped for an automatic driving vehicle and a plurality of candidate scene conditions input by a user;
determining at least one vehicle control deficiency present in the vehicle control system based on the system configuration parameters;
determining a plurality of scene conditions to be constructed for constructing a vehicle test scene of the autonomous vehicle from the plurality of candidate scene conditions based on the at least one vehicle control deficiency;
and constructing and obtaining a plurality of vehicle test scenes for testing the running performance of the automatic driving vehicle based on the plurality of scene conditions to be constructed.
2. The build method of claim 1, wherein after the building results in a plurality of vehicle test scenarios for testing the driving performance of the autonomous vehicle, the build method further comprises:
obtaining expected driving parameters of the autonomous vehicle;
for each vehicle test scene, testing the running performance of the automatic driving vehicle in the vehicle test scene, and determining the test running parameters of the automatic driving vehicle in the vehicle test scene;
and determining the safety level of the automatic driving vehicle under the vehicle test scene based on the expected running parameters and the test running parameters.
3. The method of constructing as claimed in claim 1, wherein said determining a plurality of scene conditions to be constructed for constructing a test scene of the autonomous vehicle from the plurality of candidate scene conditions based on the at least one vehicle control deficiency comprises:
determining candidate scene conditions under which the autonomous vehicle is not drivable based on the at least one vehicle control deficiency;
and eliminating the candidate scene conditions which cannot run from the candidate scene conditions to obtain a plurality of scene conditions to be constructed for constructing the test scene of the automatic driving vehicle.
4. The construction method according to claim 1, wherein constructing a plurality of vehicle test scenarios for testing the driving performance of the autonomous vehicle based on the plurality of scene conditions to be constructed comprises:
and arranging and combining the plurality of scene conditions to be constructed according to preset combination logic to construct and obtain a plurality of vehicle test scenes for testing the running performance of the automatic driving vehicle.
5. The construction method according to claim 1, wherein the candidate scene conditions include at least one or more of geographical conditions, environmental conditions, road conditions, and driving situation conditions.
6. An apparatus for constructing a test scenario for an autonomous vehicle, the apparatus comprising:
the system comprises a parameter acquisition module, a parameter selection module and a parameter selection module, wherein the parameter acquisition module is used for acquiring system configuration parameters of a vehicle control system equipped for an automatic driving vehicle and a plurality of candidate scene conditions input by a user;
a defect determination module for determining at least one vehicle control defect present in the vehicle control system based on the system configuration parameters;
a condition screening module for determining a plurality of scene conditions to be constructed for constructing a vehicle test scene of the autonomous vehicle from the plurality of candidate scene conditions based on the at least one vehicle control defect;
and the scene construction module is used for constructing and obtaining a plurality of vehicle test scenes for testing the running performance of the automatic driving vehicle based on the plurality of scene conditions to be constructed.
7. The build device of claim 6, further comprising a vehicle testing module to:
obtaining expected driving parameters of the autonomous vehicle;
for each vehicle test scene, testing the running performance of the automatic driving vehicle in the vehicle test scene, and determining the test running parameters of the automatic driving vehicle in the vehicle test scene;
and determining the safety level of the automatic driving vehicle under the vehicle test scene based on the expected running parameters and the test running parameters.
8. The building apparatus of claim 6, wherein the condition screening module, when configured to determine a plurality of scene conditions to be built for building a vehicle test scene of the autonomous vehicle from the plurality of candidate scene conditions based on the at least one vehicle control deficiency, is configured to:
determining candidate scene conditions under which the autonomous vehicle is not drivable based on the at least one vehicle control deficiency;
and eliminating the candidate scene conditions which cannot run from the candidate scene conditions to obtain a plurality of scene conditions to be constructed for constructing the test scene of the automatic driving vehicle.
9. An electronic device, comprising: a processor, a memory and a bus, the memory storing machine readable instructions executable by the processor, the processor and the memory communicating over the bus when the electronic device is running, the machine readable instructions when executed by the processor performing the steps of the method of constructing an autopilot vehicle test scenario of any of claims 1-5.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when being executed by a processor, carries out the steps of the method of constructing an autonomous vehicle test scenario of any of claims 1 to 5.
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