CN115016435A - Automatic driving vehicle test method, device, system, equipment and medium - Google Patents
Automatic driving vehicle test method, device, system, equipment and medium Download PDFInfo
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Abstract
The embodiment of the invention discloses a method, a device, equipment and a medium for testing an automatic driving vehicle, wherein the method comprises the following steps: sending an initial scene sensing signal and an initial scene video signal of a preset test scene to a target test vehicle comprising a driving assistance system, so that the driving assistance system generates a vehicle control decision according to the initial scene sensing signal and the initial scene video signal; acquiring the latest vehicle attitude information and vehicle positioning information of a target test vehicle after executing a vehicle control decision; updating a scene sensing signal and a scene video signal of a preset test scene according to the latest vehicle attitude information and the latest vehicle positioning information; and repeating all the steps until the synchronous test of the driving assistance system is completed based on the updated scene induction signal and the updated scene video signal. The technical scheme of the embodiment of the invention can completely restore the real scene and improve the accuracy of the simulation result.
Description
Technical Field
The embodiment of the invention relates to the technical field of automatic driving, in particular to a method, a device, equipment and a medium for testing an automatic driving vehicle.
Background
With the rise of the automatic driving level, whether the development of products or the performance test, a large amount of real vehicle test support is needed. The existing automatic driving vehicle testing method adopts a vehicle in-loop simulation testing method, but the existing in-loop simulation testing method only provides virtual induction data and does not completely restore a real scene, and the accuracy of a simulation result needs to be improved.
Disclosure of Invention
The embodiment of the invention provides a method, a device, equipment and a medium for testing an automatic driving vehicle, which can completely restore a real scene and improve the accuracy of a simulation result.
In a first aspect, an embodiment of the present invention provides an automatic driving vehicle testing method, where the method includes:
firstly, an initial scene induction signal and an initial scene video signal of a preset test scene are sent to a target test vehicle comprising a driving auxiliary system, so that the driving auxiliary system generates a vehicle control decision according to the initial scene induction signal and the initial scene video signal;
step two, obtaining the current latest vehicle attitude information and vehicle positioning information of the target test vehicle after executing the vehicle control decision;
updating the scene sensing signal and the scene video signal of the preset test scene according to the current latest vehicle attitude information and the current latest vehicle positioning information;
and repeating the first step, the second step and the third step based on the updated scene sensing signal and the updated scene video signal until the synchronous test of each driving control unit of the driving assistance system is completed.
In a second aspect, an embodiment of the present invention provides an autonomous vehicle testing apparatus, including:
the test scene issuing module is used for executing the first step, and sending an initial scene induction signal and an initial scene video signal of a preset test scene to a target test vehicle comprising a driving auxiliary system so that the driving auxiliary system generates a vehicle control decision according to the initial scene induction signal and the initial scene video signal;
the test feedback information acquisition module is used for executing the step two and acquiring the current latest vehicle attitude information and vehicle positioning information of the target test vehicle after executing the vehicle control decision;
and the test scene updating module is used for executing the third step, updating the scene sensing signal and the scene video signal of the preset test scene according to the current latest vehicle attitude information and the current latest vehicle positioning information, and sending the updated scene sensing signal and the updated scene video signal to the test scene issuing module so as to repeat the first step, the second step and the third step until the synchronous test of each driving control unit of the driving auxiliary system is completed.
In a third aspect, an embodiment of the present invention provides a vehicle automatic driving test system, including:
the system comprises a test scene simulation subsystem, a real-time simulation signal conversion subsystem, a real test vehicle and an ultrasonic signal simulation subsystem;
the test scene simulation subsystem is used for sending a video signal of a test scene to the real test vehicle and sending an induction signal of the test scene to the real-time simulation signal conversion subsystem;
the real-time simulation signal conversion subsystem is used for sending the induction signal to the real test vehicle and/or the ultrasonic signal simulation subsystem through a corresponding data communication port;
the ultrasonic signal simulation subsystem is used for carrying out ultrasonic signal simulation according to the acquired induction signal and sending a simulation result to the real test vehicle;
the real test vehicle is provided with driving auxiliary equipment which is used for forming a vehicle control signal according to the acquired video signal and the corresponding induction signal and executing a corresponding control instruction;
the test scene simulation subsystem is further used for acquiring vehicle attitude information and positioning information of the real test vehicle after the control instruction is executed, and updating the video signal and the induction signal of the test scene based on the vehicle attitude information and the positioning information.
In a fourth aspect, an embodiment of the present invention provides a computer device, where the computer device includes:
one or more processors;
a memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the automated driving vehicle testing method of any of the embodiments.
In a fifth aspect, embodiments of the present invention provide a computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, implements the autonomous vehicle testing method according to any of the embodiments.
According to the technical scheme provided by the embodiment of the invention, the initial scene sensing signal and the initial scene video signal of the preset test scene are sent to the target test vehicle comprising the driving assistance system, so that the driving assistance system generates a vehicle control decision according to the initial scene sensing signal and the initial scene video signal; then, obtaining the current latest vehicle attitude information and vehicle positioning information of the target test vehicle after executing the vehicle control decision; and finally, updating the scene sensing signal and the scene video signal of the preset test scene according to the current latest vehicle attitude information and the current latest vehicle positioning information, and forming a complete closed loop by continuously repeating the steps. The technical scheme of the embodiment of the invention can completely restore the real scene and improve the accuracy of the simulation result.
Drawings
FIG. 1 is a flow chart of a method for testing an autonomous vehicle according to an embodiment of the present invention;
FIG. 2 is a flow chart of a method for testing an autonomous vehicle according to a second embodiment of the present invention;
FIG. 3 is a schematic structural diagram of an automatic driving vehicle testing device according to a third embodiment of the present invention;
FIG. 4 is a flowchart illustrating operation of an automatic driving vehicle testing system according to a fourth embodiment of the present invention;
fig. 5 is a schematic structural diagram of a computer device according to a fifth embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example one
Fig. 1 is a flowchart of an automated driving vehicle testing method according to an embodiment of the present invention, where the embodiment of the present invention is applicable to an automated driving vehicle testing scenario, and the method may be executed by an automated driving vehicle testing apparatus, and the apparatus may be implemented by software and/or hardware.
As shown in fig. 1, the autonomous vehicle testing method includes the steps of:
s110, sending an initial scene induction signal and an initial scene video signal of a preset test scene to a target test vehicle comprising a driving assistance system, so that the driving assistance system generates a vehicle control decision according to the initial scene induction signal and the initial scene video signal.
The preset test scene represents a virtual test scene model for simulating the surrounding environment of the target test vehicle, the real situation of the surrounding environment of the target test vehicle can be reflected through the preset test scene, and the preset test scene comprises elements such as the virtual target test vehicle, other vehicles in the driving environment, roads, traffic facilities, meteorological conditions and the like; the initial scene sensing signals represent some sensing signals in a preset test scene under the initial condition, for example, the initial scene sensing signals include millimeter wave and ultrasonic wave signals, information such as relative speed, relative angle and relative distance with a front vehicle can be sensed through the millimeter wave signals, and information of the relative distance with the front vehicle can be mainly sensed through the ultrasonic wave signals; the initial scene video signal represents a dynamic video signal under a preset test scene under an initial condition, and the initial scene video signal can reflect the information of the preset test scene under the initial condition in a video form; the driving assistance system represents an assistance system capable of generating a vehicle control decision according to the received virtual simulation signal, and an Advanced Driver Assistance (ADAS) system is usually selected; the target test vehicle is a controlled vehicle, and it should be noted that the target test vehicle in the embodiment of the present invention is a real vehicle and is not a simulated virtual vehicle; the vehicle control decision represents an optimal control result obtained after comprehensively analyzing the received virtual simulation signal, for example, after an initial scene sensing signal and an initial scene video signal of a preset test scene are sent to a target test vehicle in the automatic driving test process, a corresponding sensor in the target test vehicle acquires a corresponding signal, the vehicle control analysis is carried out after the received virtual simulation signal is comprehensively analyzed, and a final vehicle control decision is determined.
And S120, obtaining the current latest vehicle posture information and vehicle positioning information of the target test vehicle after the vehicle control decision is executed.
The current latest vehicle attitude information and vehicle positioning information represent vehicle attitude information and vehicle positioning information of the target test vehicle after executing the vehicle control decision. The current latest vehicle attitude information comprises the current latest vehicle speed, vehicle steering angle and other information and can be obtained through the detection of a sensor, and the current latest vehicle positioning information can be obtained through the detection of a differential GPS and inertial navigation high-precision positioning combination.
And S130, updating the scene induction signal and the scene video signal of the preset test scene according to the current latest vehicle attitude information and the current latest vehicle positioning information.
The preset test scene can be updated in real time according to the current latest vehicle posture information and the current latest vehicle positioning information, and then the scene sensing signal and the scene video signal of the updated preset test scene can be correspondingly updated, so that the actual situation of the target test vehicle can be more accurately restored by updating the preset test scene.
And S140, repeating the S110, the S120 and the S130 until the synchronous test of each driving control unit of the driving assistance system is completed based on the updated scene induction signal and the updated scene video signal.
And continuously repeating S110, S120 and S130 until the scene test is determined to be completed, namely when a preset simulation end condition is reached, outputting a corresponding simulation test result through the simulation platform. The simulation ending condition may refer to a simulation purpose, for example, in an automatic emergency braking test process, when a position of a real target test vehicle and a position of a virtual target test vehicle in a simulation platform conflict, or a distance between two vehicles gets farther and farther, or when a simulation time reaches a preset time threshold, the simulation ending condition is triggered, and a corresponding simulation test result is output.
According to the technical scheme provided by the embodiment of the invention, the initial scene sensing signal and the initial scene video signal of the preset test scene are sent to the target test vehicle comprising the driving assistance system, so that the driving assistance system generates a vehicle control decision according to the initial scene sensing signal and the initial scene video signal; then, obtaining the current latest vehicle attitude information and vehicle positioning information of the target test vehicle after executing the vehicle control decision; and finally, updating the scene sensing signal and the scene video signal of the preset test scene according to the current latest vehicle attitude information and the current latest vehicle positioning information, and forming a complete closed loop by continuously repeating the steps. The technical scheme of the embodiment of the invention can completely restore the real scene and improve the accuracy of the simulation result.
Example two
Fig. 2 is a flowchart of an automated driving vehicle testing method according to a second embodiment of the present invention, where the second embodiment of the present invention is applicable to an automated driving vehicle testing scenario, and the present embodiment further illustrates how to send an initial scene sensing signal and an initial scene video signal of a preset testing scenario to a target testing vehicle including a driving assistance system based on the above embodiments.
As shown in fig. 2, the automated driving vehicle testing method includes the steps of:
s210, sending an initial scene sensing signal and an initial scene video signal of a preset test scene to a target test vehicle comprising a driving assistance system, so that the driving assistance system generates a vehicle control decision according to the initial scene sensing signal and the initial scene video signal.
The preset test scene comprises at least one scene of a natural driving scene, a dangerous working condition scene and a legal standard scene, the dangerous working condition scene represents a virtual scene which is simulated under the condition that all factors are not beneficial to the running of the target test vehicle, the automatic control driving condition of the vehicle under the extreme environment can be reflected under the scene, the legal standard scene represents a virtual scene which is simulated under the condition that all factors are beneficial to the running of the target test vehicle, the automatic control driving condition of the vehicle under the ideal environment can be reflected under the scene, the natural driving scene is between the dangerous working condition scene and the legal standard scene, the virtual scene which is simulated under the relative natural condition is represented, and the automatic control driving condition of the vehicle under the general environment can be truly reflected under the scene.
In an alternative embodiment, the method for transmitting an initial scene sensing signal and an initial scene video signal of a preset test scene to a target test vehicle including a driving assistance system includes: and converting data sensed by the millimeter wave radar in the sensing signals into corresponding millimeter wave radar signals through a preset real-time simulation signal conversion system, and sending the converted millimeter wave radar signals to the driving assistance system.
The data sensed by the millimeter wave radar represent the data sensed by the millimeter wave radar on the virtual target test vehicle in a preset test scene, and the data are virtual simulation data; the preset real-time simulation signal conversion system represents a system capable of converting virtual simulation data sensed by the virtual millimeter wave radar into millimeter wave radar signals, the millimeter wave radar signals can be converted into a millimeter wave radar target list through a millimeter wave radar target list model and then sent to the driving assistance system, and the millimeter wave radar target list can reflect information such as relative speed, relative angle and relative distance between the virtual target test vehicle and a vehicle in front.
In an alternative embodiment, the method for transmitting an initial scene sensing signal and an initial scene video signal of a preset test scene to a target test vehicle including a driving assistance system includes: and sending a signal sensed by the ultrasonic sensor in the sensing signal to the ultrasonic simulation system through the preset real-time simulation signal conversion system, and sending a simulation result of the ultrasonic simulation system to the driving assistance system.
The signal sensed by the ultrasonic sensor represents data sensed by the ultrasonic sensor on the virtual target test vehicle in a preset test scene, and the data is virtual simulation data; the preset real-time simulation signal conversion system represents a system capable of converting virtual simulation data sensed by the virtual ultrasonic sensor into ultrasonic signals, the converted ultrasonic signals are sent to the ultrasonic simulation system for simulation, the ultrasonic signals can be sent to the driving assistance system in the form of echo level information after simulation, and the driving assistance system can read information such as the relative distance between the virtual target test vehicle and the front vehicle according to the simulated echo level information.
In an alternative embodiment, the method for transmitting an initial scene sensing signal and an initial scene video signal of a preset test scene to a target test vehicle including a driving assistance system includes: and sending the scene video signal to a driving assistance system based on a low-voltage differential signal transmission protocol.
The low-voltage differential signal transmission protocol is a data transmission and interface technology, and has the characteristics of high data transmission rate, low power consumption, low bit error rate, low crosstalk, low radiation and the like. The scene video signal can be sent to the video injection device through a low-voltage differential signal transmission protocol, then the video injection device sends the initial scene video signal to the driving auxiliary system, and the driving auxiliary system generates a vehicle control decision according to the initial scene sensing signal and the initial scene video signal.
And S220, acquiring the current latest vehicle attitude information and vehicle positioning information through a preset real-time simulation signal conversion system.
The system comprises a differential GPS and an inertial navigation high-precision positioning combination, can be installed in a target test vehicle, and can acquire the latest vehicle attitude information and vehicle positioning information of the current target test vehicle.
And S230, updating the scene sensing signal and the scene video signal of the preset test scene according to the current latest vehicle attitude information and the current latest vehicle positioning information.
Details of this step are the same as S230 in the first embodiment, and are not described here.
And S240, repeating the S210, the S220 and the S320 based on the updated scene induction signal and the updated scene video signal until the synchronous test of each driving control unit of the driving assistance system is completed.
According to the technical scheme provided by the embodiment of the invention, the initial scene sensing signal and the initial scene video signal of the preset test scene are sent to the target test vehicle comprising the driving assistance system, so that the driving assistance system generates a vehicle control decision according to the initial scene sensing signal and the initial scene video signal; acquiring current latest vehicle attitude information and vehicle positioning information through a preset real-time simulation signal conversion system; updating a scene sensing signal and a scene video signal of a preset test scene according to the current latest vehicle attitude information and the current latest vehicle positioning information; and repeating S210, S220 and S320 based on the updated scene sensing signal and the updated scene video signal until the synchronous test of each driving control unit of the driving assistance system is completed. The technical scheme of the embodiment of the invention can completely restore the real scene and improve the accuracy of the simulation result.
EXAMPLE III
Fig. 3 is a schematic structural diagram of an automatic driving vehicle testing apparatus according to a third embodiment of the present invention, where the third embodiment of the present invention is applicable to an automatic driving vehicle testing scenario, and the apparatus may be implemented in a software and/or hardware manner and integrated in a computer device having an application development function.
As shown in fig. 3, the autonomous vehicle testing apparatus includes: a test scenario issuing module 310, a test feedback information obtaining module 320, and a test scenario updating module 330.
The test scene issuing module 310 is configured to execute the first step, and send an initial scene sensing signal and an initial scene video signal of a preset test scene to a target test vehicle including a driving assistance system, so that the driving assistance system generates a vehicle control decision according to the initial scene sensing signal and the initial scene video signal; the test feedback information acquisition module 320 is used for executing the step two and acquiring the current latest vehicle attitude information and vehicle positioning information of the target test vehicle after executing the vehicle control decision; and the test scene updating module 330 is configured to execute the third step, update the scene sensing signal and the scene video signal of the preset test scene according to the current latest vehicle attitude information and the current latest vehicle positioning information, and send the updated scene sensing signal and the updated scene video signal to the test scene issuing module, so as to repeat the first step, the second step, and the third step until the synchronous test of each driving control unit of the driving assistance system is completed.
According to the technical scheme provided by the embodiment of the invention, the initial scene sensing signal and the initial scene video signal of the preset test scene are sent to the target test vehicle comprising the driving assistance system, so that the driving assistance system generates a vehicle control decision according to the initial scene sensing signal and the initial scene video signal; then, obtaining the current latest vehicle attitude information and vehicle positioning information of the target test vehicle after executing the vehicle control decision; and finally, updating the scene sensing signal and the scene video signal of the preset test scene according to the current latest vehicle attitude information and the current latest vehicle positioning information to form a complete closed loop. By continuously repeating the steps, the technical scheme of the embodiment of the invention can completely restore the real scene and improve the accuracy of the simulation result.
In an optional implementation manner, the test scenario issuing module 310 is configured to: and converting data sensed by the millimeter wave radar in the sensing signals into corresponding millimeter wave radar signals through a preset real-time simulation signal conversion system, and sending the converted millimeter wave radar signals to the driving assistance system.
In an optional implementation manner, the test scenario issuing module 310 is further configured to: and sending a signal sensed by the ultrasonic sensor in the sensing signal to the ultrasonic simulation system through the preset real-time simulation signal conversion system, and sending a simulation result of the ultrasonic simulation system to the driving assistance system.
In an optional implementation manner, the test scenario issuing module 310 is further configured to: and sending the scene video signal to a driving assistance system based on a low voltage differential signal transmission protocol.
In an optional embodiment, after the target test vehicle executes the vehicle control decision, acquiring the current latest vehicle attitude information and vehicle positioning information comprises acquiring the current latest vehicle attitude information and vehicle positioning information through a preset real-time simulation signal conversion system.
In an optional embodiment, the presetting of the test scenario includes: at least one of a natural driving scene, a dangerous working condition scene and a legal regulation scene.
The automatic driving vehicle testing device provided by the embodiment of the invention can execute the automatic driving vehicle testing method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
Example four
The present embodiment provides a vehicle automatic driving test system, which includes: the system comprises a test scene simulation subsystem, a real-time simulation signal conversion subsystem, a real test vehicle and an ultrasonic signal simulation subsystem.
The test scene simulation subsystem is used for sending the video signal of the test scene to a real test vehicle and sending the induction signal of the test scene to the real-time simulation signal conversion subsystem; the real-time simulation signal conversion subsystem is used for sending the induction signals to the real test vehicle and/or the ultrasonic signal simulation subsystem through the corresponding data communication port; the ultrasonic signal simulation subsystem is used for carrying out ultrasonic signal simulation according to the acquired induction signal and sending a simulation result to a real test vehicle; the real test vehicle is provided with driving auxiliary equipment which is used for forming a vehicle control signal according to the obtained video signal and the corresponding induction signal and executing a corresponding control instruction;
the test scene simulation subsystem is also used for acquiring vehicle attitude information and positioning information of the real test vehicle after executing the control command, and updating the video signal and the induction signal of the test scene based on the vehicle attitude information and the positioning information.
Fig. 4 is a flowchart of an automated driving vehicle testing system according to a fourth embodiment of the present invention.
The 'graphic workstation' represents a test scene simulation subsystem, the 'RT system' represents a real-time simulation signal conversion subsystem, the 'real vehicle system' represents a real test vehicle, and the 'ultrasonic signal simulation system' represents an ultrasonic signal simulation subsystem.
As shown in the figure, the working process of the automatic driving vehicle testing system is as follows; firstly, on one hand, an initial scene video signal is injected into an ADAS domain control of a real vehicle system by a graphic workstation in a video injection mode, and on the other hand, an initial scene induction signal is sent to an RT system; then, the RT system converts millimeter wave radar signals in the initial scene sensing signals into a form of a millimeter wave radar target list through a millimeter wave radar target list model and sends the millimeter wave radar signals to ADAS domain control of the real vehicle system, and ultrasonic signals in the initial scene sensing signals are sent to the ultrasonic simulation system through the RT system to be simulated to obtain echo level information and sent to the ADAS domain control of the real vehicle system; next, the ADAS domain control of the real vehicle system generates a vehicle control decision according to the received initial scene video signal, the millimeter wave radar target list and the echo level information, and after the real vehicle system executes the vehicle control decision, the inertial navigation system of the real vehicle system returns the current latest vehicle attitude information and vehicle positioning information to the graphic workstation through the RT system; and finally, updating the scene induction signal and the scene video signal of the preset test scene by the graphic workstation according to the current latest vehicle attitude information and the current latest vehicle positioning information.
According to the technical scheme provided by the embodiment of the invention, the test scene simulation subsystem is used for injecting the initial scene video signal into the driving auxiliary equipment of the real test vehicle on one hand, and sending the initial scene sensing signal to the real-time simulation signal conversion subsystem on the other hand; then, the real-time simulation signal conversion subsystem converts the millimeter wave radar signal in the initial scene sensing signal, and then sends the converted millimeter wave radar signal to the driving auxiliary equipment of the real test vehicle, the ultrasonic simulation system simulates the ultrasonic signal, and the simulated ultrasonic signal is sent to the driving auxiliary equipment of the real test vehicle; secondly, the driving assistance of the real test vehicle generates a vehicle control decision according to the initial scene sensing signal and the initial scene video signal, and the real test vehicle returns the current latest vehicle attitude information and vehicle positioning information to the test scene simulation subsystem after executing the vehicle control decision; and finally, the test scene simulation subsystem updates the scene sensing signal and the scene video signal of the preset test scene according to the current latest vehicle attitude information and the current latest vehicle positioning information. By continuously repeating the steps, the technical scheme of the embodiment of the invention can enable the driving assistance system to continuously receive the latest scene induction signal and the latest scene video signal of the preset test scene after the last decision is executed, and synthesize the signals to obtain the next vehicle control decision, so as to complete the synchronous test of each driving control unit of the driving assistance system, thereby completely restoring the real scene and improving the accuracy of the simulation result.
EXAMPLE five
Fig. 5 is a schematic structural diagram of a computer device according to a fifth embodiment of the present invention. FIG. 5 illustrates a block diagram of an exemplary computer device 12 suitable for use in implementing embodiments of the present invention. The computer device 12 shown in FIG. 5 is only an example and should not bring any limitations to the functionality or scope of use of embodiments of the present invention. The computer device 12 may be any terminal device with computing capabilities that may be used in an autonomous vehicle detection device.
As shown in FIG. 5, computer device 12 is in the form of a general purpose computing device. The components of computer device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that couples various system components including the system memory 28 and the processing unit 16.
The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)30 and/or cache memory 32. The computer device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 5, and commonly referred to as a "hard drive"). Although not shown in FIG. 5, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. System memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in system memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 42 generally carry out the functions and/or methodologies of the described embodiments of the invention.
The processing unit 16 executes various functional applications and data processing by executing programs stored in the system memory 28, for example, implementing the automated driving vehicle testing method provided by the present embodiment, the method including:
firstly, an initial scene induction signal and an initial scene video signal of a preset test scene are sent to a target test vehicle comprising a driving auxiliary system, so that the driving auxiliary system generates a vehicle control decision according to the initial scene induction signal and the initial scene video signal;
step two, obtaining the current latest vehicle attitude information and vehicle positioning information of the target test vehicle after executing the vehicle control decision;
updating the scene sensing signal and the scene video signal of the preset test scene according to the current latest vehicle attitude information and the current latest vehicle positioning information;
and repeating the first step, the second step and the third step based on the updated scene sensing signal and the updated scene video signal until the synchronous test of each driving control unit of the driving assistance system is completed.
EXAMPLE six
The sixth embodiment provides a computer-readable storage medium, on which a computer program is stored, the program, when executed by a processor, implementing an autonomous vehicle testing method as provided in any embodiment of the invention, comprising:
firstly, an initial scene induction signal and an initial scene video signal of a preset test scene are sent to a target test vehicle comprising a driving auxiliary system, so that the driving auxiliary system generates a vehicle control decision according to the initial scene induction signal and the initial scene video signal;
step two, obtaining the current latest vehicle attitude information and vehicle positioning information of the target test vehicle after executing the vehicle control decision;
updating the scene sensing signal and the scene video signal of the preset test scene according to the current latest vehicle attitude information and the current latest vehicle positioning information;
and repeating the first step, the second step and the third step based on the updated scene sensing signal and the updated scene video signal until the synchronous test of each driving control unit of the driving assistance system is completed.
Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer-readable storage medium may be, for example but not limited to: an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, or the like, as well as conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It will be understood by those skilled in the art that the modules or steps of the invention described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of computing devices, and optionally they may be implemented by program code executable by a computing device, such that it may be stored in a memory device and executed by a computing device, or it may be separately fabricated into various integrated circuit modules, or it may be fabricated by fabricating a plurality of modules or steps thereof into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
It is to be noted that the foregoing description is only exemplary of the invention and that the principles of the technology may be employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments illustrated herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. An autonomous vehicle testing method, the method comprising:
firstly, an initial scene induction signal and an initial scene video signal of a preset test scene are sent to a target test vehicle comprising a driving auxiliary system, so that the driving auxiliary system generates a vehicle control decision according to the initial scene induction signal and the initial scene video signal;
step two, obtaining the current latest vehicle attitude information and vehicle positioning information of the target test vehicle after executing the vehicle control decision;
updating the scene sensing signal and the scene video signal of the preset test scene according to the current latest vehicle attitude information and the current latest vehicle positioning information;
and repeating the first step, the second step and the third step based on the updated scene sensing signal and the updated scene video signal until the synchronous test of each driving control unit of the driving assistance system is completed.
2. The method of claim 1, wherein the transmitting the initial scene sensing signal and the initial scene video signal of the preset test scene to the target test vehicle including the driving assistance system comprises:
and converting data sensed by the millimeter wave radar in the sensing signals into corresponding millimeter wave radar signals through a preset real-time simulation signal conversion system, and sending the converted millimeter wave radar signals to the driving assistance system.
3. The method of claim 1, wherein the transmitting the initial scene sensing signal and the initial scene video signal of the preset test scene to the target test vehicle including the driving assistance system comprises:
and sending a signal sensed by an ultrasonic sensor in the sensing signals to an ultrasonic simulation system through a preset real-time simulation signal conversion system, and sending a simulation result of the ultrasonic simulation system to the driving assistance system.
4. The method of claim 1, wherein the transmitting the initial scene sensing signal and the initial scene video signal of the preset test scene to the target test vehicle including the driving assistance system comprises:
and sending the scene video signal to the driving assistance system based on a low-voltage differential signal transmission protocol.
5. The method of claim 1, wherein obtaining current latest vehicle attitude information and vehicle positioning information after the target test vehicle performed the vehicle control decision comprises:
and acquiring the current latest vehicle attitude information and vehicle positioning information through a preset real-time simulation signal conversion system.
6. The method of claim 1, wherein the predetermined test scenario comprises: at least one of a natural driving scene, a dangerous working condition scene and a legal regulation scene.
7. An autonomous driving vehicle testing device, the device comprising:
the test scene issuing module is used for executing the first step, and sending an initial scene sensing signal and an initial scene video signal of a preset test scene to a target test vehicle comprising a driving auxiliary system so that the driving auxiliary system can generate a vehicle control decision according to the initial scene sensing signal and the initial scene video signal;
the test feedback information acquisition module is used for executing the step two and acquiring the current latest vehicle attitude information and vehicle positioning information of the target test vehicle after executing the vehicle control decision;
and the test scene updating module is used for executing the third step, updating the scene sensing signal and the scene video signal of the preset test scene according to the current latest vehicle attitude information and the current latest vehicle positioning information, and sending the updated scene sensing signal and the updated scene video signal to the test scene issuing module so as to repeat the first step, the second step and the third step until the synchronous test of each driving control unit of the driving auxiliary system is completed.
8. A vehicle autopilot testing system, the system comprising:
the system comprises a test scene simulation subsystem, a real-time simulation signal conversion subsystem, a real test vehicle and an ultrasonic signal simulation subsystem;
the test scene simulation subsystem is used for sending a video signal of a test scene to the real test vehicle and sending an induction signal of the test scene to the real-time simulation signal conversion subsystem;
the real-time simulation signal conversion subsystem is used for sending the induction signal to the real test vehicle and/or the ultrasonic signal simulation subsystem through a corresponding data communication port;
the ultrasonic signal simulation subsystem is used for carrying out ultrasonic signal simulation according to the acquired induction signal and sending a simulation result to the real test vehicle;
the real test vehicle is provided with driving auxiliary equipment which is used for forming a vehicle control signal according to the obtained video signal and the corresponding induction signal and executing a corresponding control instruction;
the test scene simulation subsystem is further used for acquiring vehicle attitude information and positioning information of the real test vehicle after the control instruction is executed, and updating the video signal and the induction signal of the test scene based on the vehicle attitude information and the positioning information.
9. A computer device, characterized in that the computer device comprises:
one or more processors;
a memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the autonomous vehicle testing method of any of claims 1-6.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the autonomous vehicle testing method of any of claims 1-6.
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