CN114734482B - Road recognition function test method, computer device and storage medium - Google Patents
Road recognition function test method, computer device and storage medium Download PDFInfo
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- CN114734482B CN114734482B CN202210355810.3A CN202210355810A CN114734482B CN 114734482 B CN114734482 B CN 114734482B CN 202210355810 A CN202210355810 A CN 202210355810A CN 114734482 B CN114734482 B CN 114734482B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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Abstract
The application relates to a method for testing a road identification function, computer equipment and a storage medium. The testing method is an automatic road identification function testing method, by using the method, the actual road scene can be automatically arranged through the control terminal and corresponding scene props (rails and obstacles) without intervention of testers, and the road identification function of the automatic mobile device can be automatically tested, so that the labor cost of the automatic mobile device testing is greatly saved, and the testing efficiency is improved.
Description
Technical Field
The present disclosure relates to the field of intelligent robots, and in particular, to a method for testing a road recognition function, a computer device, and a storage medium.
Background
Along with the development and research of each function of the intelligent robot, more and more intelligent robots are applied to various industries to replace the positions of people to perform various works, so that the development of the whole social and economic industry is greatly promoted. Before the robot is put into service, various functional tests need to be performed on the robot, wherein the testing of the navigation ability of the robot is particularly important.
The existing robot navigation capability test needs to find the actual road environment of the outfield and needs to modify the environment to a certain extent, such as using building blocks to enclose road width, curves and the like, so that higher test preparation cost is increased; the robot obstacle avoidance capability test needs to manually lay obstacles, even dynamic obstacles need to be simulated by a tester standing in the robot travel route, and the potential safety hazard to the tester is large.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a test method, a computer device, and a storage medium for a road recognition function that can improve test efficiency.
In a first aspect, an embodiment of the present application provides a method for testing a road identification function, including:
arranging an actual road scene according to a preset road design file; the road design file comprises design parameters of a plurality of tracks and design parameters of a plurality of barriers;
sending a test instruction to the automatic mobile device; the test instruction is used for indicating the automatic mobile device to start running in the actual road scene according to the received test instruction;
and receiving running information sent by the automatic mobile device when running in the actual road scene, and obtaining a test result according to the running information.
In one embodiment, the design parameters of the track include a location of the track; the design parameters of the obstacle comprise the initial position and the initial pose of the obstacle; the initial pose of the obstacle comprises a deflection angle of the obstacle, a folding angle of the obstacle and a telescopic length of the obstacle.
In one embodiment, the arranging the actual road scene according to the preset road design file includes:
embedding any one of the plurality of tracks on the ground in the actual road scene according to the position of the any one of the plurality of tracks;
and controlling any one of the plurality of obstacles to move to the initial position of the any one obstacle on the corresponding track, and controlling the any one obstacle to swing out the initial pose of the any one obstacle on the corresponding track.
In one embodiment, the obtaining the test result according to the driving information includes:
arranging static barriers and/or dynamic barriers in the actual road scene according to the driving information;
and acquiring running information generated when the automatic moving device passes through the static obstacle and/or the dynamic obstacle, and obtaining a test result according to the running information generated when the automatic moving device passes through the static obstacle and/or the dynamic obstacle.
In one embodiment, the disposing a static obstacle in the actual road scene according to the driving information includes:
extracting a navigation path planning chart generated after the automatic mobile device identifies the actual road scene from the driving information;
according to the navigation path planning diagram and a preset static obstacle test requirement, determining a set position and a set pose of each static obstacle in the actual road scene;
and controlling each static obstacle to move from the initial position of each static obstacle to the set position of each static obstacle, and adjusting the current pose of each obstacle to the set pose.
In one embodiment, the disposing a dynamic obstacle in the actual road scene according to the driving information includes:
extracting a navigation path planning chart generated after the automatic mobile device identifies the actual road scene from the running information and real-time running data of the robot;
determining a target point position reached by the automatic mobile device in advance according to the navigation path planning diagram;
determining the starting movement time of the dynamic obstacle according to the real-time driving data of the automatic moving device, the position of the target point position and the initial position of the dynamic obstacle;
And controlling the dynamic obstacle to move to the target point at the time point of the starting movement time, and adjusting the current pose of the dynamic obstacle to the set pose.
In one embodiment, the determining the starting movement time of the dynamic obstacle according to the real-time driving data of the automatic movement device, the position of the target point location and the initial position of the dynamic obstacle includes:
calculating according to the real-time position of the automatic moving device to obtain the residual distance from the automatic moving device to the target point position;
calculating to obtain the residual time of the automatic mobile device reaching the target point according to the real-time speed of the automatic mobile device and the residual distance;
determining the time required for the dynamic obstacle to move to the target point according to the position of the target point and the initial position of the dynamic obstacle;
and determining the starting movement time of the dynamic obstacle according to the residual time, the required time and the current time.
In one embodiment, the method further comprises:
and if the remaining time is less than or equal to the required time, re-acquiring the running information of the automatic mobile device, and returning to execute the step of arranging the dynamic obstacle in the actual road scene according to the re-acquired running information.
In a second aspect, an embodiment of the present application provides a computer device, including a memory and a processor, where the memory stores a computer program, and the processor implements the method described in the first aspect when executing the computer program.
In a third aspect, embodiments of the present application provide a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the method according to the first aspect.
According to the method for testing the road identification function, the computer equipment and the storage medium, the actual road scene is arranged according to the preset road design file, the test instruction is sent to the automatic mobile device, the running information sent by the automatic mobile device when the automatic mobile device runs in the actual road scene is received, and the test result is obtained according to the running information. The testing method is an automatic road identification function testing method, by using the method, the actual road scene can be automatically arranged through the control terminal and corresponding scene props (rails and obstacles) without intervention of testers, and the road identification function of the automatic mobile device can be automatically tested, so that the labor cost of testing the automatic mobile device is greatly saved, and the testing efficiency is improved.
Drawings
In order to more clearly illustrate the technical solutions of embodiments or conventional techniques of the present application, the drawings that are required to be used in the description of the embodiments or conventional techniques will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for different persons skilled in the art.
FIG. 1 is an application environment diagram of a method for testing road identification function provided by an embodiment;
FIG. 2 is a flow chart of a method for testing a road identification function according to an embodiment;
FIG. 3 is a schematic view of an obstacle according to one embodiment;
FIG. 4 is a schematic diagram of a road design diagram provided by an embodiment;
FIG. 5 is a flow chart illustrating the steps of one implementation of S101 in the embodiment of FIG. 2;
FIG. 6 is a flowchart illustrating steps of a method for testing obstacle avoidance capability according to an embodiment;
FIG. 7 is a flow chart illustrating the steps of one implementation of S301 in the embodiment of FIG. 6;
FIG. 8 is a flowchart illustrating steps of another implementation of S301 in the embodiment of FIG. 6;
FIG. 9 is a flow chart illustrating the steps of one implementation of S3015 in the embodiment of FIG. 8;
FIG. 10 is a flowchart of a method for testing a road identification function according to an embodiment;
FIG. 11 is a schematic diagram of a road recognition function test system according to an embodiment;
FIG. 12 is a schematic structural diagram of a road recognition function testing device according to an embodiment;
fig. 13 is a schematic structural diagram of a computer device according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
The existing navigation capability test methods of automatic mobile devices such as robots or automatic driving vehicles need to manually find out the actual road environment of the outfield arrangement, and the environment needs to be modified to a certain extent, for example, the road width, the curve and the like are manually enclosed by using building blocks, so that higher test cost is increased; according to the existing obstacle avoidance capability test method of the automatic mobile device, the obstacles are required to be paved manually, even dynamic obstacles are required to be simulated by a tester standing on a driving route of the automatic mobile device, so that the test preparation time is greatly prolonged, the labor cost is increased, and the risk to the tester is increased. Based on the above, the application provides an automatic road recognition function testing method, by which the automatic arrangement of actual road scenes can be realized by combining software and corresponding scene props without intervention of testers, and the navigation capability and obstacle avoidance capability of an automatic mobile device can be automatically tested. The following embodiment specifically describes a test method of the road recognition function.
The method for testing the road identification function provided in the embodiment of the present application may be applied to an application environment as shown in fig. 1, where the application environment includes a control terminal 102, an automatic mobile device 104 and a test road 106, where the automatic mobile device 104 may travel on the test road 106, various obstacles 108 are disposed on the test road 106, the control terminal 102 communicates with the automatic mobile device 104 through a network, and the control terminal 102 sends a test instruction to the automatic mobile device 104 to instruct the automatic mobile device 104 to start traveling on the test road 106, thereby completing the test of the navigation capability of the automatic mobile device 104. The control terminal 102 may be connected to the obstacle 108 by wired or wireless means, and the control terminal 102 sends a control instruction to the obstacle 108 to control the obstacle 108 to move to a corresponding position on the test road 106, so as to complete the test of the obstacle avoidance capability of the automatic mobile device 104. The control terminal 102 may be, but not limited to, various personal computers, notebook computers, smart phones, tablet computers, and portable wearable devices, and the control terminal 102 may also be a server. The automatic moving device 104 may be any device or apparatus having an automatic walking or running function, for example, the automatic moving device 104 may be a robot, an automatic driving vehicle, or the like.
It will be appreciated by those skilled in the art that the structure shown in fig. 1 is merely a block diagram of a portion of the structure associated with the present application and is not limiting of the application environment in which the present application is applied, and that a particular application environment may include more or fewer components than shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, as shown in fig. 2, a method for testing a road recognition function is provided, and the method is applied to the control terminal in fig. 1 for illustration, and includes the following steps:
s101, arranging an actual road scene according to a preset road design file.
The actual road scene is an actual place where the road recognition function of the automatic mobile device is required to be arranged. The road design file contains design parameters of a plurality of tracks and design parameters of a plurality of obstacles. The track is a track which can be embedded into the ground in an actual field, and can be a metal track or other types of tracks, which is not limited; the obstacle can be designed by adopting a structure shown in fig. 3, the center point of the obstacle (see the position of the cylinder in fig. 3) can be arranged on each track, the obstacle can rotate, and particularly can deflect a certain angle relative to the track, and the purpose of deflection is to adjust the inclination angle of the obstacle, so that the obstacles on adjacent tracks can be spliced to form the road guardrail; the barriers can be folded, particularly two ends of the barrier can be folded according to the center point of the barrier on the track, a certain angle is folded, and the purpose of folding is to form corners of a road; the barriers can stretch out and draw back, and specifically, the shortest length of the barrier half is equal to half of the interval between adjacent tracks, so that the barriers on the adjacent tracks can be spliced into the road guardrail; the longest length of the barrier half can reach 2 times of track interval, and the barrier is stretched when the barrier rotates at a large angle so as to ensure that the barriers on adjacent tracks are spliced into the road guardrail. The road design file further comprises a road design diagram, see the road design diagram shown in fig. 4, which can represent a theoretical design diagram of an actual road scene layout, wherein a horizontal line 1 is a track, objects 2 are obstacles (only two obstacles are marked as schematic in fig. 4), and the obstacles 2 on each track 1 are spliced to form guardrails on the road.
The design parameters of the track comprise the position of the track; the design parameters of the obstacle comprise the initial position and the initial pose of the obstacle; the initial pose of the obstacle comprises the deflection angle of the obstacle, the folding angle of the obstacle and the telescopic length of the obstacle. The position of the track refers to the position (longitude and latitude position, plane coordinate position, geographic position) of the track embedded in the ground in the actual road scene, and the initial position of the obstacle refers to the position of the obstacle arranged on the corresponding track when the obstacle is used for forming a road; the deflection angle of the obstacle refers to the deflection angle of the obstacle relative to the corresponding track when the obstacle is used to form a road; the folding angle of the obstacle refers to an angle formed by two ends of the obstacle relative to the center point of the obstacle when the obstacle is folded relative to the corresponding track when the obstacle is used for forming a road; the telescopic length of an obstacle refers to the telescopic length of the two halves of the obstacle relative to their corresponding tracks when the obstacle is used to make up a road.
In this embodiment, the control terminal may preset the deflection angle, the telescopic length, and the folding angle of the obstacles on each row of tracks, so that the obstacles on adjacent tracks may be joined to form a section of guardrail or form a road corner, and finally, the obstacles on all the tracks form a complete road shape. The control terminal draws the road shape according to the preset design parameters of the track and the design parameters of the obstacle, for example, the road shape shown in fig. 4 is the drawn road shape, then generates a road design file for storage, and then leads into the control terminal correspondingly. When the control terminal starts to arrange the actual road scene, the pre-stored road design file can be read, the design parameters of any track and the design parameters of any obstacle are read, and then the corresponding track and the obstacle can be arranged in one place according to the read design parameters of the track and the design parameters of the obstacle, so that the construction of the road in the actual road scene is completed, wherein any track and any obstacle are the tracks and the obstacles required for arranging the actual road scene. Optionally, when the control terminal starts to arrange the actual road scene, the pre-stored road design file can be read, the design parameters of all the tracks and the design parameters of the obstacles are read, and then the tracks and the obstacles can be arranged in a field according to the design parameters of the tracks and the design parameters of the obstacles, so that the construction of the road in the actual road scene is completed.
S102, sending a test instruction to the automatic mobile device.
The test instruction is used for indicating the automatic mobile device to start running or walking in the actual road scene according to the received test instruction. In this embodiment, after the control terminal automatically completes the arrangement of the actual road scene, the road recognition function of the automatic mobile device can be tested. The control terminal can be connected with the same network with the automatic mobile device so as to communicate with the automatic mobile device and transmit data through network communication, thereby controlling the automatic mobile device to move in an actual road scene. When the test is specifically performed, the control terminal can send a test instruction to the automatic moving device, the automatic moving device can identify the actual road scene when receiving the test instruction, and then a navigation path diagram is generated, and then the automatic moving device can drive in the actual road scene according to the instruction of the navigation path diagram.
And S103, receiving the running information sent by the automatic mobile device when running in the actual road scene, and obtaining a test result according to the running information.
The driving information comprises a navigation path diagram generated by the automatic mobile device and real-time driving data of the automatic mobile device, wherein the real-time driving data comprises a real-time position, a real-time speed and the like of the automatic mobile device.
When the automatic mobile device runs or walks in an actual road scene, the automatic mobile device can perform data interaction with the control terminal, namely, the automatic mobile device sends running information to the control terminal, and when the control terminal receives the running information, the ability of the automatic mobile device to identify the road can be further determined by analyzing the running information. For example, the control terminal may compare the navigation path map read from the travel information with the road design map in the road design file stored in the host computer, and if the navigation path map is substantially consistent with the road design map, it may determine that the navigation function of the automatic mobile device is initially free of problems, and at the same time, when the automatic mobile device travels on the road in the actual road scene according to the instruction of the navigation path map, the automatic mobile device may transmit real-time travel data to the control terminal, and the control terminal may generate the actual travel path of the automatic mobile device according to the real-time travel data, and compare the actual travel path of the automatic mobile device with the navigation path map, and if the actual travel path of the automatic mobile device is substantially consistent with the navigation path map, it is indicated that the navigation function of the automatic mobile device is completely free of problems, and the test of the navigation function of the automatic mobile device on the road recognition function may be completed. And after the control terminal determines the capability of the automatic mobile device for identifying the road according to the driving information, a test result can be obtained, wherein the test result comprises a result of whether the automatic mobile device has the function of identifying the road and/or a result of whether the automatic mobile device has the function of identifying the road.
According to the testing method, the actual road scene is arranged according to the preset road design file, the testing instruction is sent to the automatic mobile device, the running information sent by the automatic mobile device when running in the actual road scene is received, and the testing result is obtained according to the running information. The testing method is an automatic road identification function testing method, by using the method, the actual road scene can be automatically arranged through the control terminal and corresponding scene props (rails and obstacles) without intervention of testers, and the road identification function of the automatic mobile device can be automatically tested, so that the labor cost of the automatic mobile device testing is greatly saved, and the testing efficiency is improved.
In one embodiment, the present application provides a method for specifically arranging an actual road scene, that is, provides a specific implementation manner of S101, as shown in fig. 5, where the manner includes:
s201, any track is embedded on the ground in the actual road scene according to the position of any track in the plurality of tracks.
When the actual road scene is specifically arranged, the control terminal can read the design parameters of any track in the road design file, acquire the position of the track, and then embed the track in the corresponding position on the ground in the actual road scene. It should be noted that, a plurality of obstacles are installed on each row of the track, for example, two obstacles are installed on the track of the second row in fig. 4, the obstacle on each row of the track can be used as a road guardrail in the later stage, and can be used as a static obstacle or a dynamic obstacle, and as for the position of the obstacle on the track, after the obstacle is embedded into the track on the ground, each obstacle can be installed on any position on the track, so long as each obstacle is ensured to slide on the track. (only the obstacles constituting the road guardrail are shown in fig. 4, and other types of obstacles, such as static obstacles and dynamic obstacles, etc., may be mounted on the actual track, which are not shown in the figure).
S202, controlling any obstacle in the plurality of obstacles to move to the initial position of any obstacle on the corresponding track, and controlling any obstacle to swing out the initial pose of any obstacle on the corresponding track.
The initial position of any obstacle is the position required by the obstacle on the corresponding track when the road is formed, and the initial pose of any obstacle is the pose required on the corresponding track when the road is formed.
In this embodiment, the control terminal may be connected to any one of the multiple obstacles, that is, the control terminal may send a control signal to any one of the multiple obstacles to control movement of any one of the multiple obstacles, and accordingly, the control terminal may control the multiple obstacles to move at the same time point, may control the multiple obstacles to move at different time points respectively, and may also control the multiple obstacles to move sequentially at different time points. After the control terminal automatically completes the arrangement of the tracks in the actual road scene, as a plurality of obstacles are arranged on the tracks of each row, when the roads in the actual road scene are arranged according to the preset shape, the obstacles can be controlled to move to the initial positions of the obstacles on the corresponding tracks, and then the initial positions of the obstacles are controlled to swing out. Specifically, the control terminal may control the obstacle to be deflected to deflect a preset angle at the initial position, or control the obstacle to be folded to fold a preset angle at the initial position, or control the obstacle to be stretched to stretch a preset length at the initial position. The preset angle and the preset length are determined by design parameters of each obstacle in the road design file. When each obstacle is moved specifically, the obstacles can be moved along the track row by row, and when the movement of the obstacle on the last track is completed, the automatic arrangement of the road shape in the actual road scene is completed. According to the road guardrail, the automatic arrangement of the sites and the roads in the actual road scene is realized, manual intervention is not needed in the arrangement process of the roads to move the props to enclose the road guardrail, and the construction of the road guardrail is automatically completed in a mode of moving the obstacles on the track, so that the labor cost of road construction is greatly reduced, and the road construction efficiency is improved.
The practical road scene that utilizes the above-mentioned arrangement can also test the obstacle avoidance ability of automatic mobile device, and wherein, control terminal can carry out static obstacle avoidance ability test to automatic mobile device, also can carry out dynamic obstacle avoidance ability test to automatic mobile device. Based on this, the present application provides a method for testing obstacle avoidance capability, as shown in fig. 6, the method includes:
s301, static barriers and/or dynamic barriers are/is arranged in an actual road scene according to the driving information.
The control terminal can read a navigation path planning chart of the automatic moving device from the driving information, and determine the position where each static obstacle needs to be arranged by analyzing the navigation path planning chart, so that the automatic moving device can be ensured to be subjected to static obstacle avoidance capability test, namely when the automatic moving device runs at a corresponding point, the control terminal determines whether the automatic moving device can successfully avoid the static obstacle and completes the obstacle avoidance capability test on the static obstacle when encountering the set static obstacle; optionally, the control terminal may also determine the position where each dynamic obstacle needs to be disposed by analyzing the navigation path planning chart, and dynamically dispose the dynamic obstacle in the actual road scene in combination with the real-time dynamic position of the automatic mobile device, so as to ensure that the dynamic obstacle can reach the corresponding point in time when the automatic mobile device reaches the corresponding point, thereby testing the dynamic obstacle avoidance capability of the automatic mobile device.
S302, driving information generated when the automatic mobile device passes through the static obstacle and/or the dynamic obstacle is acquired, and a test result is obtained according to the driving information generated when the automatic mobile device passes through the static obstacle and/or the dynamic obstacle.
When the automatic mobile device encounters a set static obstacle and/or dynamic obstacle and executes corresponding operations, for example, driving around the obstacle or driving against the obstacle, and the like, in the process, the automatic mobile device sends current real-time driving data as driving information to the control terminal, the control terminal can determine the obstacle avoidance capability of the automatic mobile device according to the driving information, namely, a test result comprising the static obstacle avoidance capability and/or the dynamic obstacle avoidance capability is obtained, optionally, the test result obtained after the test or related data can be recorded in a test report, for example, the result of determining whether the automatic mobile device has the static obstacle avoidance capability and/or the dynamic obstacle avoidance capability is recorded in the test report; for another example, the level of obstacle avoidance capability of the mobile device is recorded in the test report.
Further, there is provided a specific method for disposing a static obstacle, as shown in fig. 7, S301 "disposing a static obstacle in an actual road scene according to driving information", including:
S3010, extracting a navigation path planning chart generated after the automatic mobile device identifies the actual road scene from the running information.
When the automatic mobile device receives the test instruction and starts to run on the actual road scene, the actual road scene can be identified first, and a navigation path planning chart is automatically generated according to a corresponding navigation algorithm or a map construction algorithm so as to run according to the indication of the navigation path planning chart.
S3012, determining the set position and the set pose of each static obstacle in an actual road scene according to the navigation path planning diagram and the preset static obstacle test requirement.
The static obstacle test requirement can be determined in advance by the control terminal according to the test requirement of the obstacle avoidance capability of the automatic mobile device. For example, the positions of static barriers need to be set, the number of static barriers need to be set, and the positions of static barriers on each point need to be set.
In this embodiment, when the control terminal obtains the navigation path planning chart and the static obstacle test requirement of the automatic mobile device, the control terminal can determine, according to the static obstacle test requirement, which of the obstacles on the tracks in the actual road scene can be used as the static obstacle, and the set positions and the set poses of the static obstacle on the corresponding tracks respectively in combination with the position of the road in the navigation path planning chart and the position of the road in the actual road scene.
S3014, controlling each static obstacle to move from the initial position of each static obstacle to the set position of each static obstacle, and adjusting the current pose of each obstacle to the set pose.
When the control terminal determines the set position and the set pose of each static obstacle on the corresponding track, a control signal can be further sent to each obstacle to control each static obstacle to move from the initial position to the set position, and deflect, fold or stretch at the set position, so that the obstacle is adjusted to the set pose from the current pose, and finally the layout of the static obstacle is completed at the position where the static obstacle needs to be set on the road. The static obstacle may be an obstacle constituting the road guardrail on the track, or may be an unnecessary obstacle pre-installed on the track. That is, when a static obstacle is arranged in an actual road scene, an obstacle constituting the road fence may be moved as a static obstacle, and an unnecessary obstacle may be moved as a static obstacle. When the barriers forming the road guardrail are moved to serve as static barriers, other redundant barriers can be further moved to supplement positions to form the road guardrail, so that the road is always a closed road. In addition, when the obstacle is used as a static obstacle, different props such as a dummy model, a false car model and the like can be installed on the obstacle so as to simulate the type of the obstacle in a real road.
Further, there is provided a specific method for disposing a dynamic obstacle, as shown in fig. 8, the step S301 of disposing a dynamic obstacle in the actual road scene according to the driving information includes:
s3011, extracting a navigation path planning chart generated after the automatic mobile device identifies the actual road scene from the running information, and real-time running data of the automatic mobile device.
When the automatic mobile device receives the test instruction to start running on the actual road scene, the actual road scene can be firstly identified, and a navigation path planning chart can be automatically generated according to a corresponding navigation algorithm or a map construction algorithm so as to be driven according to the instruction of the navigation path planning chart, and then the real-time driving data of the automatic mobile device can be used as driving information to be sent to the control terminal in the driving process, for example, the real-time position of the automatic mobile device, the real-time speed of the automatic mobile device and the like are sent to the control terminal.
S3013, determining the target point position pre-reached by the automatic mobile device according to the navigation path planning diagram.
When the control terminal obtains the navigation path planning diagram of the automatic mobile device, each target point position pre-reached by the automatic mobile device can be determined according to the road position in the navigation path planning diagram, and then each target point position can be matched by combining the road in the actual road scene so as to determine the position of each target point position in the actual road scene, namely the position of each target point position.
S3015, determining the starting movement time of the dynamic obstacle according to the real-time driving data of the automatic moving device, the position of the target point position and the initial position of the dynamic obstacle.
When the control terminal acquires the running information of the automatic mobile device, the real-time running data of the automatic mobile device can be extracted from the running information to determine the real-time position, the real-time speed and the like of the automatic mobile device. The control terminal may determine the position of the target point according to the step S3013, and determine the initial position of the dynamic obstacle according to the design parameters of the obstacle. Next, the start movement time of the dynamic barrier can be calculated from these parameters.
Specifically, the method shown in fig. 9 may be used to calculate the starting movement time of the dynamic barrier, where the method includes:
and S161, calculating the residual distance from the automatic moving device to the target point according to the real-time position of the automatic moving device.
And S162, calculating to obtain the residual time of the automatic mobile device reaching the target point according to the real-time speed and the residual distance of the automatic mobile device.
S163, determining the time required for the dynamic obstacle to move to the target point according to the position of the target point and the initial position of the dynamic obstacle.
S164, determining the starting movement time of the dynamic barrier according to the residual time, the required time and the current time.
The required time is smaller than the remaining time, so that the dynamic obstacle can be set to the target point in time before the automatic moving device reaches the target point, and the dynamic obstacle avoidance capability of the dynamic obstacle is tested. The dynamic obstacle may be an obstacle constituting a road guardrail on the track, or may be an unnecessary obstacle pre-installed on the track. That is, when a dynamic obstacle is arranged in an actual road scene, an obstacle constituting the road guardrail may be moved as a dynamic obstacle, and an unnecessary obstacle may be moved as a dynamic obstacle. When the barriers forming the road guardrail are moved to serve as dynamic barriers, other redundant barriers can be further moved to supplement positions to form the road guardrail, so that the road is always a closed road. In addition, when the obstacle is used as a dynamic obstacle, different props such as a dummy model, a false car model and the like can be installed on the obstacle so as to simulate the type of the obstacle in a real road.
It should be noted that, if the remaining time is less than or equal to the required time, it is noted that when the automatic moving device is about to travel to the target point, it is not enough to arrange the dynamic obstacle, or it is noted that the automatic moving device has passed the target point, in which case, it is necessary to rearrange the dynamic obstacle at the next point or randomly select a next point, that is, the control terminal performs step S103 in the embodiment of fig. 2, to reacquire the traveling information of the automatic moving device, and returns to perform step S301 in the embodiment of fig. 6 according to the reacquired traveling information. And arranging the dynamic obstacle in the actual road scene according to the driving information, namely realizing the arrangement of the dynamic obstacle in the actual road scene.
S3017, controlling the movement of the dynamic obstacle to the target point at the point in time when the movement time is started, and adjusting the current pose of the dynamic obstacle to the set pose.
The control terminal can determine the set position and the set pose of each dynamic obstacle in the actual road scene in advance according to the dynamic obstacle test requirement. The dynamic obstacle test requirement can be determined in advance by the control terminal according to the test requirement of the obstacle avoidance capability of the automatic mobile device. For example, the target point position of the dynamic barrier needs to be set, the number of the dynamic barriers needs to be set, and the pose of the dynamic barrier on each point position needs to be set.
When the control terminal determines the set position and the set pose of each dynamic barrier on the corresponding track, a control signal can be further sent to each dynamic barrier to control each dynamic barrier to move from the initial position of each dynamic barrier to the position of the target point location, deflect, fold or stretch at the position of the target point location, so that the set pose is set, and finally the layout of the dynamic barrier is completed at the target point location of the dynamic barrier to be set on the road. The dynamic obstacle may be an obstacle constituting a road guardrail on the track, or may be an unnecessary obstacle pre-installed on the track. That is, when a dynamic obstacle is arranged in an actual road scene, an obstacle constituting the road guardrail may be moved as a dynamic obstacle, and an unnecessary obstacle may be moved as a dynamic obstacle. When the barriers forming the road guardrail are moved to serve as dynamic barriers, other redundant barriers can be further moved to supplement positions to form the road guardrail, so that the road is always a closed road. In addition, when the obstacle is used as a dynamic obstacle, different props such as a dummy model, a false car model and the like can be installed on the obstacle so as to simulate the type of the obstacle in a real road. According to the embodiment, the emergency obstacle avoidance capability of the automatic moving device is tested, so that when the automatic moving device is about to reach the target point, the control terminal controls the movement of the dynamic obstacle according to the calculated starting movement time, and the dynamic obstacle is ensured to reach the target point in time. When the obstacle avoidance capability of the automatic mobile device is dynamically tested, the control terminal can sequentially and continuously set dynamic obstacles on different target points so as to test the continuous obstacle avoidance capability of the automatic mobile device, and for the automatic mobile device, the dynamic obstacles are randomly appeared, and the automatic mobile device can make corresponding actions according to the navigation and recognition functions of the automatic mobile device in an emergency, so that the obstacle avoidance capability of the automatic mobile device is reflected.
In summary, all the above embodiments provide a method for testing a road recognition function, as shown in fig. 10, the method includes:
s401, embedding each track on the ground in an actual road scene according to the position of each track in a preset road design file.
S402, controlling each obstacle to move to the initial position of each obstacle on the corresponding track, and controlling each obstacle to swing out the initial pose of each obstacle on the corresponding track.
S403, sending a test instruction to the automatic mobile device and receiving running information sent by the automatic mobile device when running in an actual road scene.
S404, obtaining a test result according to the driving information.
S405, entering a static obstacle avoidance capability test flow.
S406, extracting a navigation path planning chart generated after the automatic mobile device identifies the actual road scene from the driving information.
S407, determining the set position and the set pose of each static obstacle in the actual road scene according to the navigation path planning diagram and the preset static obstacle test requirement.
S408, controlling each static obstacle to move from the initial position of each static obstacle to the set position of each static obstacle, and controlling each static obstacle to swing out of the set pose.
S409, receiving the driving information generated when the static obstacle passes through in the actual road scene sent by the automatic mobile device, and obtaining the test result according to the driving information generated when the static obstacle passes through.
S410, entering a dynamic obstacle avoidance capability test flow.
S411 extracts, from the driving information, a navigation path planning map generated after the automatic moving device recognizes the actual road scene, and real-time driving data of the automatic moving device.
And S412, determining the target point position pre-reached by the automatic mobile device according to the navigation path planning diagram.
S413, determining the starting movement time of the dynamic obstacle according to the real-time driving data of the automatic moving device, the position of the target point position and the initial position of the dynamic obstacle.
And S414, controlling the dynamic barrier to move to the target point position at the time point of starting the movement time, and controlling the dynamic barrier to swing out of the set pose.
S415, receiving the driving information generated when the dynamic obstacle passes through the actual road scene sent by the automatic mobile device, and obtaining a test result according to the driving information generated when the dynamic obstacle passes through.
The above steps are all described in the foregoing, and the detailed description is referred to the foregoing description, which is not repeated here.
Based on the above-mentioned test method, the present application further provides a test system for road recognition function, as shown in fig. 11, the test system includes: an automatic moving device 104 (robot is used to represent the automatic moving device in the figure), a control terminal 102, a plurality of rails 106, and a plurality of obstacles 108; at least two obstacles 108 are mounted on each track 106, and the obstacles 108 can move back and forth on the track 106, deflect a certain angle relative to the track 106, fold a certain angle relative to the track 106, and stretch and retract the length relative to the track 106. The control terminal 102 may communicate and data interact with the automated mobile device 104 over a wireless network. The control terminal 102 is connected to the obstacle 108 by wired or wireless means, and can control the obstacle 108 to move, deflect, fold and telescope on the track 106 when the road shape is required to be arranged, so as to form a specific road shape for the automatic moving device 104 to travel on the road for testing the navigation function in the road recognition function. Correspondingly, when the obstacle avoidance capability of the automatic mobile device 104 needs to be tested, the control terminal 102 can control the obstacle 108 to move, deflect, fold and stretch on the track 106, so that a static obstacle or a dynamic obstacle is arranged in the road, and the automatic mobile device 104 can be used for testing the obstacle avoidance function in the road recognition function when driving on the road after the automatic mobile device 104. The specific navigation function test and the obstacle avoidance function test are described in the foregoing, and the detailed description is omitted herein.
It should be understood that, although the steps in the flowcharts in the figures are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the figures may include multiple sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor does the order in which the sub-steps or stages are performed necessarily performed in sequence, but may be performed alternately or alternately with at least a portion of other steps or other steps.
Referring to fig. 12, an embodiment of the present application provides a testing device for road identification function, the device includes:
an arrangement module 11, configured to arrange an actual road scene according to a preset road design file; the road design file comprises design parameters of a plurality of tracks and design parameters of a plurality of barriers;
a transmitting module 12 for transmitting a test instruction to the automatic moving device; the test instruction is used for indicating the automatic mobile device to start running in the actual road scene according to the received test instruction;
And the receiving module 13 is used for receiving the running information sent by the automatic mobile device when running in the actual road scene and obtaining a test result according to the running information.
For specific limitations of the above-described test device for road recognition function, reference may be made to the above-described limitations of the cable recognition method, and the description thereof will not be repeated here. The respective modules in the test device of the road recognition function may be implemented in whole or in part by software, hardware, and combinations thereof. The above devices, modules or units may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above devices or modules.
Referring to fig. 13, in one embodiment, a computer device is provided, which may be a server, and an internal structure thereof may be as shown in fig. 13. The computer device includes a processor, memory, network interface, and database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes non-volatile storage media, internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database of the computer device is used to store road design files and the like. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer device, when executed by the processor, implements a method of testing a road identification function.
It will be appreciated by those skilled in the art that the structure shown in fig. 13 is merely a block diagram of a portion of the structure associated with the present application and is not limiting of the computer device to which the present application applies, and that a particular computer device may include more or fewer components than shown, or may combine some of the components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory having a computer program stored therein and a processor, the processor when executing the computer program performing the steps of:
arranging an actual road scene according to a preset road design file; the road design file comprises design parameters of a plurality of tracks and design parameters of a plurality of barriers;
sending a test instruction to the automatic mobile device; the test instruction is used for indicating the automatic mobile device to start running in the actual road scene according to the received test instruction;
and receiving running information sent by the automatic mobile device when running in the actual road scene, and obtaining a test result according to the running information.
The computer device provided in the foregoing embodiments has similar implementation principles and technical effects to those of the foregoing method embodiments, and will not be described herein in detail.
In one embodiment, a computer readable storage medium is provided having a computer program stored thereon, which when executed by a processor, performs the steps of:
arranging an actual road scene according to a preset road design file; the road design file comprises design parameters of a plurality of tracks and design parameters of a plurality of barriers;
sending a test instruction to the automatic mobile device; the test instruction is used for indicating the automatic mobile device to start running in the actual road scene according to the received test instruction;
and receiving running information sent by the automatic mobile device when running in the actual road scene, and obtaining a test result according to the running information.
The foregoing embodiment provides a computer readable storage medium, which has similar principles and technical effects to those of the foregoing method embodiment, and will not be described herein.
In one embodiment, a computer program product is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
arranging an actual road scene according to a preset road design file; the road design file comprises design parameters of a plurality of tracks and design parameters of a plurality of barriers;
Sending a test instruction to the automatic mobile device; the test instruction is used for indicating the automatic mobile device to start running in the actual road scene according to the received test instruction;
and receiving running information sent by the automatic mobile device when running in the actual road scene, and obtaining a test result according to the running information.
The foregoing embodiment provides a computer program product, which has similar principles and technical effects to those of the foregoing method embodiment, and will not be described herein.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the various embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples only represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the present application. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.
Claims (10)
1. A method for testing a road recognition function, comprising:
arranging an actual road scene according to a preset road design file; the road design file comprises design parameters of a plurality of tracks and design parameters of a plurality of barriers; the design parameters of the track include the location of the track; the design parameters of the obstacle comprise the initial position and the initial pose of the obstacle; the initial pose of the obstacle comprises a deflection angle of the obstacle, a folding angle of the obstacle and a telescopic length of the obstacle;
Sending a test instruction to the automatic mobile device; the test instruction is used for indicating the automatic mobile device to start running in the actual road scene according to the received test instruction;
and receiving running information sent by the automatic mobile device when running in the actual road scene, and obtaining a test result according to the running information.
2. The test method of claim 1, wherein the travel information includes a navigation path map generated by the automatic mobile device and real-time travel data of the automatic mobile device.
3. The method according to claim 1, wherein the arranging the actual road scene according to the preset road design file comprises:
embedding any one of the plurality of tracks on the ground in the actual road scene according to the position of the any one of the plurality of tracks;
and controlling any one of the plurality of obstacles to move to the initial position of the any one obstacle on the corresponding track, and controlling the any one obstacle to swing out the initial pose of the any one obstacle on the corresponding track.
4. A test method according to any one of claims 1-3, wherein said obtaining a test result from said travel information comprises:
Arranging static barriers and/or dynamic barriers in the actual road scene according to the driving information;
and acquiring running information generated when the automatic moving device passes through the static obstacle and/or the dynamic obstacle, and obtaining a test result according to the running information generated when the automatic moving device passes through the static obstacle and/or the dynamic obstacle.
5. The test method according to claim 4, wherein the disposing of the static obstacle in the actual road scene according to the travel information includes:
extracting a navigation path planning chart generated after the automatic mobile device identifies the actual road scene from the driving information;
according to the navigation path planning diagram and a preset static obstacle test requirement, determining a set position and a set pose of each static obstacle in the actual road scene;
and controlling each static obstacle to move from the initial position of each static obstacle to the set position of each static obstacle, and adjusting the current pose of each obstacle to the set pose.
6. The test method according to claim 4, wherein the disposing a dynamic obstacle in the actual road scene according to the travel information comprises:
Extracting a navigation path planning chart generated after the automatic mobile device identifies the actual road scene from the running information, and real-time running data of the automatic mobile device;
determining a target point position reached by the automatic mobile device in advance according to the navigation path planning diagram;
determining the starting movement time of the dynamic obstacle according to the real-time driving data of the automatic moving device, the position of the target point position and the initial position of the dynamic obstacle;
and controlling the dynamic obstacle to move to the target point at the time point of the starting movement time, and adjusting the current pose of the dynamic obstacle to be a set pose.
7. The method according to claim 6, wherein the determining the starting movement time of the dynamic obstacle based on the real-time traveling data of the automatic moving device, the position of the target point location, and the initial position of the dynamic obstacle includes:
calculating according to the real-time position of the automatic moving device to obtain the residual distance from the automatic moving device to the target point position;
calculating to obtain the residual time of the automatic mobile device reaching the target point according to the real-time speed of the automatic mobile device and the residual distance;
Determining the time required for the dynamic obstacle to move to the target point according to the position of the target point and the initial position of the dynamic obstacle;
and determining the starting movement time of the dynamic obstacle according to the residual time, the required time and the current time.
8. The method of testing of claim 7, further comprising:
and if the remaining time is less than or equal to the required time, re-acquiring the running information of the automatic mobile device, and returning to execute the step of arranging the dynamic obstacle in the actual road scene according to the re-acquired running information.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any one of claims 1 to 8 when the computer program is executed.
10. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 8.
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