CN114217539B - Simulation test method and device for automatic driving function, vehicle and storage medium - Google Patents
Simulation test method and device for automatic driving function, vehicle and storage medium Download PDFInfo
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- CN114217539B CN114217539B CN202111274756.1A CN202111274756A CN114217539B CN 114217539 B CN114217539 B CN 114217539B CN 202111274756 A CN202111274756 A CN 202111274756A CN 114217539 B CN114217539 B CN 114217539B
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract
The application discloses a simulation test method and device for an automatic driving function, a vehicle and a storage medium, wherein the method comprises the following steps: collecting real scene data around a vehicle when a tester drives the test vehicle; performing test environment simulation according to the real scene data to generate a simulation test environment; and controlling the test vehicle to perform simulation test of the automatic driving function in a simulation test environment, and generating an automatic driving performance curve according to simulation test data. Therefore, the problems of poor test accuracy and high cost when an automatic driving function is tested by adopting a simulation system in the related technology are solved; and the safety is poor and the test efficiency is low when the automatic driving real lane road test is adopted.
Description
Technical Field
The present application relates to the field of autopilot technologies, and in particular, to a method and apparatus for simulating and testing autopilot functions, a vehicle, and a storage medium.
Background
The automatic driving system such as advanced driving auxiliary system (ADVANCED DRIVING ASSISTANCE SYSTEM, ADAS) and L3 and above grade automatic driving system uses various sensors (such as millimeter wave radar, laser radar, single/binocular camera and satellite navigation) installed on the vehicle to sense surrounding environment at any time in the running process of the vehicle, collect data, identify, detect and track static and dynamic objects, and combine navigation map data to perform systematic operation and analysis, thereby enabling the driver to perceive possible danger in advance, effectively increasing the comfort and safety of the driving of the vehicle and reducing the labor intensity.
The autopilot system is an important technology in the field of active safety, and is particularly important for testing the function and failure safety of the autopilot system. In the related art, an SIL or MILs simulation system is generally used for testing an autopilot system, or an autopilot real vehicle is used for road testing. However, perfect scene data in simulation of a simulation system cannot reflect the change of a real scene, so that the accuracy of the test is greatly reduced, meanwhile, the simulation system is complicated to build and high in cost, and the cost of the test is increased; and the automatic driving real lane road test efficiency is lower, and the danger coefficient is higher.
Disclosure of Invention
The application provides a simulation test method, a device, a vehicle and a storage medium for an automatic driving function, which are used for solving the problems of poor test accuracy and high cost when a simulation system is adopted to test the automatic driving function in the related technology; and the safety is poor and the test efficiency is low when the automatic driving real lane road test is adopted.
An embodiment of a first aspect of the present application provides a simulation test method for an autopilot function, including the steps of: collecting real scene data around a vehicle when a tester drives the test vehicle; performing test environment simulation according to the real scene data to generate a simulation test environment; and controlling the test vehicle to carry out simulation test of the automatic driving function in the simulation test environment, and generating an automatic driving performance curve according to simulation test data.
Further, generating an autopilot performance curve from the simulated test data includes: collecting automatic perception data when the test vehicle carries out simulation test of an automatic driving function, automatic decision instruction data generated according to the automatic perception data, and control data when the test vehicle is controlled according to the automatic decision instruction data; and performing high-order processing on the automatic perception data, the automatic decision instruction data and the control data, and generating an automatic driving performance curve according to the processed data.
Further, performing test environment simulation according to the real scene data to generate a simulation test environment, including: simulating a road environment and an automatic driving scene according to the real scene data; and generating a simulation test environment according to the road environment and the automatic driving scene.
Further, the method further comprises the following steps: and generating a test report of the automatic driving function according to the automatic driving performance curve.
Further, when collecting real scene data around the vehicle when the test person drives the test vehicle, the method further comprises: collecting manual driving data when a tester drives a test vehicle; generating a test report of the autopilot function according to the autopilot performance curve, comprising: generating a manual driving performance curve of the test vehicle according to the manual driving data; and calculating the similarity between the manual driving performance curve and the automatic driving performance curve, determining the evaluation level of the automatic driving function according to the similarity, and generating a test report corresponding to the evaluation level.
An embodiment of a second aspect of the present application provides a simulation test apparatus for an autopilot function, including: the acquisition module is used for acquiring real scene data around the vehicle when the tester drives the test vehicle; the simulation module is used for carrying out test environment simulation according to the real scene data to generate a simulation test environment; the test module is used for controlling the test vehicle to carry out the simulation test of the automatic driving function in the simulation test environment and generating an automatic driving performance curve according to the simulation test data.
Further, the test module is further used for collecting automatic perception data when the test vehicle performs simulation test of an automatic driving function, automatic decision instruction data generated according to the automatic perception data and control data when the test vehicle is controlled according to the automatic decision instruction data; and performing high-order processing on the automatic perception data, the automatic decision instruction data and the control data, and generating an automatic driving performance curve according to the processed data.
Further, the simulation module is further used for simulating a road environment and an automatic driving scene according to the real scene data; and generating a simulation test environment according to the road environment and the automatic driving scene.
Further, the method further comprises the following steps: the generating module is used for generating a test report of the automatic driving function according to the automatic driving performance curve; the acquisition module is further used for acquiring manual driving data when the tester drives the test vehicle when acquiring real scene data around the test vehicle; the generation module is further used for generating a manual driving performance curve of the test vehicle according to the manual driving data; and calculating the similarity between the manual driving performance curve and the automatic driving performance curve, determining the evaluation level of the automatic driving function according to the similarity, and generating a test report corresponding to the evaluation level.
An embodiment of a third aspect of the present application provides a vehicle including: the simulation test method for the automatic driving function comprises a memory, a processor and a computer program which is stored in the memory and can run on the processor, wherein the processor executes the program to realize the simulation test method for the automatic driving function.
An embodiment of a fourth aspect of the present application provides a computer-readable storage medium having stored thereon a computer program that is executed by a processor for implementing the simulation test method of an autopilot function described in the above embodiment.
Therefore, the application has at least the following beneficial effects:
The method has the advantages that the acquired real scene data are utilized to realize the whole-vehicle on-loop simulation of the automatic driving vehicle, the real scene data can solve the problem of scene authenticity, meanwhile, the problem of incomplete scene design and long time consumption are solved through manual driving scene data acquisition, and the problem of simulation errors is solved through whole-vehicle on-loop test, so that the advantages of simulation test and real-vehicle test of a simulation system can be considered, the accuracy, safety and efficiency of the test are effectively improved, and the test cost is effectively reduced. Therefore, the problems of poor test accuracy and high cost when an automatic driving function is tested by adopting a simulation system in the related technology are solved; and the safety is poor and the test efficiency is low when the automatic driving real lane road test is adopted.
Additional aspects and advantages of the application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the application.
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The foregoing and/or additional aspects and advantages of the application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
FIG. 1 is a flow chart of a simulation test method for an autopilot function according to an embodiment of the present application;
FIG. 2 is an exemplary diagram of a simulation test apparatus of an autopilot function in accordance with an embodiment of the present application;
fig. 3 is a schematic structural diagram of a vehicle according to an embodiment of the present application.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present application and should not be construed as limiting the application.
Regarding simulation of an automatic driving vehicle, a SIL, MIL, HIL part in-loop simulation system is adopted at present; the performance evaluation of the automatic driving system is mainly carried out by using the real vehicle test evaluation of the closed field. The existing SIL and MIL simulation systems can only simulate partial software modules, cannot perform overall evaluation on the system, meanwhile, the simulated perfect scene data cannot reflect the change of a real scene, the HIL simulation system is complex to build and high in cost, and cannot reflect the change of the real scene.
Therefore, the embodiment of the application provides a simulation test method, a device, a vehicle and a storage medium for an automatic driving function, and the simulation test method, the device, the vehicle and the storage medium for the automatic driving function are described below with reference to the accompanying drawings. When the simulation system is adopted to test the automatic driving function in the related technology mentioned by the background technology center, the testing accuracy is poor and the cost is high; the application provides a simulation test method of an automatic driving function, which adopts the problems of poor safety and low test efficiency when an automatic driving real lane test is adopted, in the method, the acquired real scene data is utilized to realize the full vehicle on-loop simulation of the automatic driving vehicle, the real scene data can solve the problem of scene authenticity, meanwhile, the problem of incomplete scene design and long time consumption is solved through the manual driving scene data acquisition, and the problem of simulation error is solved by the full vehicle on-loop test, so that the advantages of simulation test and real vehicle test of a simulation system can be taken into account, the accuracy, the safety and the efficiency of the test are effectively improved, and the test cost is effectively reduced. Therefore, the problems of poor test accuracy and high cost when an automatic driving function is tested by adopting a simulation system in the related technology are solved; and the safety is poor and the test efficiency is low when the automatic driving real lane road test is adopted.
Specifically, fig. 1 is a flow chart of a simulation test method for an autopilot function according to an embodiment of the present application.
As shown in fig. 1, the simulation test method of the autopilot function comprises the following steps:
In step S101, real scene data around the vehicle when the test person drives the test vehicle is acquired.
It can be understood that the embodiment of the application can adopt a manual driving scene mode to collect data, unify the storage format of scene data, and solve the problems of incomplete scene design and long time consumption by adopting the manual driving scene to collect data.
Specifically, the data collection is performed on the selected road section in a manual driving mode, and is performed through an automatic driving system sensor, at the moment, the automatic driving system does not control the vehicle, and the manual driving scene can be driven under the scene defined by the automatic driving system, such as an L2 expressway, an L4 urban road section and the like.
The embodiment of the application can realize automatic acquisition of the real scene data through the sensor arranged on the test vehicle, and the sensor configuration for acquiring the real scene data is larger than or equal to the sensor configuration for acquiring the data during the loop simulation test.
In step S102, a test environment simulation is performed according to the real scene data, and a simulation test environment is generated.
It can be understood that the real scene data are injected into the automatic driving controller system, the whole vehicle distributed network architecture is designed to carry out data communication, and the test environment simulation is carried out, so that the problem of data delay can be effectively avoided, and meanwhile, the problem of scene authenticity is solved by injecting the acquired real scene data into the control system of the vehicle.
In this embodiment, performing test environment simulation according to real scene data to generate a simulation test environment includes: simulating a road environment and an automatic driving scene according to the real scene data; and generating a simulation test environment according to the road environment and the automatic driving scene.
It can be understood that the road simulation control system can simulate the road and simulate the driving environment through the driving scene simulation control system, and the road simulation control system can perform real-time control according to the collected data so as to simulate the gradient, curvature, attachment coefficient and the like of the road. Wherein, the automatic driving scene refers to objects, pedestrians, vehicles and the like involved in the automatic driving process.
In step S103, the test vehicle is controlled to perform a simulation test of the autopilot function in the simulation test environment, and an autopilot performance curve is generated according to the simulation test data.
The automatic driving performance curve is used for representing the advantages and disadvantages of the automatic driving performance, and can be used for evaluating the performance of the whole vehicle.
It can be understood that the embodiment of the application tests the automatic driving function through the whole vehicle on-loop simulation, which is a mode of directly connecting the vehicle on the control link for simulation without simulating the vehicle through software, and can accelerate the iteration speed of the automatic driving algorithm.
In this embodiment, generating the autopilot performance curve from the simulation test data includes: collecting automatic perception data when a test vehicle carries out simulation test of an automatic driving function, automatic decision instruction data generated according to the automatic perception data, and control data when the test vehicle is controlled according to the automatic decision instruction data; and performing high-order processing on the automatic perception data, the automatic decision instruction data and the control data, and generating an automatic driving performance curve according to the processed data.
It will be appreciated that after the actual scene data is injected into the autopilot controller system, the autopilot controller system may make autonomous decisions and vehicle control via the injected scene data, wherein the autopilot controller system includes a sensing, decision and control system and collects the sensing, decision and control data while performing higher order processing on the corresponding data to generate an autopilot performance curve.
As one implementation, after sensing, decision and control data is collected, the data may be processed higher-order using processing software and an autopilot performance curve automatically generated after processing.
In this embodiment, a test report of the autopilot function is generated from the autopilot performance curve.
It can be understood that the embodiment of the application can evaluate the automatic driving performance curve through the display control system, display the generated test report, and simultaneously, the display control system can also display the collected data and the overall data of the scene data of the automatic driving vehicle and can be used for system monitoring.
In this embodiment, when collecting real scene data around a vehicle when a tester drives the test vehicle, the method further includes: collecting manual driving data when a tester drives a test vehicle; generating a test report of the autopilot function according to the autopilot performance curve, comprising: generating a manual driving performance curve of the test vehicle according to the manual driving data; and calculating the similarity between the manual driving performance curve and the automatic driving performance curve, determining the evaluation level of the automatic driving function according to the similarity, and generating a test report corresponding to the evaluation level.
It can be understood that the embodiment of the application can evaluate the performance of the automatic driving function by comparing the manual driving data acquired by the real scene data with the control data of the automatic driving system of the whole vehicle in the ring simulation.
According to the simulation test method for the automatic driving function, provided by the embodiment of the application, the full-vehicle on-loop simulation of the automatic driving vehicle is realized by utilizing the collected real scene data, the real scene data can solve the problem of scene authenticity, meanwhile, the problem of incomplete scene design and long time consumption is solved by manually collecting the scene data, and the problem of simulation error is solved by the full-vehicle on-loop test, so that the advantages of simulation test and real vehicle test of a simulation system can be considered, the accuracy, the safety and the efficiency of the test are effectively improved, and the test cost is effectively reduced.
Next, a simulation test apparatus for an autopilot function according to an embodiment of the present application will be described with reference to the accompanying drawings.
Fig. 2 is a block diagram of a simulation test apparatus for an autopilot function according to an embodiment of the present application.
As shown in fig. 2, the simulation test apparatus 10 for an autopilot function includes: an acquisition module 100, a simulation module 200 and a test module 300.
The acquisition module 100 is used for acquiring real scene data around a vehicle when a tester drives the test vehicle; the simulation module 200 is used for performing test environment simulation according to the real scene data to generate a simulation test environment; the test module 300 is used for controlling the test vehicle to perform the simulation test of the automatic driving function in the simulation test environment, and generating an automatic driving performance curve according to the simulation test data.
Further, the test module 300 is further configured to collect automatic sensing data when the test vehicle performs a simulation test of an automatic driving function, automatic decision instruction data generated according to the automatic sensing data, and control data when the test vehicle is controlled according to the automatic decision instruction data; and performing high-order processing on the automatic perception data, the automatic decision instruction data and the control data, and generating an automatic driving performance curve according to the processed data.
Further, the simulation module 200 is further configured to simulate a road environment and an automatic driving scene according to the real scene data; and generating a simulation test environment according to the road environment and the automatic driving scene.
Further, the method further comprises the following steps: the generating module is used for generating a test report of the automatic driving function according to the automatic driving performance curve; the acquisition module 100 is further configured to acquire manual driving data when the tester drives the test vehicle when acquiring real scene data around the test vehicle when the tester drives the test vehicle; the generation module is further used for generating a manual driving performance curve of the test vehicle according to the manual driving data; and calculating the similarity between the manual driving performance curve and the automatic driving performance curve, determining the evaluation level of the automatic driving function according to the similarity, and generating a test report corresponding to the evaluation level.
It should be noted that the foregoing explanation of the embodiment of the method for simulating and testing an autopilot function is also applicable to the simulation test device for an autopilot function of this embodiment, and will not be repeated here.
According to the simulation test device for the automatic driving function, provided by the embodiment of the application, the full-vehicle on-loop simulation of the automatic driving vehicle is realized by utilizing the collected real scene data, the real scene data can solve the problem of scene authenticity, meanwhile, the problem of incomplete scene design and long time consumption is solved by manually collecting the scene data, and the problem of simulation error is solved by the full-vehicle on-loop test, so that the advantages of simulation test and real vehicle test of a simulation system can be considered, the accuracy, the safety and the efficiency of the test are effectively improved, and the test cost is effectively reduced.
Fig. 3 is a schematic structural diagram of a vehicle according to an embodiment of the present application. The vehicle may include:
Memory 401, processor 402, and a computer program stored on memory 401 and executable on processor 402.
The processor 402 implements the simulation test method of the autopilot function provided in the above embodiment when executing the program.
Further, the vehicle further includes:
a communication interface 403 for communication between the memory 401 and the processor 402.
A memory 401 for storing a computer program executable on the processor 402.
Memory 401 may comprise high-speed RAM memory or may also include non-volatile memory (non-volatile memory), such as at least one disk memory.
If the memory 401, the processor 402, and the communication interface 403 are implemented independently, the communication interface 403, the memory 401, and the processor 402 may be connected to each other by a bus and perform communication with each other. The bus may be an industry standard architecture (Industry Standard Architecture, abbreviated ISA) bus, an external device interconnect (PERIPHERAL COMPONENT, abbreviated PCI) bus, or an extended industry standard architecture (Extended Industry Standard Architecture, abbreviated EISA) bus, among others. The buses may be divided into address buses, data buses, control buses, etc. For ease of illustration, only one thick line is shown in fig. 3, but not only one bus or one type of bus.
Alternatively, in a specific implementation, if the memory 401, the processor 402, and the communication interface 403 are integrated on a chip, the memory 401, the processor 402, and the communication interface 403 may perform communication with each other through internal interfaces.
Processor 402 may be a central processing unit (Central Processing Unit, abbreviated as CPU), or an Application SPECIFIC INTEGRATED Circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the application.
The embodiment of the application also provides a computer readable storage medium having stored thereon a computer program for execution by a processor for implementing the simulation test method of the autopilot function of the above embodiment.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, "N" means at least two, for example, two, three, etc., unless specifically defined otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more N executable instructions for implementing specific logical functions or steps of the process, and further implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present application.
It is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. As with the other embodiments, if implemented in hardware, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments.
Claims (4)
1. The simulation test method for the automatic driving function is characterized by comprising the following steps of:
collecting real scene data around a vehicle when a tester drives the test vehicle;
Performing test environment simulation according to the real scene data to generate a simulation test environment; and
Controlling the test vehicle to perform simulation test of an automatic driving function in the simulation test environment, and generating an automatic driving performance curve according to simulation test data;
Generating a test report of the automatic driving function according to the automatic driving performance curve;
The generating the autopilot performance curve according to the simulation test data includes:
collecting automatic perception data when the test vehicle carries out simulation test of an automatic driving function, automatic decision instruction data generated according to the automatic perception data, and control data when the test vehicle is controlled according to the automatic decision instruction data;
performing high-order processing on the automatic perception data, the automatic decision instruction data and the control data, and generating an automatic driving performance curve according to the processed data;
the step of simulating the test environment according to the real scene data to generate a simulation test environment comprises the following steps:
Simulating a road environment and an automatic driving scene according to the real scene data;
generating a simulation test environment according to the road environment and the automatic driving scene;
when collecting real scene data around the vehicle when the test person drives the test vehicle, the method further comprises the following steps:
Collecting manual driving data when a tester drives a test vehicle;
generating a test report of the autopilot function according to the autopilot performance curve, comprising:
Generating a manual driving performance curve of the test vehicle according to the manual driving data;
And calculating the similarity between the manual driving performance curve and the automatic driving performance curve, determining the evaluation level of the automatic driving function according to the similarity, and generating a test report corresponding to the evaluation level.
2. An automatic driving function simulation test device, comprising:
The acquisition module is used for acquiring real scene data around the vehicle when the tester drives the test vehicle;
The simulation module is used for carrying out test environment simulation according to the real scene data to generate a simulation test environment; and
The test module is used for controlling the test vehicle to carry out the simulation test of the automatic driving function in the simulation test environment and generating an automatic driving performance curve according to the simulation test data;
the generating module is used for generating a test report of the automatic driving function according to the automatic driving performance curve;
The test module is further used for collecting automatic perception data when the test vehicle carries out simulation test of an automatic driving function, automatic decision instruction data generated according to the automatic perception data and control data when the test vehicle is controlled according to the automatic decision instruction data; performing high-order processing on the automatic perception data, the automatic decision instruction data and the control data, and generating an automatic driving performance curve according to the processed data;
The simulation module is further used for simulating a road environment and an automatic driving scene according to the real scene data; generating a simulation test environment according to the road environment and the automatic driving scene;
The acquisition module is further used for acquiring manual driving data when the tester drives the test vehicle when acquiring real scene data around the test vehicle;
The generation module is further used for generating a manual driving performance curve of the test vehicle according to the manual driving data; and calculating the similarity between the manual driving performance curve and the automatic driving performance curve, determining the evaluation level of the automatic driving function according to the similarity, and generating a test report corresponding to the evaluation level.
3. A vehicle, characterized by comprising: a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the method of simulated testing of autopilot functionality of claim 1.
4. A computer-readable storage medium having stored thereon a computer program, characterized in that the program is executed by a processor for implementing a simulated test method of an autopilot function according to claim 1.
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| CN114217539A (en) | 2022-03-22 |
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