CN116183242A

CN116183242A - Automatic driving test method, equipment and storage medium based on rainfall simulation environment

Info

Publication number: CN116183242A
Application number: CN202310153722.XA
Authority: CN
Inventors: 张玉新; 俞瑞林; 王璐瑶; 王子煜; 吕周杭; 李鹏飞; 赵福民; 全威
Original assignee: Shenzhen Zhuoyu Technology Co ltd; Jilin University
Current assignee: Shenzhen Zhuoyu Technology Co ltd; Jilin University
Priority date: 2023-02-22
Filing date: 2023-02-22
Publication date: 2023-05-30

Abstract

The application provides an automatic driving test method, equipment and storage medium based on a rainfall simulation environment, wherein the method mainly comprises the following steps: acquiring a test case to be executed; according to the test case, outputting an unmanned aerial vehicle control instruction to the unmanned aerial vehicle, wherein the unmanned aerial vehicle control instruction is used for indicating the unmanned aerial vehicle to fly to the upper air of a target road section so as to enable a rainfall device carried by the unmanned aerial vehicle to simulate a rainfall environment in the target road section; and outputting a vehicle control instruction to the test vehicle according to the test case, wherein the vehicle control instruction is used for indicating the test vehicle to perform an automatic driving test on the target road section so as to acquire test data of the test vehicle in a rainfall environment. The method can improve the rainfall simulation test efficiency of the automatic driving vehicle and reduce the test cost.

Description

Automatic driving test method, equipment and storage medium based on rainfall simulation environment

Technical Field

The application relates to the technical field of automatic driving tests, in particular to an automatic driving test method, automatic driving test equipment and an automatic driving test storage medium based on a rainfall simulation environment.

Background

With the continuous improvement of the social science and technology level, automatic driving vehicles gradually become a research hot spot for people. In the process of researching and developing the automatic driving vehicle, various weather conditions need to be simulated in an actual field so as to carry out safety test and verification on the automatic driving vehicle, so that the automatic driving vehicle can safely run in an actual traffic scene. Among various unusual weathers, rainy days are certainly the most common weather. However, current rainfall simulation test schemes for automatically driven vehicles are relatively inefficient and costly.

Disclosure of Invention

The main purpose of the application is to provide an automatic driving test method, equipment and a storage medium based on a rainfall simulation environment, and specifically to provide an automatic driving test method, an unmanned aerial vehicle control method, a ground control platform, an unmanned aerial vehicle, an automatic driving test system and a storage medium, aiming at improving the rainfall simulation test efficiency of an automatic driving vehicle and reducing the test cost.

In a first aspect, an embodiment of the present application provides an autopilot test method, including:

acquiring a test case to be executed;

outputting an unmanned aerial vehicle control instruction to an unmanned aerial vehicle according to the test case, wherein the unmanned aerial vehicle control instruction is used for indicating the unmanned aerial vehicle to fly to the upper air of a target road section so as to enable a rainfall device carried by the unmanned aerial vehicle to simulate a rainfall environment in the target road section;

and outputting a vehicle control instruction to a test vehicle according to the test case, wherein the vehicle control instruction is used for indicating the test vehicle to perform an automatic driving test on the target road section so as to acquire test data of the test vehicle in the rainfall environment.

In a second aspect, an embodiment of the present application provides a method for controlling a unmanned aerial vehicle, including:

Acquiring an unmanned aerial vehicle control instruction sent by a ground control platform, wherein the unmanned aerial vehicle control instruction is output by the ground control platform based on a test case to be executed;

according to the unmanned aerial vehicle control instruction, controlling the unmanned aerial vehicle to fly to the upper air of a target road section, so that a rainfall device carried by the unmanned aerial vehicle simulates a rainfall environment in the target road section;

the test case is further used for enabling the ground control platform to output a vehicle control instruction to a test vehicle, and the vehicle control instruction is used for indicating the test vehicle to conduct automatic driving test on the target road section so as to obtain test data of the test vehicle in the rainfall environment.

In a third aspect, embodiments of the present application provide a ground control platform, the ground control platform including a memory and a processor;

the memory is used for storing a computer program;

the processor is configured to execute the computer program and implement the autopilot test method according to the embodiments of the present application when the computer program is executed.

In a fourth aspect, embodiments of the present application provide a drone, the drone comprising: a memory, a processor, and a rainfall device;

The rainfall device is used for simulating a rainfall environment;

the memory is used for storing a computer program;

the processor is configured to execute the computer program and implement the unmanned aerial vehicle control method according to the embodiment of the present application when the computer program is executed.

In a fifth aspect, embodiments of the present application provide an autopilot test system comprising:

test vehicles, unmanned aerial vehicles as described in embodiments of the present application; and

according to the ground control platform, the ground control platform is in communication connection with the test vehicle and the unmanned aerial vehicle.

In a sixth aspect, embodiments of the present application provide a storage medium storing a computer program that when executed by a processor causes the processor to implement an autopilot test method or a drone control method as described in embodiments of the present application.

The embodiment of the application provides an automatic driving test method, an unmanned aerial vehicle control method, a ground control platform, an unmanned aerial vehicle, an automatic driving test system and a storage medium. And then, the test vehicle is instructed to perform automatic driving test on the target road section, so that the test data of the test vehicle in a rainfall environment can be obtained. Therefore, the rainfall test site of the automatic driving vehicle is not limited, and high-cost fixed rainfall equipment is not needed, so that the rainfall simulation test efficiency of the automatic driving vehicle can be improved, and the test cost is reduced.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of a scenario for implementing an autopilot test method according to an embodiment of the present application;

FIG. 2 is a schematic flow chart of steps of an autopilot testing method provided in an embodiment of the present application;

FIG. 3 is a schematic view of a scenario in which a drone simulates a rainfall environment over a target road segment;

FIG. 4 is another schematic view of a scenario in which a drone simulates a rainfall environment over a target road segment;

FIG. 5 is a schematic view of a scenario in which a plurality of unmanned aerial vehicles simulate a rainfall environment over a target road segment;

FIG. 6 is another schematic view of a scenario in which a plurality of drones simulate a rainfall environment over a target road segment;

FIG. 7 is another schematic view of a scenario in which an autopilot test method provided by an embodiment of the present application is implemented;

FIG. 8 is a schematic diagram of yet another scenario for implementing the autopilot test method provided in embodiments of the present application;

fig. 9 is a schematic flowchart of steps of a method for controlling a unmanned aerial vehicle according to an embodiment of the present application;

FIG. 10 is a schematic block diagram of a ground control platform according to an embodiment of the present application;

FIG. 11 is a schematic block diagram of a structure of a unmanned aerial vehicle provided in an embodiment of the present application;

fig. 12 is a schematic block diagram of an autopilot test system provided in an embodiment of the present application.

The realization, functional characteristics and advantages of the present application will be further described with reference to the embodiments, referring to the attached drawings.

Detailed Description

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.

The flow diagrams depicted in the figures are merely illustrative and not necessarily all of the elements and operations/steps are included or performed in the order described. For example, some operations/steps may be further divided, combined, or partially combined, so that the order of actual execution may be changed according to actual situations.

Some embodiments of the present application are described in detail below with reference to the accompanying drawings. The following embodiments and features of the embodiments may be combined with each other without conflict.

At present, in order to realize the simulated rainfall test of an automatic driving vehicle, the simulated rainfall is mainly realized through a nozzle arranged on a cross beam. Or simulating rainfall weather by special weather simulation equipment, and testing the recognition capability of the sensor to different targets. However, the current rainfall simulation test scheme relies on expensive fixed rainfall equipment, such as roadside erection rainfall simulation devices, so that the rainfall test site is greatly limited, and the problems of low efficiency, high cost and the like of automatic driving test exist.

In order to solve the problems, the embodiment of the application provides an automatic driving test method based on a rainfall simulation environment, which is used for indicating that an unmanned aerial vehicle flies above a target road section and indicating that a rainfall device carried by the unmanned aerial vehicle simulates the rainfall simulation environment on the target road section. And performing automatic driving test on the target road section by indicating the test vehicle, so that the test data of the test vehicle in a rainfall environment can be obtained.

Based on this, through the rainfall device simulation rainfall environment that unmanned aerial vehicle carried, the rainfall test place of autopilot vehicle can not be limited, also need not to use the fixed rainfall equipment of high cost to can promote the rainfall simulation test efficiency of autopilot vehicle, reduce test cost.

Referring to fig. 1, fig. 1 is a schematic diagram of a scenario for implementing the automatic driving test method according to the embodiment of the present application.

As shown in fig. 1, the scenario includes a drone 100, a ground control platform 200, and a test vehicle 300, where the drone 100, the test vehicle 300, and the ground control platform 200 are communicatively connected to enable data interaction between the ground control platform 200 and the drone 100, the test vehicle 300. The unmanned aerial vehicle 100 may be, for example, a four-rotor unmanned aerial vehicle, a six-rotor unmanned aerial vehicle, or an eight-rotor unmanned aerial vehicle. Of course, the unmanned aerial vehicle may be a fixed wing unmanned aerial vehicle, or may be a combination of a rotor wing type and a fixed wing unmanned aerial vehicle, which is not limited herein. Ground control platform 200 includes, but is not limited to, a desktop computer, a remote control, a tablet, a smart phone, a server. The test vehicle 300 is a vehicle capable of implementing an autopilot function.

Wherein the drone 100 includes a first wireless communication device, the ground control platform 200 includes a second wireless communication device, and the test vehicle 300 includes a third wireless communication device. A wireless communication link between the ground control platform 200 and the drone 100 may be established through the first wireless communication device and the second wireless communication device. A wireless communication link between the ground control platform 200 and the test vehicle 300 may be established through the second wireless communication device and the third wireless communication device. The first wireless communication device, the second wireless communication device and the third wireless communication device may be private network wireless communication devices or public network wireless communication devices, wherein the public network wireless communication devices include, but are not limited to, 4G communication devices, 5G communication devices and 6G communication devices, and the private network wireless communication devices include wireless communication devices implemented based on Lightbridge and Ocusync of software defined radio (Software Defined Radio, SDR) and the like. The first wireless communication device, the second wireless communication device, and the third wireless communication device may be wireless communication devices including ZigBee.

Wherein the drone 100 includes a first positioning device and the test vehicle 300 includes a second positioning device. The position information of the unmanned aerial vehicle 100 and the test vehicle 300 can be acquired by the first positioning device and the second positioning device, respectively. The first positioning device and the second positioning device may use a conventional Real-time kinematic (RTK) carrier phase differential positioning technology or a network Real-time kinematic (RTK) carrier phase differential positioning technology according to the actual situation of the test site, and of course, other positioning technologies may also be used, which is not limited herein.

In one embodiment, as shown in fig. 1, the unmanned aerial vehicle 100 includes a body 110, a power system 120, a rainfall device 130, and a control system (not shown in fig. 1), the power system 120 and the rainfall device 130 are disposed on the body 110, and the control system is disposed in the body 110. Wherein, the power system 120 is used for providing flight power for the unmanned aerial vehicle 100, the rainfall device 130 is used for implementing rainfall tasks, simulating rainfall environment, and the control system is used for controlling the unmanned aerial vehicle 100 to fly.

In an embodiment, the power system 120 may include one or more propellers 121, one or more motors 122 corresponding to the one or more propellers, one or more electronic speed adjusters (simply referred to as electric speed adjusters). The motor 122 is connected between the electronic speed regulator and the propeller 121, and the motor 122 and the propeller 121 are arranged on the body 110 of the unmanned aerial vehicle 100; the electronic governor is used for receiving a driving signal generated by the control device and providing a driving current to the motor 122 according to the driving signal so as to control the rotating speed of the motor 122. The motor 122 is used to drive the propeller 121 in rotation to power the flight of the drone 100, which enables one or more degrees of freedom of movement of the drone 100. In certain embodiments, the drone 100 may rotate about one or more axes of rotation. For example, the rotation axis may include a yaw axis, and a pitch axis. It should be appreciated that the motor 122 may be a DC motor or an AC motor. The motor 122 may be a brushless motor or a brushed motor.

In one embodiment, the control system may include a controller and a sensing system. The sensing system may be used to measure pose information and motion information of the unmanned aerial vehicle 100, for example, three-dimensional position, three-dimensional angle, three-dimensional speed, three-dimensional acceleration, three-dimensional angular speed, and the like, where the pose information is position information and pose information of the unmanned aerial vehicle 100 in space. The sensing system may include, for example, at least one of a gyroscope, an ultrasonic sensor, an electronic compass, an inertial measurement unit (Inertial Measurement Unit, IMU), a vision sensor, a global navigation satellite system, and a barometer. For example, the global navigation satellite system may be a global positioning system (Global Positioning System, GPS). The controller is configured to control movement of the drone 100, e.g., the controller may control movement of the drone 100 based on pose information and/or pose information measured by the sensing system. It should be appreciated that the controller may automatically control the unmanned aerial vehicle 100 according to pre-programmed instructions, or may control the unmanned aerial vehicle 100 according to unmanned aerial vehicle control instructions output by the ground control platform 200.

In one embodiment, the rain device 130 may include a water tank, a water pipe, a water pump, and a nozzle. The controller may control the rainfall device 130 according to the unmanned aerial vehicle control command outputted from the ground control platform 200 to simulate the rainfall environment in the upper air of the target road section. Wherein, the nozzle passes through water piping connection to the water tank, and the water storage volume of water tank can set up according to actual conditions, and the water pump can be installed in the water tank, and the water pump is used for pumping the water in the water tank through water pipe and nozzle. It should be noted that, the accurate rainfall control can be achieved by controlling the power of the water pump in the rainfall device 130 and the opening and closing of the nozzles of different types, the higher the power of the water pump is, the larger the rainfall is, and the larger the model of the nozzle is, the larger the rainfall is.

In an embodiment, the ground control platform 200 is communicatively connected to a display device, where the display device is used to display a man-machine interaction page, and a user may select or input a test case to be executed through the man-machine interaction page. It should be noted that, the display device includes a display screen disposed on the ground control platform 200 or a display independent of the ground control platform 200, and the display independent of the ground control platform 200 may include a mobile phone, a tablet computer, a personal computer, or other electronic devices with a display screen. The display screen comprises an LED display screen, an OLED display screen, an LCD display screen and the like.

In one embodiment, test vehicle 300 includes a vehicle body, a powertrain, and sensors. The power system and the sensor are arranged on the vehicle body, the power system is used for providing moving power for the test vehicle 300, and the sensor is used for collecting sensing data of the environment where the test vehicle 300 is located. The test vehicle 300 may include one or more sensors. The sensor can comprise a camera, a laser radar and a millimeter wave radar.

Taking a laser radar as an example, the laser radar can detect information such as the position, the shape, the speed and the like of an object in a certain environment by emitting a laser beam, so as to obtain perception data. The lidar may transmit a probe signal to an environment including a target object, and then receive a reflected signal reflected from the target object, and obtain probe data based on the reflected probe signal, the received reflected signal, and based on data parameters such as a time interval between transmission and reception.

In an embodiment, the test vehicle 300 further includes a driving control system, where the driving control system may include one or more processors and a sensing system, where the sensing system is used to measure pose information, motion information, and surrounding environment information of the test vehicle 300, and the one or more processors are used to obtain vehicle control instructions output by the ground control platform 200, and control the test vehicle 300 to perform an autopilot test according to the vehicle control instructions, so as to collect test data in an autopilot test process, where the test data may include detection data collected by a sensor, and may also include sensing data or motion data obtained by performing data processing on the detection data.

In an embodiment, the ground control platform 200 obtains a test case to be executed, where the test case is used to implement a rainfall test of an automatically driven vehicle, generates an unmanned aerial vehicle control instruction according to the test case, and then sends the unmanned aerial vehicle control instruction to the unmanned aerial vehicle 100; the unmanned aerial vehicle 100 receives an unmanned aerial vehicle control instruction sent by the ground control platform 200 and flies to the upper air of a target road section according to the unmanned aerial vehicle control instruction; simulating a rainfall environment in the target road section through the rainfall device 130 of the unmanned aerial vehicle when the unmanned aerial vehicle 100 is positioned above the target road section; the ground control platform 200 also generates a vehicle control instruction according to the test case, and then transmits the vehicle control instruction to the test vehicle 300; the test vehicle 300 receives the vehicle control instruction sent by the ground control platform 200, and performs an automatic driving test on the target road section according to the vehicle control instruction, so as to save test data collected in the automatic driving test process, and obtain test data of the test vehicle 300 in a rainfall environment. It should be noted that, through the unmanned aerial vehicle that is used for the rainfall simulation, modules such as ground control platform realize that test scene builds fast, can promote efficiency of software testing.

Hereinafter, an automatic driving test method provided in an embodiment of the present application will be described in detail with reference to the scenario in fig. 1. It should be noted that the scenario in fig. 1 is only used to explain the autopilot test method provided in the embodiment of the present application, but does not constitute a limitation on the application scenario of the autopilot test method provided in the embodiment of the present application.

Referring to fig. 2, fig. 2 is a schematic flowchart illustrating steps of an automatic driving test method according to an embodiment of the present application. The automatic driving test method can be applied to a ground control platform. Ground control platforms include, but are not limited to, desktop computers, remote controls, tablet computers, smart phones, servers.

As shown in fig. 2, the automatic driving test method may include steps S101 to S103.

Step S101, obtaining a test case to be executed.

The test case to be executed can be input by a user in a man-machine interaction page of the ground control platform. The test case is used for realizing the test of the automatic driving vehicle in the rainfall environment, and comprises a step of indicating the rainfall device carried by the unmanned aerial vehicle to simulate the rainfall environment on the target road section and a step of indicating the automatic driving test of the test vehicle on the target road section.

For example, the simulated rainfall environment may include environments such as light rain, medium rain, heavy rain and the like, the simulated rainfall environment may also include scenes of wind and rain intersection, such as light rain breeze, light rain strong wind, heavy rain strong wind and the like, and the rain speeds and the rainfall intensities corresponding to different rainfall environments may be different. The automatic driving test can be a performance test for testing the constant-speed cruising of the vehicle, the automatic driving test can also be a sensor test for testing the automatic running process of the vehicle, and the automatic driving test can also be a safety test for traffic participants on a road when the vehicle is tested to cruise at a constant speed.

In one embodiment, the target road segment may be specified by the user in a human-machine interaction page of the ground control platform. For example, the ground control platform displays a road segment selection page, wherein the road segment selection page comprises a map; and acquiring a road section starting point and a road section ending point selected by a user in the map to obtain a target road section. The road section starting point and the road section ending point may be the same position point or may not be the same position point, and the map includes a scene map of the test site where the ground control platform is located. The user can conveniently and quickly select the target road section through the road section selection page.

In one embodiment, the autopilot test may include testing of the content of sensors, actuators, algorithms, and vehicle functions of the test vehicle, as well as testing of the functional, performance, safety, stability, and robustness aspects of the test vehicle.

For example, the main indicators of the function test include whether various road traffic facilities can be responded correctly, whether traffic rules can be complied with, whether traffic participants on the road, such as vehicles, non-motor vehicles, pedestrians, etc., can be responded correctly according to the design indicators of the autopilot function, and whether other autopilot functions planned at the time of the function design can be completed correctly.

For example, the main indexes of the performance test comprise various vehicle motion data (such as speed, acceleration and driving route), the recognition accuracy rate of traffic participants, response speed, recognition range, and adaptability to various illumination and climate environments.

Step S102, outputting an unmanned aerial vehicle control instruction to the unmanned aerial vehicle according to the test case.

The unmanned aerial vehicle control instruction is used for indicating the unmanned aerial vehicle to fly to the upper air of the target road section so that the rainfall device carried by the unmanned aerial vehicle simulates a rainfall environment on the target road section. The rainfall device carried by the unmanned aerial vehicle can comprise four basic components, namely a water tank, a water pipe, a water pump and a nozzle, and a real rainfall scene can be simulated through the rainfall device.

In an embodiment, the unmanned aerial vehicle control instruction is further configured to instruct the unmanned aerial vehicle to hover over the target road segment and/or fly over the target road segment at a preset flight speed. The preset flight speed may be set based on an actual situation or set by a user, which is not specifically limited in the embodiment of the present application. Through hovering unmanned aerial vehicle in the upper air of target highway section, can realize the fixed point rainfall on target highway section, also can reduce unmanned aerial vehicle's electric quantity consumption, improve unmanned aerial vehicle's duration. By controlling the unmanned aerial vehicle to fly above the target road section according to the preset flying speed, the whole road section rainfall of the target road section can be realized, the rainfall range is enlarged, and the test vehicle can acquire the test data comprising the whole target road section, so that more complete test data can be acquired.

For example, as shown in fig. 3, when the unmanned aerial vehicle 100 reaches the upper space of the target road section, the control system of the unmanned aerial vehicle 100 acquires the hover height in the unmanned aerial vehicle control command; the unmanned aerial vehicle 100 is controlled to hover above the target road section according to the hover height, so that the rainfall device 130 carried by the unmanned aerial vehicle 100 can realize fixed-point rainfall of the target road section, and the test vehicle 300 can collect test data in a rainfall environment. Wherein, the hovering height can be determined based on rainfall intensity of the simulated rainfall environment, and the hovering heights corresponding to different rainfall intensities can be different.

As shown in fig. 4, the control system of the unmanned aerial vehicle 100 obtains the flight speed in the unmanned aerial vehicle control command when the unmanned aerial vehicle 100 reaches the upper air of the target road section; the unmanned aerial vehicle 100 is controlled to fly above the target road section according to the flying speed, so that the rainfall device 130 carried by the unmanned aerial vehicle 100 can realize the whole road section rainfall of the target road section, and the test vehicle 300 can collect the test data of the whole road section in the rainfall environment. In the process that the unmanned aerial vehicle 100 flies above the target road section according to the flying speed, the flying height of the unmanned aerial vehicle 100 may be kept approximately unchanged, that is, the change value of the distance between the unmanned aerial vehicle 100 and the target road section is less than or equal to the preset change threshold.

In an embodiment, the unmanned aerial vehicle can also continuously adjust the height of the unmanned aerial vehicle according to the flying speed in the process of flying above the target road section, and the proper ground clearance under different rainfall intensities is tested, so that the raindrops are ensured to have enough distance to realize vertical falling after being sprayed out by the nozzles.

In an embodiment, the unmanned aerial vehicle control instruction is further configured to instruct the unmanned aerial vehicle to control the rainfall device to simulate the rainfall environment in the target road section within a preset time period; the vehicle control instructions are also used for instructing the test vehicle to conduct an automatic driving test on the target road section within a preset time period. The unmanned aerial vehicle control instruction is used for indicating the unmanned aerial vehicle to fly to the upper air of the target road section in a preset time period, so that the rainfall device carried by the unmanned aerial vehicle simulates the rainfall environment of the target road section in the preset time period. The unmanned aerial vehicle is controlled to fly to the upper air of the target road section in a set time period so as to simulate the rainfall environment of the target road section in the set time period, and the specific period acquisition of the test data can be realized.

The control system of the unmanned aerial vehicle acquires a rainfall time period of the unmanned aerial vehicle in the unmanned aerial vehicle control instruction; and controlling the unmanned aerial vehicle to fly to the upper air of the target road section in the time period, so that the rainfall device carried by the unmanned aerial vehicle simulates the rainfall environment of the target road section in the time period. The time period may be set based on actual situations or set by a user, which is not specifically limited in the embodiments of the present application.

In an embodiment, the unmanned aerial vehicle control instruction is further configured to instruct the unmanned aerial vehicle to fly above the target road section according to the movement direction of the test vehicle, so that the test vehicle is located in the rainfall environment simulated by the rainfall device. For example, the unmanned aerial vehicle flies above the target road section in the same direction as the movement direction of the test vehicle on the target road section, and simulates a rainfall environment in the target road section, so that the test data of the test vehicle in the long-range road section can be recorded conveniently.

The unmanned aerial vehicle is further provided with a detection sensor for acquiring detection data of the surrounding environment. The control system of the unmanned aerial vehicle determines the movement direction of the test vehicle on the target road section according to the detection data; and controlling the unmanned aerial vehicle to fly in the same direction as the movement direction so that the test vehicle is positioned in a rainfall environment simulated by the rainfall device. For example, the manner of determining the movement direction of the test vehicle on the target road section according to the probe data may be: determining a test vehicle in each frame of detection data, and determining the position information of the test vehicle at different moments according to each frame of detection data; and determining the movement direction of the test vehicle on the target road section according to the position information of the test vehicle at different moments.

In an embodiment, the drone control instructions are further to instruct the drone to adjust operating parameters including a flight speed, a flight altitude, and/or a rainfall intensity of the rainfall device. For example, a control system of the unmanned aerial vehicle obtains the flying speed and flying height in the control instruction of the unmanned aerial vehicle; and controlling the unmanned aerial vehicle to fly above the target road section according to the flying speed and the flying height, so that a rainfall device carried by the unmanned aerial vehicle simulates a rainfall environment on the target road section. For example, a control system of the unmanned aerial vehicle acquires rainfall intensity and flying height of a rainfall device in a control instruction of the unmanned aerial vehicle; and the unmanned aerial vehicle is instructed to fly above the target road section according to the flying height, and the unmanned aerial vehicle is instructed to control the rainfall device to simulate the rainfall environment on the target road section according to the rainfall intensity.

In an embodiment, the unmanned aerial vehicle control instruction is used for instructing the unmanned aerial vehicles to fly to the upper air of the target road section, so that the rainfall device carried by the unmanned aerial vehicles simulates the rainfall environment in the target road section. It should be noted that, if a high-speed scene needs to be tested, the unmanned aerial vehicle has a larger weight and a slower speed, so that unmanned aerial vehicle group coverage can be performed on the test road section. Through controlling a plurality of unmanned aerial vehicles to fly to the upper air of target road section, can make the rainfall device that a plurality of unmanned aerial vehicles carried simultaneously simulate the rainfall environment at target road section, improve the coverage of simulation rainfall environment.

The unmanned aerial vehicle control instruction is used for indicating the unmanned aerial vehicles to fly to different positions above the target road section to hover, so that the rainfall devices carried by the unmanned aerial vehicles simulate rainfall environments at different positions of the target road section. The unmanned aerial vehicle control instruction is used for indicating the unmanned aerial vehicles to fly to different positions above the target road section to hover so that the rainfall devices carried by the unmanned aerial vehicles simulate rainfall environments at the target road section at different positions. Through controlling a plurality of unmanned aerial vehicles to fly to the different positions above the target road section and hover, the rainfall device that can make a plurality of unmanned aerial vehicles carry simultaneously in the rainfall environment of target road section to can enlarge the coverage of rainfall environment, and be favorable to gathering more comprehensive test data.

For example, as shown in fig. 5, the unmanned aerial vehicle 21 and the unmanned aerial vehicle 23 are both hovered over the target road section, and the positions of the unmanned aerial vehicle 21 and the unmanned aerial vehicle 23 are different, the unmanned aerial vehicle 21 simulates a first rainfall environment in a left road section area of the target road section through the rainfall device 22, the unmanned aerial vehicle 23 simulates a second rainfall environment in a right road section area of the target road section through the rainfall device 23, and the first rainfall environment and the second rainfall environment may be the same or different.

As shown in fig. 6, the unmanned aerial vehicle 25 hovers over the first lane 11 and the second lane 12 of the target road section, the unmanned aerial vehicle 27 hovers over the third lane 13 and the second lane 14 of the target road section through the rainfall device 26 in the first lane 11 and the second lane 12, and the fourth rainfall environment is simulated through the rainfall device 28 in the third lane 13 and the second lane 14, which may be the same or different from the fourth rainfall environment.

For example, the unmanned aerial vehicle control instruction is used for indicating a plurality of unmanned aerial vehicles to fly to the upper air of a target road section in different time periods, so that the rainfall devices carried by the unmanned aerial vehicles simulate the rainfall environment in the target road section in different time periods. Through controlling a plurality of unmanned aerial vehicles to fly to the upper air of the target road section in different time periods, the rainfall device carried by the plurality of unmanned aerial vehicles can simulate the rainfall environment in the target road section in different time periods, and the ground control platform can control the test vehicle to carry out automatic driving test in the target road section, so that more comprehensive test data can be obtained.

The first unmanned aerial vehicle is used for controlling the first unmanned aerial vehicle to fly to the upper air of the target road section in the first time period, and the rainfall device carried by the first unmanned aerial vehicle is indicated to simulate the rainfall environment in the target road section in the first time period, and the unmanned aerial vehicle is also used for controlling the second unmanned aerial vehicle to fly to the upper air of the target road section in the second time period, and the rainfall device carried by the second unmanned aerial vehicle is indicated to simulate the rainfall environment in the target road section in the second time period.

Step S103, outputting a vehicle control instruction to the test vehicle according to the test case.

The vehicle control instruction is used for indicating the test vehicle to perform automatic driving test on the target road section so as to acquire test data of the test vehicle in a rainfall environment. In the automatic driving test process, the test vehicle can run on the target road section according to the preset running speed and test. The preset travel speed of the test vehicle may be the same as or different from the flight speed of the drone.

In an embodiment, the autopilot test may include a sensor test of the test vehicle. The autopilot test may also include testing of actuators and algorithms of the test vehicle. The autopilot test may also include a test to test the overall functionality of the vehicle. For example, the automated driving test may be a test of recognition and response of traffic signs and markings, recognition and response of traffic lights, recognition and response of driving states of vehicles ahead, recognition and response of obstacles, recognition and avoidance of pedestrians and non-vehicles, driving with vehicles, stopping on the roadside, overtaking, merging, passing through intersections, passing through circular intersections, automatic emergency braking, and the like.

For example, the test data may include movement data of the test vehicle, the movement data including at least one of: speed, acceleration, throttle and brake data of vehicle, driving distance, driving time and driving track. In the automatic driving process of the test vehicle, the motion data of the test vehicle can be collected to verify the whole vehicle function influence of the test vehicle in a rainfall environment, such as the influence on the running speed of the vehicle, the influence on accelerator and brake data, the positioning influence on the running track and the like.

It should be noted that, in the current rainfall test method, the recognition capability of the sensor to different targets is tested by fixing the position of the sensor in the rainy day environment, but the scheme of separately testing the sensor cannot test the cooperative work capability among all components of the automatic driving automobile, so that the verification is insufficient. The automatic driving test method provided by the embodiment of the application can be used for carrying out whole vehicle-level test, including test on an actuator and an algorithm of a test vehicle, and is more sufficient in verification.

The test data may include, for example, sensory data of the test vehicle, the sensory data including image data and/or point cloud data. The test data may further include recognition results recognized by the sensory data, and the recognition results may include at least one of: road traffic facilities, the position of the vehicle on the lane, the type and status of the traffic participants, the distance to the traffic participants. Road traffic facilities include traffic signs and markings, traffic lights, crosswalk locations, etc., and traffic participant types include motor vehicles, non-motor vehicles, pedestrians, obstacles and animals. The states of the traffic participant include a stationary state and a moving state.

In an embodiment, the test vehicle is equipped with sensors, and the test data may be collected by the sensors. The sensor comprises an image acquisition device and a radar device, wherein the image acquisition device can be a monocular camera or a multi-eye camera, the radar device can comprise a millimeter wave radar or a laser radar, and the sensor can be of other types.

The image acquisition device is used for detecting lane lines around a test vehicle, detecting a front pedestrian and detecting a front obstacle, and recording the relationship between the vehicle and the road surface of the road on which the vehicle is running. The radar device is used for combining the reflection distance and the reflection angle record of the radar to determine whether the position of the vehicle in the lane is positioned on a crosswalk or not, and whether character identification information is contained or not, and information such as the distance between the vehicle in front, pedestrians and obstacles, collision time and the like.

The test data may be collected by a sensor mounted on the test vehicle, and the sensor mounted on the test vehicle may accurately collect sensing data as test data of the test vehicle in a rainfall environment. The test data may also be obtained by processing sensing data collected by a sensor, which is not particularly limited in this embodiment.

Referring to fig. 7, fig. 7 is another schematic view of a scenario for implementing the automatic driving test method according to the embodiment of the present application. As shown in fig. 7, the scenario includes a drone 100, a ground control platform 200, a test vehicle 300, and a traffic participant 400, the traffic participant 400 including motor vehicles, non-motor vehicles, dummies, and obstacles. Wherein the traffic participant 400 may include a fourth wireless communication device and a third location device that may collect location information of the traffic participant 400. The traffic participant 400 may be communicatively coupled to the ground control platform 200 via a fourth wireless communication device to enable data interaction between the ground control platform 200 and the traffic participant 400.

In one embodiment, a movement control instruction is output to a traffic participant according to a test case, the movement control instruction being used to instruct the traffic participant to move on a target road segment to obtain test data for a test vehicle and the traffic participant in a rainfall environment. It is to be noted that, through the unmanned aerial vehicle that is used for the rainfall simulation, modules such as ground control platform and traffic participant realize that test scene builds fast, promotes efficiency of software testing.

The movement control instructions are for directing the traffic participant to traverse the target road segment at a predetermined movement speed, for example. It should be noted that, the rainfall device of the unmanned aerial vehicle simulates a rainfall environment at a target road section, and the test vehicle can traverse the target road section according to a preset moving speed in the process of automatically driving the target road section, so that the response performance of the test vehicle to the moving traffic participant in automatic driving can be tested, for example, the test vehicle encounters a movable dummy to traverse the road and cannot collide when the test vehicle executes a cruise function in the rainfall environment at a speed of 60km/h or below.

For example, as shown in fig. 8, the movement control instruction is for instructing the traffic participant 400 to stop after moving to a preset position of the target link. It should be noted that, the rainfall device 130 of the unmanned aerial vehicle 100 simulates a rainfall environment at a target road segment, and the test vehicle 300 may stop after being instructed to move to a preset position of the target road segment during the automatic driving test of the target road segment, so as to test the response performance of the test vehicle 300 to a stationary traffic participant after moving during the automatic driving, for example, the test vehicle 300 stops when encountering a movable dummy to cross a road and does not collide when executing a cruise function under the rainfall environment at a speed of 60km/h or less.

In an embodiment, after acquiring the test data of the test vehicle in the rainfall environment, the method further comprises: the test data is analyzed to determine the autopilot performance of the test vehicle in a raining environment. The automatic driving performance includes speed control performance and steering control performance, such as performance on a straight line, on a curve, during lane merging and lane changing, whether traffic regulations can be complied with, whether safety requirements are met, and the like.

The test data may include, for example, a travel track of the test vehicle, which may be determined according to a positioning device mounted on the test vehicle; acquiring a movement track of a traffic participant, wherein the movement track can be determined according to a positioning device carried on the traffic participant; determining whether the test vehicle collides with the traffic participant according to the running track of the test vehicle and the position information of the traffic participant; if the test vehicle and the traffic participant do not collide, acquiring the next test case as the test case to be executed and executing the steps S102 to S103; if the test vehicle collides with the traffic participant, test data corresponding to the test case is obtained as performance boundary data of the test vehicle, so that the safety performance of the test vehicle in automatic driving in a rainfall environment is determined. Wherein, whether the test vehicle collides with the traffic participant or not may be calculated from the trajectory data of the test vehicle and the vehicle size, instead of the test vehicle actually colliding with the traffic participant.

Referring to fig. 9, fig. 9 is a schematic flowchart of steps of a method for controlling a unmanned aerial vehicle according to an embodiment of the present application.

As shown in fig. 9, the unmanned aerial vehicle control method may include steps S201 to S202.

Step S201, an unmanned aerial vehicle control instruction sent by a ground control platform is obtained.

The unmanned aerial vehicle control instruction is output by the ground control platform based on the test case to be executed. For example, the test case may be input by a user in a human-machine interaction page of the ground control platform. The test case is used for realizing the test of the automatic driving vehicle in the rainfall environment, and comprises a step of indicating the rainfall device carried by the unmanned aerial vehicle to simulate the rainfall environment on the target road section and a step of indicating the automatic driving test of the test vehicle on the target road section.

The simulated rainfall environment can comprise light rain, medium rain, heavy rain and the like, the simulated rainfall environment can also comprise a scene of wind and rain intersection such as light rain breeze, light rain strong wind, heavy rain strong wind and the like, and the parameters such as the rain speed, the rainfall intensity and the like corresponding to different rainfall environments can be different.

Step S202, controlling the unmanned aerial vehicle to fly to the upper air of a target road section according to an unmanned aerial vehicle control instruction, so that a rainfall device carried by the unmanned aerial vehicle simulates a rainfall environment in the target road section.

The unmanned aerial vehicle is provided with a rainfall device, the rainfall device can comprise four basic components, namely a water tank, a water pipe, a water pump and a nozzle, and a real rainfall scene can be simulated through the rainfall device. Wherein, the nozzle passes through water piping connection to the water tank, and the water storage volume of water tank can set up according to actual conditions, and the water pump can be installed in the water tank, and the water pump is used for pumping the water in the water tank through water pipe and nozzle. Accurate rainfall control can be achieved by controlling the power of the water pump and the opening and closing angle of the nozzle.

In an embodiment, acquiring operation parameters in the unmanned aerial vehicle control instruction, wherein the operation parameters comprise flight speed, flight height and/or rainfall parameters of the rainfall device; and controlling the unmanned aerial vehicle to hover, fly and/or simulate rainfall above the target road section according to the operation parameters.

Exemplary, the flying height in the unmanned plane control instruction is obtained; and controlling the unmanned aerial vehicle to hover or fly above the target road section according to the flight altitude. The flying height can be determined based on rainfall intensity of the simulated rainfall environment, and flying heights corresponding to different rainfall intensities can be different. Through hovering unmanned aerial vehicle over the target road section, fixed-point rainfall on the target road section can be realized, the electric quantity consumption of the unmanned aerial vehicle can be reduced, and the cruising ability of the unmanned aerial vehicle is improved. The unmanned aerial vehicle flies above the target road section and simulates the rainfall environment in the target road section, so that test data of the test vehicle in the long-range target road section can be recorded conveniently.

For example, when the unmanned aerial vehicle reaches the upper air of the target road section, the flight speed in the unmanned aerial vehicle control instruction is obtained; and controlling the unmanned aerial vehicle to fly above the target road section according to the flying speed. The flying speed in the unmanned plane control instruction can be set by a user. By controlling the unmanned aerial vehicle to fly above the target road section according to the set flying speed, the unmanned aerial vehicle can acquire test data comprising the whole target road section, so that more complete test data can be acquired.

The unmanned aerial vehicle can continuously adjust the flight height of the unmanned aerial vehicle according to the flight speed in the process of flying above a target road section, and the suitable ground clearance under different rainfall intensities is tested to ensure that raindrops are sprayed out by the nozzles and have enough distance to realize vertical falling.

Illustratively, obtaining a rainfall parameter in the unmanned aerial vehicle control instruction, wherein the rainfall parameter can comprise a rainfall control period and rainfall intensity of the unmanned aerial vehicle; and controlling the unmanned aerial vehicle to fly above the target road section in the time period, so that the rainfall device carried by the unmanned aerial vehicle simulates the rainfall environment in the target road section according to the rainfall intensity in the time period. The time period may be set based on actual situations or set by a user, which is not specifically limited in the embodiments of the present application. The unmanned aerial vehicle is controlled to fly to the upper air of the target road section in a set time period so as to simulate the rainfall environment of the target road section in the set time period, and the specific period acquisition of the test data can be realized.

The unmanned aerial vehicle control instruction is used for indicating the unmanned aerial vehicles to fly to different positions above the target road section to hover, and indicating the hovering unmanned aerial vehicles to move according to the preset flight speed, so that the rainfall devices carried by the unmanned aerial vehicles simulate the weather intersection environment at the different positions of the target road section. It should be noted that after a plurality of unmanned aerial vehicles reach different positions above a target road section to hover, the hovering unmanned aerial vehicles can be controlled to move up and down or move left and right, so that rainfall parameters of rainfall devices carried by different unmanned aerial vehicles are adjusted, a wind and rain intersection scene in a natural environment can be simulated more truly, the simulation reality of a test rainfall environment is improved, and the accuracy of test data is improved.

In an embodiment, the unmanned aerial vehicle transmits back the collected observation data to the ground control platform in a timing or real-time manner in the process of simulating the rainfall environment of the target road section above the target road section. Or, acquiring the residual battery capacity of the unmanned aerial vehicle, and returning the acquired test data to the ground control platform when the residual battery capacity of the unmanned aerial vehicle is smaller than the preset electric capacity. The time duration and the preset power of the timer can be set by the user, which is not particularly limited in the embodiment of the present application.

In one embodiment, the drone may be connected to a ground power supply via a tethered cable, the ground power supply being used to power the battery of the drone. Or, acquiring the remaining battery power of the unmanned aerial vehicle, and sending a replacement instruction to the standby unmanned aerial vehicle based on the current position point of the unmanned aerial vehicle when the remaining battery power of the unmanned aerial vehicle is smaller than a preset power threshold value, so that the standby unmanned aerial vehicle flies to a waiting point based on the replacement instruction; after the standby unmanned aerial vehicle arrives at the waiting point, the unmanned aerial vehicle returns to the current position point, and the standby unmanned aerial vehicle flies to the current position point from the waiting point, so that the standby unmanned aerial vehicle continues to simulate the rainfall environment on the target road section.

In an embodiment, the test case is further used for the ground control platform to output a vehicle control instruction to the test vehicle, where the vehicle control instruction is used for instructing the test vehicle to perform an automatic driving test on the target road section so as to obtain test data of the test vehicle in a rainfall environment.

For example, the test data may include movement data of the test vehicle, the movement data including at least one of: speed, acceleration, throttle and brake data of vehicle, driving distance, driving time and driving track. The test data may include, for example, sensory data of the test vehicle including image data and/or point cloud data.

In one embodiment, the test case is further used for the ground control platform to output a movement control instruction to the traffic participant, wherein the movement control instruction is used for instructing the traffic participant to move on the target road section so as to obtain test data of the test vehicle and the traffic participant in the rainfall environment. It is to be noted that, through the unmanned aerial vehicle that is used for the rainfall simulation, modules such as ground control platform and traffic participant realize that test scene builds fast, promotes efficiency of software testing.

The movement control instructions are used to instruct the traffic participant to stop after moving to a preset location on the target link. It should be noted that, the rainfall device of the unmanned aerial vehicle simulates a rainfall environment at a target road section, and the test vehicle can stop after moving to a preset position of the target road section by indicating the traffic participant in the process of performing an automatic driving test on the target road section, so as to test the response performance of the test vehicle to the traffic participant stationary after moving during automatic driving, for example, the test vehicle stops when encountering a movable dummy to traverse a road and does not collide when executing a cruise function in the rainfall environment at a speed of 60km/h or below.

Referring to fig. 10, fig. 10 is a schematic block diagram of a ground control platform according to an embodiment of the present application.

As shown in FIG. 10, the surface control platform 500 includes a processor 510 and a memory 520, the processor 510 and the memory 520 being connected by a bus 530, such as an I2C (Inter-integrated Circuit) bus. The floor control platform 500 may be, for example, the floor control platform 200 described above.

Specifically, the processor 510 may be a Micro-controller Unit (MCU), a central processing Unit (Central Processing Unit, CPU), a digital signal processor (Digital Signal Processor, DSP), or the like.

Specifically, the Memory 520 may be a Flash chip, a Read-Only Memory (ROM) disk, an optical disk, a U-disk, a removable hard disk, or the like.

Wherein the processor 510 is configured to run a computer program stored in the memory 520 and to implement the following steps when the computer program is executed:

acquiring a test case to be executed;

In one embodiment, the test data comprises movement data of the test vehicle, the movement data comprising at least one of: speed, acceleration, throttle and brake data of vehicle, driving distance, driving time and driving track.

In one embodiment, the test data comprises perception data of the test vehicle, the perception data comprising image data and/or point cloud data.

In one embodiment, the unmanned aerial vehicle control instructions are further configured to instruct the unmanned aerial vehicle to hover over the target road segment and/or fly over the target road segment at a preset flight speed.

In one embodiment, the unmanned aerial vehicle control instruction is further configured to instruct an unmanned aerial vehicle to control the rainfall device to simulate a rainfall environment in the target road section within a preset time period; the vehicle control instruction is also used for indicating the test vehicle to conduct automatic driving test on the target road section within the preset time period.

In one embodiment, the unmanned aerial vehicle control instruction is further configured to instruct the unmanned aerial vehicle to fly above the target road section according to the movement direction of the test vehicle, so that the test vehicle is located in a rainfall environment simulated by the rainfall device.

In one embodiment, the drone control instructions are further to instruct the drone to adjust operational parameters including a flight speed, a flight altitude, and/or a rainfall intensity of the rainfall device.

In one embodiment, the unmanned aerial vehicle control instruction is used for instructing a plurality of unmanned aerial vehicles to fly to the upper air of a target road section, so that a plurality of rainfall devices carried by the unmanned aerial vehicles simulate rainfall environment on the target road section.

In one embodiment, the unmanned aerial vehicle control instruction is used for instructing a plurality of unmanned aerial vehicles to fly to different positions above the target road section to hover, so that a plurality of rainfall devices carried by the unmanned aerial vehicles simulate rainfall environments at different positions of the target road section.

In one embodiment, the unmanned aerial vehicle control instruction is configured to instruct a plurality of unmanned aerial vehicles to fly to the upper air of the target road section in different time periods, so that a plurality of rainfall devices carried by the unmanned aerial vehicles simulate rainfall environments in the target road section in different time periods.

In one embodiment, the processor is further configured to implement:

and outputting a movement control instruction to a traffic participant according to the test case, wherein the movement control instruction is used for indicating the traffic participant to move on the target road section so as to acquire test data of the test vehicle and the traffic participant in the rainfall environment.

In one embodiment, the movement control instruction is used to instruct a traffic participant to traverse the target road segment at a preset movement speed, or the movement control instruction is used to instruct the traffic participant to stop after moving to a preset position of the target road segment.

In one embodiment, the processor is further configured to implement:

and analyzing the test data to determine the automatic driving performance of the test vehicle in the rainfall environment.

It should be noted that, for convenience and brevity of description, a person skilled in the art may clearly understand that the specific working process of the above-described ground control platform may refer to the corresponding process in the foregoing embodiment of the automatic driving test method, which is not described herein again.

Fig. 11 is a schematic block diagram of a structure of a unmanned aerial vehicle according to an embodiment of the present application.

As shown in fig. 11, the drone 600 includes a processor 610, a memory 620, and a rain device 630, where the processor 610, the memory 620, and the rain device 630 are connected by a bus 640, such as an I2C (Inter-integrated Circuit) bus. The unmanned aerial vehicle 600 may be, for example, the aforementioned unmanned aerial vehicle 100.

Specifically, the processor 610 may be a Micro-controller Unit (MCU), a central processing Unit (Central Processing Unit, CPU), a digital signal processor (Digital Signal Processor, DSP), or the like.

Specifically, the Memory 620 may be a Flash chip, a Read-Only Memory (ROM) disk, an optical disk, a U-disk, a removable hard disk, or the like.

Specifically, the rain gear 630 may include a water tank, a water pipe, a water pump, and a nozzle. The processor 610 may control the rainfall device 630 to simulate the rainfall environment above the target road segment. Wherein, the nozzle passes through water piping connection to the water tank, and the water storage volume of water tank can set up according to actual conditions, and the water pump can be installed in the water tank, and the water pump is used for pumping the water in the water tank through water pipe and nozzle. It should be noted that, the accurate rainfall control can be achieved by controlling the power of the water pump in the rainfall device 630 and the opening and closing of the nozzles of different types, the higher the power of the water pump is, the larger the rainfall is, and the larger the model of the nozzle is, the larger the rainfall is.

Wherein the processor 610 is configured to run a computer program stored in the memory 620 and to implement the following steps when the computer program is executed:

In one embodiment, the processor is further configured to implement:

acquiring operation parameters in the unmanned aerial vehicle control instruction, wherein the operation parameters comprise flight speed, flight height and/or rainfall parameters of the rainfall device;

and controlling the unmanned aerial vehicle to hover, fly and/or simulate rainfall above the target road section according to the operation parameters.

It should be noted that, for convenience and brevity of description, specific working processes of the unmanned aerial vehicle described above may refer to corresponding processes in the foregoing unmanned aerial vehicle control method embodiments, and are not described herein again.

Referring to fig. 12, fig. 12 is a schematic block diagram of an autopilot test system according to an embodiment of the present application.

As shown in fig. 12, the autopilot test system 700 includes a ground control platform 710, a drone 720, and a test vehicle 730, the ground control platform 710 being communicatively coupled to the drone 720, the test vehicle 730, wherein:

a ground control platform 710, configured to obtain a test case to be executed;

the ground control platform 710 is further configured to output an unmanned aerial vehicle control instruction to the unmanned aerial vehicle 720 according to the test case;

the unmanned aerial vehicle 720 is configured to receive the unmanned aerial vehicle control instruction, fly to the upper air of a target road section according to the unmanned aerial vehicle control instruction, and control a rainfall device carried by the unmanned aerial vehicle 720 to simulate a rainfall environment in the target road section;

Ground control platform 710 is further configured to output a vehicle control command to test vehicle 730 according to the test case;

the test vehicle 730 is configured to receive the vehicle control command, perform an automatic driving test on the target road section according to the vehicle control command, and record test data in the rainfall environment;

ground control platform 710 is also configured to receive test data for the test vehicle 730 in the raining environment.

In one embodiment, ground control platform 710 is further configured to:

In one embodiment, the ground control platform 710 is further configured to:

In one embodiment, the drone 720 is further configured to:

acquiring a hovering height in the unmanned aerial vehicle control instruction;

and controlling the unmanned aerial vehicle to hover above the target road section according to the hover height.

In one embodiment, the drone 720 is further configured to:

acquiring operation parameters in the unmanned aerial vehicle control instruction, wherein the operation parameters comprise flight speed, flight height and/or rainfall intensity of the rainfall device;

and controlling the unmanned aerial vehicle to fly above the target road section according to the operation parameters.

In one embodiment, the drone 720 is further configured to:

acquiring the movement direction of the test vehicle;

and flying above the target road section according to the movement direction of the test vehicle so that the test vehicle is positioned in a rainfall environment simulated by the rainfall device.

Illustratively, the ground control platform 710 may be the ground control platform 500 of fig. 10, the drone 720 may be the drone 600 of fig. 11, and the test vehicle 730 may be, for example, the test vehicle 300 of fig. 1.

The embodiment of the application also provides a storage medium, wherein the storage medium stores a computer program, the computer program comprises program instructions, and the processor executes the program instructions to realize the steps of the automatic driving test method or the unmanned aerial vehicle control method provided by the embodiment.

The computer readable storage medium may be an internal storage unit of the ground control platform or the unmanned aerial vehicle according to any of the foregoing embodiments, for example, a hard disk or a memory of the ground control platform or the unmanned aerial vehicle. The computer readable storage medium may also be an external storage device of the ground control platform or the unmanned aerial vehicle, for example, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash Card (Flash Card) or the like.

It is to be understood that the terminology used in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

It should also be understood that the term "and/or" as used in this specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.

While the invention has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made and equivalents will be apparent to those skilled in the art without departing from the scope of the invention. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. An autopilot testing method comprising:

acquiring a test case to be executed;

2. The autopilot test method of claim 1 wherein the test data includes movement data of the test vehicle, the movement data including at least one of: speed, acceleration, throttle and brake data of vehicle, driving distance, driving time and driving track.

3. The automated driving test method of claim 1, wherein the test data comprises sensory data of the test vehicle, the sensory data comprising image data and/or point cloud data.

4. The autopilot testing method of claim 1 wherein the unmanned control instructions are further configured to instruct an unmanned aerial vehicle to hover over the target segment and/or fly over the target segment at a preset flight speed.

5. The automated driving test method of claim 1, wherein the unmanned control instructions are further for instructing an unmanned to control the rainfall apparatus to simulate a rainfall environment at the target road segment for a preset period of time; the vehicle control instruction is also used for indicating the test vehicle to conduct automatic driving test on the target road section within the preset time period.

6. The autopilot testing method of claim 1 wherein the unmanned control instructions are further configured to instruct an unmanned aerial vehicle to fly over the target road segment based on a direction of movement of the test vehicle such that the test vehicle is positioned in a raining environment simulated by the raining device.

7. The autopilot testing method of claim 1 wherein the drone control instructions are further for instructing the drone to adjust operational parameters including speed of flight, altitude of flight, and/or intensity of rainfall by the rainfall device.

8. The automated driving test method of claim 1, wherein the unmanned aerial vehicle control instruction is configured to instruct a plurality of unmanned aerial vehicles to fly to the upper air of a target road section, so that a plurality of rainfall devices mounted by the unmanned aerial vehicles simulate a rainfall environment on the target road section.

9. The automated driving test method of claim 8, wherein the drone control instructions are configured to instruct a plurality of drones to fly to different locations above the target road segment to hover so that a plurality of the drone-mounted rainfall apparatuses simulate a rainfall environment at the different locations of the target road segment.

10. The automated driving test method of claim 8, wherein the drone control instructions are configured to instruct a plurality of drones to fly above the target section at different time periods, such that a plurality of the drone-mounted rainfall devices simulate a rainfall environment at the target section at different time periods.

11. The autopilot test method of claim 1 wherein the method further comprises:

12. The automated driving test method of claim 11, wherein the movement control instruction is for instructing a traffic participant to traverse the target segment at a preset movement speed; or alternatively

The movement control instruction is used for indicating the traffic participant to stop after moving to the preset position of the target road section.

13. The autopilot test method of any one of claims 1-12 wherein the method further comprises:

14. A method of unmanned aerial vehicle control, comprising:

15. The unmanned aerial vehicle control method of claim 14, wherein the method further comprises:

16. The unmanned aerial vehicle control method of claim 14, wherein the unmanned aerial vehicle control instruction is configured to instruct a plurality of unmanned aerial vehicles to fly to the upper air of a target road section, so that a plurality of rainfall apparatuses mounted by the unmanned aerial vehicles simulate a rainfall environment on the target road section.

17. The unmanned aerial vehicle control method of claim 16, wherein the unmanned aerial vehicle control instructions are configured to instruct a plurality of unmanned aerial vehicles to fly to different locations over the target road segment to hover so that a plurality of unmanned aerial vehicle-mounted rainfall apparatuses simulate a rainfall environment at the different locations of the target road segment.

18. The unmanned aerial vehicle control method of claim 16, wherein the unmanned aerial vehicle control instructions are configured to instruct a plurality of unmanned aerial vehicles to fly to the upper air of the target road section in different time periods, so that a plurality of rainfall devices carried by the unmanned aerial vehicles simulate rainfall environments in the target road section in different time periods.

19. A ground control platform, wherein the ground control platform comprises a memory and a processor;

the memory is used for storing a computer program;

the processor being adapted to execute the computer program and to implement the autopilot test method according to claims 1-13 when the computer program is executed.

20. An unmanned aerial vehicle, characterized in that the unmanned aerial vehicle comprises: a memory, a processor, and a rainfall device;

the rainfall device is used for simulating a rainfall environment;

the memory is used for storing a computer program;

the processor for executing the computer program and for implementing the unmanned aerial vehicle control method according to claims 14-18 when the computer program is executed.

21. An autopilot test system, the autopilot test system comprising:

a test vehicle, the drone of claim 20; and

the ground control platform of claim 19, communicatively coupled to the test vehicle and the drone.

22. A storage medium storing a computer program which, when executed by a processor, causes the processor to implement the autopilot test method of any one of claims 1 to 13 or the drone control method of any one of claims 14 to 19.