CN116125940A - Automatic driving test system, method and storage medium - Google Patents

Automatic driving test system, method and storage medium Download PDF

Info

Publication number
CN116125940A
CN116125940A CN202211503425.5A CN202211503425A CN116125940A CN 116125940 A CN116125940 A CN 116125940A CN 202211503425 A CN202211503425 A CN 202211503425A CN 116125940 A CN116125940 A CN 116125940A
Authority
CN
China
Prior art keywords
test
control system
variable
response
module
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202211503425.5A
Other languages
Chinese (zh)
Inventor
汪仟
余璞
陈梦星
秦悦
罗鸿文
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Chongqing Changan Automobile Co Ltd
Original Assignee
Chongqing Changan Automobile Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Chongqing Changan Automobile Co Ltd filed Critical Chongqing Changan Automobile Co Ltd
Priority to CN202211503425.5A priority Critical patent/CN116125940A/en
Publication of CN116125940A publication Critical patent/CN116125940A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B23/00—Testing or monitoring of control systems or parts thereof
    • G05B23/02—Electric testing or monitoring
    • G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
    • G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
    • G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/24—Pc safety
    • G05B2219/24065—Real time diagnostics
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/10—Internal combustion engine [ICE] based vehicles
    • Y02T10/40—Engine management systems

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Testing Of Engines (AREA)

Abstract

The application provides an automatic driving test system, an automatic driving test method and a storage medium, and relates to the technical field of intelligent driving. The system comprises a data acquisition module, a control module and a control module, wherein the data acquisition module is used for acquiring a variable set in a real vehicle test, and the variable set comprises working condition data of a vehicle in the real vehicle test. The data injection module is used for injecting the drive test variable in the variable set into a control system of the vehicle so as to build a test environment corresponding to the test requirement. And the reinjection analysis module is used for analyzing whether the performance of the control system is abnormal or not. When the control system outputs corresponding test parameters according to the drive test variable, the reinjection analysis module is also used for comparing the test parameters with preset standard parameters, and when the test parameters exceed the range of the standard parameters, a test result representing that the performance of the control system is abnormal is obtained. Therefore, the problems that the automatic driving test requirement is complex, and when multiple rounds of tests are needed, multiple test equipment needs to be purchased, so that the test cost is increased and the test management is complex can be solved.

Description

Automatic driving test system, method and storage medium
Technical Field
The invention relates to the technical field of intelligent driving, in particular to an automatic driving test system, an automatic driving test method and a storage medium.
Background
With the development of modern society, an automatic driving automobile becomes a trend of future automobile development, and the personal safety of drivers and passengers is a primary guarantee of the automatic driving automobile at present. In order to ensure personal safety of real vehicle testers, parts of the automatic driving test are replaced by adopting a simulation test mode, and the data reinjection test is an important means in the simulation test.
In the existing data reinjection test technology, special test equipment is needed in the reinjection process, the customization degree of the test equipment is high, and if the test requirement is complex, multiple test equipment needs to be purchased if multiple rounds of tests are needed, so that the test cost is increased and the management is complex.
Disclosure of Invention
In view of the foregoing, an object of the embodiments of the present application is to provide an autopilot test system, an autopilot test method and a storage medium, which can improve the problems of complex autopilot test requirements, increased test cost and complex management caused by purchasing multiple test devices when multiple rounds of tests are required.
In order to achieve the technical purpose, the technical scheme adopted by the application is as follows:
in a first aspect, embodiments of the present application provide an autopilot test system, the system comprising:
the data acquisition module is used for acquiring a variable set in the real vehicle test, wherein the variable set comprises working condition data of the vehicle in the real vehicle test;
the data injection module is used for injecting the drive test variables in the variable set into a control system of the vehicle so as to build a test environment corresponding to the test requirement;
the reinjection analysis module is used for analyzing whether the performance of the control system is abnormal or not;
and when the test parameters exceed the range of the standard parameters, obtaining a test result representing that the performance of the control system is abnormal.
With reference to the first aspect, in some optional embodiments, the reinjection analysis module is further configured to:
when the control system outputs the corresponding test parameters according to the drive test variable, the corresponding standard parameters are obtained, and the test result is obtained through an analysis script;
wherein the analysis script is configured to determine whether the test parameter is within the range of the standard parameter.
With reference to the first aspect, in some optional embodiments, the system further includes:
and the data processing module is used for screening the working condition data according to the test requirements after the variable set is acquired, and taking the screened working condition data as a drive test variable.
With reference to the first aspect, in some optional embodiments, the data processing module is further configured to:
and adding a time tag for the drive test variable, wherein the time tag is used for positioning different moments of the same data in the drive test variable.
With reference to the first aspect, in some optional embodiments, the system further includes:
the response verification module is used for verifying whether the overall function of the control system is reasonable or not;
and when the control system makes a corresponding control response according to the drive test variable, the response verification module is used for acquiring a preset standard response and judging the difference between the control response and the standard response, wherein when the control response is different from the standard response, the response verification module determines that the overall function of the control system is unreasonable.
In a second aspect, an embodiment of the present application further provides an autopilot test method, applied to the autopilot test system described above, where the method includes:
collecting a variable set in a real vehicle test through a data collecting module;
injecting the drive test variable in the variable set into a control system of the vehicle to build a test environment corresponding to the test requirement;
and analyzing whether the performance of the control system is abnormal or not through a reinjection analysis module, comparing the test parameter with a preset standard parameter when the control system outputs a corresponding test parameter according to the drive test variable, and obtaining a test result representing that the performance of the control system is abnormal when the test parameter exceeds the range of the standard parameter.
With reference to the second aspect, in some optional embodiments, the method further includes:
when the control system outputs the corresponding test parameters according to the drive test variable, the corresponding standard parameters are obtained, and the test result is obtained through an analysis script;
wherein the analysis script is configured to determine whether the test parameter is within the range of the standard parameter.
With reference to the second aspect, in some optional embodiments, the method further includes:
after the variable set is collected, screening the working condition data according to the test requirement, and taking the screened working condition data as a drive test variable;
and adding a time tag for the drive test variable through a data processing module, wherein the time tag is used for positioning different moments of the same data in the drive test variable.
With reference to the second aspect, in some optional embodiments, the method further includes:
verifying whether the overall function of the control system is reasonable or not through a response verification module;
and when the control system makes a corresponding control response according to the drive test variable, acquiring a preset standard response, and judging that the control response is different from the standard response, wherein when the control response is different from the standard response, the overall function of the control system is unreasonable.
In a third aspect, embodiments of the present application further provide a computer readable storage medium having a computer program stored therein, which when run on a computer causes the computer to perform the above-described method.
The invention adopting the technical scheme has the following advantages:
in the technical scheme provided by the application, firstly, a variable set in a real vehicle test is acquired through a data acquisition module; then working condition data corresponding to the test requirements in the variable set are used as drive test variables, and the drive test variables are injected into the vehicle system through the data injection module so as to build a test environment corresponding to the test requirements; and then the control system outputs corresponding test parameters according to the drive test variable, and the reinjection analysis module compares the test parameters with preset standard parameters to obtain a test result for representing whether the performance of the control system is abnormal. Therefore, the function of the control system can be checked in a software simulation test mode, and the problems of high cost and complex test process management caused by the fact that a traditional data reinjection method depends on test equipment are avoided.
Drawings
The present application may be further illustrated by the non-limiting examples given in the accompanying drawings. It is to be understood that the following drawings illustrate only certain embodiments of the present application and are therefore not to be considered limiting of its scope, for the person of ordinary skill in the art may derive other relevant drawings from the drawings without inventive effort.
Fig. 1 is a block diagram of an autopilot test system provided in an embodiment of the present application.
Fig. 2 is a flowchart of an automatic driving test method according to an embodiment of the present application.
FIG. 3 is a second flowchart of an automatic driving test method according to an embodiment of the present disclosure.
Icon: 10-an autopilot test system; 11-a data acquisition module; 12-a data injection module; 13-reinjection analysis module.
Detailed Description
The present application will be described in detail below with reference to the drawings and the specific embodiments, and it should be noted that in the drawings or the description of the specification, similar or identical parts use the same reference numerals, and implementations not shown or described in the drawings are in a form known to those of ordinary skill in the art. In the description of the present application, the terms "first," "second," and the like are used merely to distinguish between descriptions and are not to be construed as indicating or implying relative importance.
Referring to fig. 1, an embodiment of the present application provides an automatic driving test system. The autopilot test system 10 may include a data acquisition module 11, a data injection module 12, and a reinjection analysis module 13.
The data acquisition module 11 is configured to acquire a variable set in the real vehicle test, where the variable set may include working condition data of the vehicle in the real vehicle test. Wherein the operating condition data may include performance data characterizing vehicle performance, such as in-vehicle temperature, humidity, acceleration of the vehicle, vehicle speed, etc.; environmental data characterizing the road environment, such as road traffic signals, the speed of surrounding vehicles, the distance from surrounding vehicles, etc., may also be included.
The data injection module 12 is configured to inject the drive test variable in the variable set into a control system of the vehicle to build a test environment corresponding to the test requirement. The control system of the vehicle can be understood as a control center for driving the vehicle to automatically drive, can be integrated on the vehicle, and can also be deployed on a computer as independent control software, so that the control system can be conveniently tested in a simulation environment.
In this embodiment, the drive test variable may be working condition data corresponding to the test requirement. For example, when a tester only tests for a constant temperature function of a vehicle, the drive test variable may be temperature data, air conditioning condition data, window opening data, or the like.
In this embodiment, the control system may include a fusion preprocessing layer, a cognitive layer, a decision layer, a planning layer, and a control layer. The data injection module 12 performs injection operations on each level of input of the autopilot control system through input interfaces directly connected to the fusion preprocessing layer, the cognitive layer, the decision layer, the planning layer, and the control layer of the control system. Meanwhile, the data injection module 12 can also modify, add and delete the input data to complete the error signal injection operation, thereby achieving the purpose of verifying the functions and fault tolerance of each layer module in the control system.
For example, the original speed of the vehicle injected into the control system is 50 km/h, and the speed limit of the road speed limit sign data is 60 km/h, i.e. the vehicle does not overspeed in the real vehicle test, and the vehicle normally runs on the road. Before the data is injected into the control system, a tester can modify the data to be injected into the control system through the data injection module 12 to modify the speed of the vehicle to 70 km/h, so as to verify whether a decision layer of the control system can make a correct deceleration decision according to the speed limit plate, generate an instruction for controlling the vehicle to decelerate slowly, and control whether the control layer can control the vehicle to decelerate according to the gentle deceleration instruction until the speed of the vehicle is lower than 60 km/h.
The reinjection analysis module 13 is used for analyzing whether the performance of the control system is abnormal or not. When the control system outputs corresponding test parameters according to the drive test variable, the reinjection analysis module 13 is further configured to compare the test parameters with preset standard parameters, and when the test parameters exceed the range of the standard parameters, obtain a test result indicating that the performance of the control system is abnormal.
In this embodiment, the control system may include a fusion preprocessing layer, a cognitive layer, a decision layer, a planning layer, and a control layer. The test parameters can be understood as test results output by each level module of the control system according to the drive test variable, and the test parameters can be specific numerical values, numerical value ranges, digital signals, level signals and the like. For example, when the drive test variable includes a vehicle speed of 100 km/h and a speed limit of 80 km/h, the cognitive layer of the control system determines that the vehicle is in an overrun condition and outputs a number 1 representing the overspeed of the vehicle, the number 1 being the test parameter of the cognitive layer.
In this embodiment, the standard parameter may be a conclusion of the vehicle manufacturer by collecting user evaluations or by a number of experiments, and the standard parameter may be a specific threshold, a range of values, or a signal indicative of a result. For example, when the speed of the vehicle in the road-test variable is less than 0, the standard parameter of the cognitive layer is a digital signal 0 representing that the vehicle is not overspeed, i.e. when the speed of the vehicle is less than 0, the cognitive layer determines that the vehicle is overspeed and outputs the digital signal 1; when the speed of the vehicle minus the road speed limit is less than 0, the cognitive layer determines that the vehicle is not overspeed and outputs a digital signal 0.
In this embodiment, the reinjection analysis module 13 directly connects the output interfaces of the fusion preprocessing layer, the cognition layer, the decision layer, the planning layer and the control layer of the control system, and compares the test parameters output by each layer module with the preset standard parameters, and when the test parameters exceed the range of the standard parameters, obtains the test result representing that the performance of the control system is abnormal, so as to analyze whether the output data of each layer module is abnormal, thereby achieving the analysis of each layer module of the automatic driving control system. For example, in one test, when the speed of the vehicle in the drive test variable minus the road speed limit is greater than 0, the cognitive layer determines that the vehicle is not overspeed and outputs a number 0, and the corresponding standard parameter is a number 1 representing overspeed of the vehicle, that is, the test parameter exceeds the range of the standard parameter, and the reinjection analysis module 13 obtains a test result that the performance of the cognitive layer is abnormal. Therefore, the purpose of checking the performance of each layer module of the control system is achieved by detecting whether the output result of each layer module in the control system is abnormal.
Optionally, the reinjection analysis module 13 may be further configured to obtain the corresponding standard parameter when the control system outputs the corresponding test parameter according to the drive test variable, and obtain the test result through an analysis script. Wherein the analysis script is configured to determine whether the test parameter is within the range of the standard parameter.
In this embodiment, the analysis script first needs to determine the data type of the test parameter, then selects a policy for determining whether the test parameter is within the standard parameter range according to the data type of the test parameter, and finally obtains the test result. For example, in one test, when the water drop sensor data in the drive test variable is the first high level signal, the cognitive layer in the control system determines that there is water flow in the front windshield of the vehicle and outputs a second high level signal representing that water flow in the front windshield of the vehicle as a test parameter. At this time, the reinjection analysis module 13 acquires the corresponding standard parameters, determines the standard parameters as the second high-level signals, determines the type of the test parameters as the level signals through the analysis script, and selects a level signal comparison strategy. And comparing the standard parameters with the first high-level signal, determining that the test parameters and the standard parameters are the second high-level signal by the analysis script, and obtaining a test result that the performance of the cognitive layer is not abnormal.
Optionally, the system may further include a data processing module, where the data processing module is configured to, after collecting the variable set, screen the working condition data according to the test requirement, and use the screened working condition data as a drive test variable.
In this embodiment, the working condition data in the variable set may include temperature and humidity, vehicle speed, acceleration, and the like. In the actual test process, the variable sets usually have working condition data irrelevant to test requirements, so that the working condition data can be screened according to the test requirements through the data processing module, and the test efficiency is provided. For example, in a test for deciding whether the windshield wiper is opened or not for a decision layer, the data processing module screens the water drop sensor data and the windshield wiper working data required by the test, so as to reduce the test burden of the automatic driving test system 10 and improve the test efficiency.
Optionally, the data processing module may be further configured to add a time tag to the drive test variable, where the time tag is used to locate different moments of the same data in the drive test variable.
In this embodiment, by adding a time tag to the drive test variable, the reinjection analysis module 13 is convenient to locate the working condition data corresponding to the test requirement in the process of analyzing whether the control system is abnormal.
Optionally, the system may further include a response verification module for verifying whether the overall function of the control system is reasonable. And when the control system makes a corresponding control response according to the drive test variable, the response verification module is used for acquiring a preset standard response and judging that the control response is different from the standard response. When the control response is different from the standard response, the response verification module determines that the overall function of the control system is unreasonable; when the control response is the same as the standard response, the response verification module determines that the overall function of the control system is reasonable.
For example, in a standard response, when the drive test variable includes a vehicle speed of 100 km/h and the speed limit of the speed limit board is 80 km/h, the control system determines that the vehicle is in an overrun condition based on the drive test variable, makes a decision for gentle deceleration, and controls the vehicle to perform gentle deceleration. In one test, after the drive test variable comprising two data of 100 km/h of speed and 80 km/h of speed limit of the speed limit plate is injected into the control system, the vehicle still keeps overspeed running, namely the control response is different from the standard response, and the response verification module determines that the overall function of the control system is unreasonable. Therefore, the drive test variable is input to the control system, and whether the corresponding control response of the control system to the vehicle is reasonable or not is detected by the control system according to the drive test variable, so that the aim of verifying the functions of the whole control system is fulfilled.
It should be noted that, for convenience and brevity of description, the specific working process of the autopilot test system 10 described above may refer to the corresponding process of each step in the autopilot test method described below, and will not be repeated here.
Second embodiment
Referring to fig. 2, the present application further provides an autopilot test method, which can be applied to the autopilot test system 10 described above. The automatic driving test method may include the steps of:
step 110, collecting a variable set in a real vehicle test through a data collecting module 11;
step 120, the drive test variable in the variable set is injected into a control system of the vehicle to build a test environment corresponding to the test requirement;
and 130, analyzing whether the performance of the control system is abnormal or not through a reinjection analysis module 13, comparing the test parameter with a preset standard parameter when the control system outputs a corresponding test parameter according to the drive test variable, and obtaining a test result representing that the performance of the control system is abnormal when the test parameter exceeds the range of the standard parameter.
The steps of the autopilot test method will be described in detail as follows:
in step 110, the set of variables may include operating condition data for the vehicle under test. Such as driving data of the vehicle, positioning data, body deviation data, road environment data, etc.
In this embodiment, the working condition data may be sensed at a preset frequency (e.g. 0.5 seconds) by testing a front-end device deployed on the vehicle, where the front-end device may include a tachometer, a laser radar, a temperature and humidity sensor, a camera, a GPS, and the like.
In step 120, after the variable set in the real vehicle test is collected by the data collection module 11, step 120 may include
And step 121, screening the working condition data according to the test requirement, and taking the screened working condition data as a drive test variable.
And step 122, adding a time tag to the drive test variable through a data processing module, wherein the time tag is used for positioning different moments of the same data in the drive test variable.
In this embodiment, in order to reduce the test burden of the automatic driving test system 10 and improve the test efficiency, after the variable set is collected by the data collection module 11, the working condition data corresponding to the test requirement in the variable set is screened by the data processing module, the data irrelevant to the test requirement is eliminated, and a time tag is added to each working condition data, so that the working condition data which is continuously changed along with the increment of time in the test is conveniently positioned. And injecting the screened working condition data into a control system of the vehicle as a drive test variable, and carrying out simulation restoration on the real vehicle test process of the vehicle through the visual data.
For example, in a test for a braking distance of a vehicle, working condition data in a variable set is screened according to test requirements, and working condition data of a real vehicle in 2 nd hour and 30 min are intercepted as road test variables, including a distance between the vehicle and a terminal point, a vehicle speed and laser radar data representing that a road is clear. And injecting the drive test variable into a control system of the vehicle, carrying out simulation restoration on a scene when the vehicle is about to approach to the end point, and testing the braking performance of the vehicle according to the simulation restoration.
In step 130, after the drive test variable is injected into the control system of the vehicle, step 130 may include:
and 131, when the control system outputs the corresponding test parameters according to the drive test variable, acquiring the corresponding standard parameters, and obtaining the test result through an analysis script. Wherein the analysis script is configured to determine whether the test parameter is within the range of the standard parameter.
In this embodiment, when a tester injects a drive test variable into a control system of a vehicle, the control system outputs a corresponding test parameter according to the drive test variable, obtains a standard parameter corresponding to the test parameter through a reinjection analysis module 13, and compares the test parameter with the standard parameter through an analysis script. When the test parameters exceed the range of the standard parameters, obtaining a test result representing that the performance of the control system is abnormal; and when the test parameters are the same as the standard parameters in the range, obtaining a test result which characterizes the performance of the control system and has no abnormality. The control system may include a fusion preprocessing layer, a cognitive layer, a decision layer, a planning layer, and a control layer. The test parameter may be understood as a first execution result of a hierarchical module in the control system after executing the corresponding function according to the drive test variable, and the standard parameter may be understood as a second execution result that should be output by a hierarchical module in the control system after executing the corresponding function according to the drive test variable.
For example, in a vehicle turn test, a decision layer of the control system receives a turn signal from the cognitive layer that characterizes the vehicle as meeting a right turn condition. If the decision layer makes a decision of right turning of the vehicle according to the turning signal and outputs a corresponding right turning signal, the right turning signal is used as a test parameter of the decision layer, the test parameter is compared with a corresponding standard parameter through an analysis script, when the standard parameter is also the right turning signal, the test parameter is the same as the standard parameter range, and the reinjection analysis module 13 obtains a test result representing that the performance of the control system is not abnormal;
if the decision layer makes a decision of the vehicle going straight according to the steering signal and outputs a corresponding straight signal, the straight signal is used as a test parameter of the decision layer, the test parameter is compared with a corresponding standard parameter through an analysis script, when the standard parameter is a right-turning signal, the test parameter is different from the standard parameter range, and the reinjection analysis module 13 obtains a test result representing that the performance of the control system is abnormal.
As an alternative embodiment, the method may further comprise:
and verifying whether the overall function of the control system is reasonable or not through a response verification module. And when the control system makes a corresponding control response according to the drive test variable, acquiring a preset standard response, and judging that the control response is different from the standard response, wherein when the control response is different from the standard response, the overall function of the control system is unreasonable.
Referring to fig. 3, in this embodiment, the control system may include a fusion preprocessing layer, a cognition layer, a decision layer, a planning layer, and a control layer. The control response may be understood as a control command output by the control system according to the drive test variable, and the control command may be unreasonable or reasonable, and the vehicle performs a corresponding driving action according to the control command. Standard response can be understood as a reasonable control command output by the control system according to the drive test variable, and is used as a standard for the control system to output a corresponding result according to the drive test variable.
For example, in a one-time vehicle lane change test, the drive test variable includes data representing that the preceding vehicle is traveling at a slow speed of 30 km/h, that both left and right lanes are in an open state, and that the road traffic line is a broken line. If the control system confirms that the vehicle should change the lane to the right and accelerate overtaking according to the drive test variable, the control system makes a corresponding lane-changing overtaking decision and generates a control command to control the vehicle to execute a corresponding lane-changing overtaking action, and the vehicle is taken as a control response to the lane-changing overtaking to the right.
If the standard response of the drive test variable is that the vehicle overtakes in a lane changing way to the left, comparing the control response with the standard response, and determining that the lane changing direction in the control response is different from the standard response, wherein the overall function of the control system is unreasonable. Thus, the purpose of testing the functions of the whole control system of the vehicle is achieved by injecting the drive test variable into the control system and outputting corresponding control response by the control system according to the drive test variable.
Embodiments of the present application also provide a computer-readable storage medium. The computer-readable storage medium has stored therein a computer program which, when run on a computer, causes the computer to perform the autopilot test method as described in the above embodiments.
From the foregoing description of the embodiments, it will be apparent to those skilled in the art that the present application may be implemented in hardware, or by means of software plus a necessary general hardware platform, and based on this understanding, the technical solution of the present application may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (may be a CD-ROM, a U-disc, a mobile hard disk, etc.), and includes several instructions to cause a computer device (may be a personal computer, a server, or a network device, etc.) to perform the methods described in the respective implementation scenarios of the present application.
In summary, the embodiments of the present application provide an automatic driving test system, an automatic driving test method, and a storage medium. In the scheme, a variable set in a real vehicle test is acquired through a data acquisition module 11; then working condition data corresponding to the test requirements in the variable set are used as drive test variables, and the drive test variables are injected into a control system of the vehicle through the data injection module 12 to build a test environment corresponding to the test requirements; and then the control system outputs corresponding test parameters according to the drive test variable, and the reinjection analysis module 13 compares the test parameters with preset standard parameters to obtain a test result for representing whether the performance of the control system is abnormal. Or after the drive test variable is processed through operations such as adding, modifying and deleting, the drive test variable is injected into a control system of the vehicle, and error data reinjection is carried out on each level module of the control system, so that the purpose of verifying the error processing capacity of each level module is achieved. Therefore, the function of the control system can be checked in a software simulation test mode, and the problems of high cost and complex test process management caused by the fact that a traditional data reinjection method depends on test equipment are avoided.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus, system, and method may be implemented in other manners as well. The above-described apparatus, systems, and method embodiments are merely illustrative, for example, flow charts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions. In addition, the functional modules in the embodiments of the present application may be integrated together to form a single part, or each module may exist alone, or two or more modules may be integrated to form a single part.
The foregoing is merely exemplary embodiments of the present application and is not intended to limit the scope of the present application, and various modifications and variations may be suggested to one skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims (10)

1. An autopilot test system, the system comprising:
the data acquisition module is used for acquiring a variable set in the real vehicle test, wherein the variable set comprises working condition data of the vehicle in the real vehicle test;
the data injection module is used for injecting the drive test variables in the variable set into a control system of the vehicle so as to build a test environment corresponding to the test requirement;
the reinjection analysis module is used for analyzing whether the performance of the control system is abnormal or not;
and when the test parameters exceed the range of the standard parameters, obtaining a test result representing that the performance of the control system is abnormal.
2. The system of claim 1, wherein the reinjection analysis module is further configured to:
when the control system outputs the corresponding test parameters according to the drive test variable, the corresponding standard parameters are obtained, and the test result is obtained through an analysis script;
wherein the analysis script is configured to determine whether the test parameter is within the range of the standard parameter.
3. The system of claim 1, wherein the system further comprises:
and the data processing module is used for screening the working condition data according to the test requirements after the variable set is acquired, and taking the screened working condition data as a drive test variable.
4. A system according to claim 3, wherein the data processing module is further configured to:
and adding a time tag for the drive test variable, wherein the time tag is used for positioning different moments of the same data in the drive test variable.
5. The system of claim 1, wherein the system further comprises:
the response verification module is used for verifying whether the overall function of the control system is reasonable or not;
and when the control system makes a corresponding control response according to the drive test variable, the response verification module is used for acquiring a preset standard response and judging the difference between the control response and the standard response, wherein when the control response is different from the standard response, the response verification module determines that the overall function of the control system is unreasonable.
6. An autopilot testing method as claimed in any one of claims 1 to 5, the method comprising:
collecting a variable set in a real vehicle test through a data collecting module;
injecting the drive test variable in the variable set into a control system of the vehicle to build a test environment corresponding to the test requirement;
and analyzing whether the performance of the control system is abnormal or not through a reinjection analysis module, comparing the test parameter with a preset standard parameter when the control system outputs a corresponding test parameter according to the drive test variable, and obtaining a test result representing that the performance of the control system is abnormal when the test parameter exceeds the range of the standard parameter.
7. The method of claim 6, wherein the method further comprises:
when the control system outputs the corresponding test parameters according to the drive test variable, the corresponding standard parameters are obtained, and the test result is obtained through an analysis script;
wherein the analysis script is configured to determine whether the test parameter is within the range of the standard parameter.
8. The method of claim 6, wherein the method further comprises:
after the variable set is collected, screening the working condition data according to the test requirement, and taking the screened working condition data as a drive test variable;
and adding a time tag for the drive test variable through a data processing module, wherein the time tag is used for positioning different moments of the same data in the drive test variable.
9. The method of claim 6, wherein the method further comprises:
verifying whether the overall function of the control system is reasonable or not through a response verification module;
and when the control system makes a corresponding control response according to the drive test variable, acquiring a preset standard response, and judging that the control response is different from the standard response, wherein when the control response is different from the standard response, the overall function of the control system is unreasonable.
10. A computer readable storage medium, characterized in that the computer readable storage medium has stored therein a computer program which, when run on a computer, causes the computer to perform the method according to any of claims 6-9.
CN202211503425.5A 2022-11-28 2022-11-28 Automatic driving test system, method and storage medium Pending CN116125940A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202211503425.5A CN116125940A (en) 2022-11-28 2022-11-28 Automatic driving test system, method and storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202211503425.5A CN116125940A (en) 2022-11-28 2022-11-28 Automatic driving test system, method and storage medium

Publications (1)

Publication Number Publication Date
CN116125940A true CN116125940A (en) 2023-05-16

Family

ID=86294598

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202211503425.5A Pending CN116125940A (en) 2022-11-28 2022-11-28 Automatic driving test system, method and storage medium

Country Status (1)

Country Link
CN (1) CN116125940A (en)

Similar Documents

Publication Publication Date Title
CN108919785B (en) Test system and test method
CN106218639B (en) Automatic driving vehicle, the method and apparatus for controlling automatic driving vehicle
Kim et al. Testing autonomous vehicle software in the virtual prototyping environment
CN113065195B (en) Vehicle information security threat assessment method, device, medium and electronic equipment
CN113190977A (en) Accident responsibility analysis method and device for automatic driving vehicle
CN113536611B (en) Method for checking correctness of autonomous traffic system architecture based on discrete simulation
CN113928247B (en) Learning method and device for vehicle auxiliary driving
CN111413973A (en) Lane change decision method and device for vehicle, electronic equipment and storage medium
CN111765904B (en) Test method and device for automatic driving vehicle, electronic equipment and medium
Hauer et al. Re-using concrete test scenarios generally is a bad idea
CN111123729B (en) Method and device for optimizing vehicle driving simulation, storage medium and terminal equipment
CN111199083B (en) Method and device for reproducing accident data of unmanned vehicle
US20230236088A1 (en) Computer-aided method and device for predicting speeds for vehicles on the basis of probability
CN117724982A (en) Simulation evaluation method and device, electronic equipment and storage medium
CN116125940A (en) Automatic driving test system, method and storage medium
CN116107252A (en) Calibration method and device for vehicle autonomous lane change parameters, electronic equipment and medium
US20220358024A1 (en) Computer-implemented method for scenario-based testing and / or homologation of at least partially autonomous driving functions to be tested by means of key performance indicators (kpi)
CN115309074A (en) Automatic driving simulation test method and device, simulation equipment and storage medium
CN116198511A (en) Vehicle regulation parameter configuration method and system
CN115292816A (en) Automatic driving test method, device, equipment and storage medium
CN115384536A (en) Evaluation method, device, equipment and medium for driving assistance system controller
CN113987751A (en) Scheme screening method and device, electronic equipment and storage medium
CN117413257A (en) Method and system for testing driver assistance system for vehicle
DE102020202552A1 (en) Validation and optimization of a degradation detection of a sensor-specific performance
CN114755035B (en) Intelligent driving multidimensional test method based on vehicle-mounted terminal

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination