WO2018068427A1 - 用于开发无人驾驶车辆应用的方法和装置 - Google Patents

用于开发无人驾驶车辆应用的方法和装置 Download PDF

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Publication number
WO2018068427A1
WO2018068427A1 PCT/CN2017/000041 CN2017000041W WO2018068427A1 WO 2018068427 A1 WO2018068427 A1 WO 2018068427A1 CN 2017000041 W CN2017000041 W CN 2017000041W WO 2018068427 A1 WO2018068427 A1 WO 2018068427A1
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test
image
repaired
container
container image
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PCT/CN2017/000041
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English (en)
French (fr)
Inventor
詹君
蒋其艺
王超
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北京百度网讯科技有限公司
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Application filed by 北京百度网讯科技有限公司 filed Critical 北京百度网讯科技有限公司
Priority to JP2017530149A priority Critical patent/JP6578004B2/ja
Priority to US15/534,762 priority patent/US20190087307A1/en
Publication of WO2018068427A1 publication Critical patent/WO2018068427A1/zh

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F11/00—Error detection; Error correction; Monitoring
    • G06F11/36—Preventing errors by testing or debugging software
    • G06F11/3604—Software analysis for verifying properties of programs
    • G06F11/3612—Software analysis for verifying properties of programs by runtime analysis
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F8/00—Arrangements for software engineering
    • G06F8/20—Software design
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F11/00—Error detection; Error correction; Monitoring
    • G06F11/36—Preventing errors by testing or debugging software
    • G06F11/362—Software debugging
    • G06F11/3628—Software debugging of optimised code
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F11/00—Error detection; Error correction; Monitoring
    • G06F11/36—Preventing errors by testing or debugging software
    • G06F11/3664—Environments for testing or debugging software
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F11/00—Error detection; Error correction; Monitoring
    • G06F11/36—Preventing errors by testing or debugging software
    • G06F11/3668—Software testing
    • G06F11/3672—Test management
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F11/00—Error detection; Error correction; Monitoring
    • G06F11/36—Preventing errors by testing or debugging software
    • G06F11/3668—Software testing
    • G06F11/3672—Test management
    • G06F11/3688—Test management for test execution, e.g. scheduling of test suites
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/10—Geometric CAD
    • G06F30/15—Vehicle, aircraft or watercraft design
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/20—Design optimisation, verification or simulation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F8/00—Arrangements for software engineering
    • G06F8/30—Creation or generation of source code
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F8/00—Arrangements for software engineering
    • G06F8/40—Transformation of program code
    • G06F8/41—Compilation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F8/00—Arrangements for software engineering
    • G06F8/70—Software maintenance or management
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F8/00—Arrangements for software engineering
    • G06F8/70—Software maintenance or management
    • G06F8/71—Version control; Configuration management
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F9/00—Arrangements for program control, e.g. control units
    • G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
    • G06F9/44—Arrangements for executing specific programs
    • G06F9/455—Emulation; Interpretation; Software simulation, e.g. virtualisation or emulation of application or operating system execution engines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls

Definitions

  • the present application relates to the field of computer technology, and in particular to the field of unmanned vehicle technology, and more particularly to a method and apparatus for developing an unmanned vehicle application.
  • the role of the simulator is crucial, and the simulator provides an offline integrated test environment for each module of the unmanned vehicle.
  • the scene data collected for unmanned vehicles is a very critical piece of information, and to be used, it must rely on the simulator.
  • the simulator in the prior art is an online version or an offline version, and sometimes the offline version is only a client of a cloud simulator. Either way, it is difficult to balance the needs of rapid development of R&D and testers with the need for rapid cloud large-scale simulation. In addition, the accurate push of the local environment to the cloud is complex and almost impossible to achieve.
  • the purpose of the present application is to propose a method and apparatus for developing an unmanned vehicle application to solve the technical problems mentioned in the background section above.
  • the present application provides a method for developing an unmanned vehicle application, the method comprising: obtaining test results for performing a test operation on an unmanned vehicle application in a plurality of test scenarios; using test results Test scenario data for a problematic test scenario, performing a repair operation on the driverless vehicle application, the container image including operating system level components and third party dependencies required for deploying the unmanned vehicle component to operate a mirroring layer of the library and an application code for deploying the driverless vehicle application and a mirroring layer of an operating environment of the driverless vehicle application; wherein the repairing operation includes: pushing test scene data into the container image to form Mirroring the container to be repaired and delivering it to the R&D or test terminal for startup by the R&D or test terminal; receiving the image of the repaired container uploaded by the R&D or test terminal, wherein the repaired container image is a R&D or tester The image generated by the application code of the driverless vehicle application is repaired by the activated image of the container to be repaired.
  • the method further comprises performing a regression test on the unmanned vehicle application in the repaired container image on the plurality of test scenarios.
  • the method further comprises continuing to perform the repair operation if a problem occurs in the regression test.
  • the obtaining test results of performing a test operation on the unmanned vehicle application separately in the plurality of test scenarios comprising: initiating the container image, and simulating the unmanned vehicle application in the simulator Perform offline testing in multiple test scenarios; obtain test results for offline testing in multiple test scenarios.
  • the obtaining test results of performing a test operation on an unmanned vehicle application separately in a plurality of test scenarios comprising: obtaining an unmanned vehicle deployed with the driverless vehicle application in multiple tests Test results of the road test under the scene.
  • the container image is a docker image.
  • the present application provides a method for developing an unmanned vehicle application, the method comprising: receiving a to-be-repaired container image delivered by a cloud server, wherein the cloud server is pre-established with a container image.
  • the container image includes a mirror layer of an operating system level component required for deploying an unmanned vehicle component and a container image of a third party dependent library, and application code for deploying an unmanned vehicle application and the driverless a mirroring layer of a running environment of the vehicle application, where the mirror image to be repaired is a test scenario in which the cloud server acquires a test result of performing a test operation on an unmanned vehicle application in a plurality of test scenarios, and a problem occurs when the test is performed.
  • Test scenario data is pushed into the image formed by the image of the container; the image of the container to be repaired is activated; and the repair operation of the application code of the unmanned vehicle application is performed in response to the image of the container to be repaired by the research and development or test personnel , generating a repaired container image that has been repaired;
  • the image is uploaded to the cloud server.
  • the present application provides an apparatus for developing an unmanned vehicle application, the apparatus comprising: an acquisition unit, configured to acquire a test for performing a test operation on an unmanned vehicle application in a plurality of test scenarios, respectively. a repair unit for performing a repair operation on the driverless vehicle application using test scenario data of a test scenario in which a test result has a problem, the container image including operations required for deploying the unmanned vehicle component to operate a mirror layer of a system level component and a third party dependent library and an application code for deploying an unmanned vehicle application and a mirroring layer of an operating environment of the driverless vehicle application; wherein the repair operation comprises: testing scene data Pushing the image of the container to form a mirror image of the container to be repaired and delivering it to a R&D or test terminal for startup by the R&D or test terminal; receiving a repaired container image uploaded by the R&D or test terminal, wherein the repaired The container image is the image of the unmanned vehicle by the R&D or test personnel through the mirror of the container to
  • the apparatus further comprises: a regression testing unit for performing a regression test on the unmanned vehicle application in the repaired container image on the plurality of test scenarios.
  • the apparatus further comprises: a continuation repair unit for continuing to perform the repair operation if a problem occurs in the regression test.
  • the obtaining unit is further configured to: start the container image, perform offline test on the unmanned vehicle application in multiple test scenarios simulated by the simulator; acquire multiple test scenarios Test results of the offline test.
  • the obtaining unit is further configured to: obtain a test result of an on-road test of the unmanned vehicle deployed with the driverless vehicle application in a plurality of test scenarios.
  • the container image is a docker image.
  • the present application provides another apparatus for developing an unmanned vehicle application, the apparatus comprising: a receiving unit, configured to receive a to-be-repaired container image delivered by a cloud server, where the cloud server is pre- A container image is created that includes an image layer for the deployment of the operating system level components required for the operation of the driverless vehicle component and a container image of the third party dependent library and an application for deploying the driverless vehicle application a code and a mirroring layer of an operating environment of the driverless vehicle application, wherein the image of the container to be repaired is after the cloud server obtains a test result of performing a test operation on an unmanned vehicle application in a plurality of test scenarios, The test scenario data of the test scenario in which the test occurs is pushed into the image formed by the container image; the startup unit is configured to start the image of the container to be repaired; and the generating unit is configured to respond to the development or test personnel to pass the activated Repairing a container image to repair the application code of the driverless vehicle application, generating a repaired repaired
  • the method and device for developing an unmanned vehicle application acquires test results of testing an unmanned vehicle application in multiple test scenarios on a cloud server, and implements an environment in a terminal and a cloud server through container mirroring. Consistency, so that unmanned vehicle applications can be repaired on the terminal using problematic test scenarios, which can significantly accelerate development efficiency.
  • FIG. 1 is an exemplary system architecture diagram to which the present application can be applied;
  • FIG. 2 is a flow diagram of one embodiment of a method for developing an unmanned vehicle application in accordance with the present application
  • FIG. 3 is a flow chart of still another embodiment of a method for developing an unmanned vehicle application in accordance with the present application
  • FIG. 4 is a schematic block diagram of one embodiment of an apparatus for developing an unmanned vehicle application in accordance with the present application
  • FIG. 5 is a schematic structural diagram of still another embodiment of an apparatus for developing an unmanned vehicle application according to the present application.
  • FIG. 6 is a schematic structural diagram of a computer system suitable for implementing a terminal device or a server of an embodiment of the present application.
  • FIG. 1 illustrates an exemplary system architecture 100 of an embodiment of a method or apparatus for developing an unmanned vehicle application to which the present application may be applied.
  • system architecture 100 can include terminal devices 101, 102, network 103, and server 104.
  • the network 103 is used to provide a medium for communication links between the terminal devices 101, 102 and the server 104.
  • Network 103 may include various types of connections, such as wired, wireless communication links, fiber optic cables, and the like.
  • the terminal device 101 can be various electronic devices having a display screen including, but not limited to, laptop portable computers and desktop computers, and the like.
  • the user can develop or test the application using the terminal device 101, 102.
  • the terminal device can also interact with the server 104 via the network 103 to receive or send messages and the like.
  • the server 104 may be a server that provides various services, such as a cloud server that provides support for information loaded on the terminal devices 101, 102.
  • the cloud server can send data (for example, a container image) to the terminal devices 101 and 102, and can also receive information uploaded by the terminal devices 101 and 102.
  • FIG. 4 corresponds to the embodiment for developing an unmanned vehicle application.
  • the device is generally disposed in the cloud server 104; the method for developing an unmanned vehicle application provided by the embodiment corresponding to FIG. 3 is generally performed by the terminals 101, 102, and correspondingly, the corresponding embodiment of FIG. 5 is provided for development.
  • Devices for driving a vehicle application are generally provided in the terminals 101, 102.
  • terminal devices, networks, and servers in Figure 1 is merely illustrative. Depending on the implementation needs, there can be any number of terminal devices, networks, and servers.
  • the method for developing an unmanned vehicle application includes the following steps:
  • Step 201 Acquire test results of performing a test operation on the unmanned vehicle application in multiple test scenarios.
  • an electronic device such as the terminal shown in FIG. 1 on which the method for developing an unmanned vehicle application runs can be locally or remotely acquired for an unmanned vehicle in multiple test scenarios. The test results of the application performing the test operation.
  • step 201 includes: initiating the above-mentioned container image, performing offline test on the unmanned vehicle application in multiple test scenarios simulated by the simulator; acquiring multiple test scenarios Test results for offline testing.
  • step 202 includes: initiating a container image, performing offline test on the unmanned vehicle application in multiple test scenarios simulated by the simulator; acquiring multiple test scenarios and offline Test results of the test below.
  • step 201 includes: obtaining test results of on-road testing of the unmanned vehicle deployed with the driverless vehicle application in multiple test scenarios.
  • Step 202 Perform a repair operation on the unmanned vehicle application by using test scenario data of the test scenario in which the test result has a problem.
  • the electronic device may first analyze the test result to determine a test scenario in which a problem occurs during the test. Thereafter, the electronic device can acquire the test scenario data of the problem and perform a repair operation on the unmanned vehicle application by using the test scenario data.
  • the foregoing repairing operation specifically includes the following specific steps: First, the electronic device can push the test scenario data into the container image to form a mirror image of the container to be repaired; secondly, the electronic device can send the image of the container to be repaired to the R&D or test terminal for research and development or The test terminal is started; afterwards, the electronic device receives the repaired container image uploaded by the R&D or test terminal, wherein the repaired container image is generated by the R&D or test personnel repairing the unmanned vehicle application through the image of the container to be repaired initiated by the tester Mirror.
  • the R&D or test terminal can use the test scenario data to reproduce the test scenario of the problem, the R&D or test personnel.
  • the unmanned vehicle application can be debugged and compiled in this test scenario to fix the application code of the driverless application.
  • the R&D or test terminal can then replace the problematic code with the repaired application code to form a repaired container image.
  • the R&D or test terminal can upload the repaired container image to the cloud server, so that the cloud server can obtain the repaired container image.
  • the method further includes the step of performing a regression test on the unmanned vehicle application in the repaired container image on the plurality of test scenarios. This implementation can be used to verify whether new problems will occur in the repaired unmanned vehicle application through regression testing.
  • the foregoing method further includes: if a problem occurs in the regression test, continuing to perform the repair operation.
  • the electronic device can perform regression testing on multiple test scenarios for the driverless vehicle application in the repaired container image; when the regression test has a problem, the above-described repair operation continues.
  • the implementation can repeatedly push the test scenario that is problematic during the test into the container image and send it to the terminal, so that the unmanned vehicle application can be continuously debugged and compiled using the test scenario with the problem. The problem can eventually be fixed.
  • the method provided by the foregoing embodiment of the present application obtains the test result of testing the unmanned vehicle application in multiple test scenarios on the cloud server, and implements the consistency of the environment between the terminal and the cloud server through the container image, so that Unmanned vehicle applications are repaired on the terminal using problematic test scenarios, which can significantly accelerate development efficiency.
  • the process 300 for developing a method for an unmanned vehicle application includes the following steps:
  • Step 301 Receive a mirror image of the container to be repaired delivered by the cloud server.
  • the cloud server is pre-established with a container image, and the container image includes a mirror layer for storing the operating system level components required for the operation of the driverless vehicle component and the container image of the third-party dependent library, and for deploying none.
  • Cloud server can be the first Obtain test results for performing test operations on unmanned vehicle applications in multiple test scenarios. After that, the cloud server can push the test scenario data of the test scenario in which the test is performed to the container image to form a mirror to be repaired, and deliver the image to the terminal.
  • the electronic device for example, the terminal device in FIG. 1) on which the method for developing the driverless vehicle application is executed can receive the image of the container to be repaired delivered by the cloud server.
  • Step 302 Start the image of the container to be repaired.
  • the electronic device may initiate the image of the container to be repaired.
  • Step 303 in response to the R&D or tester mirroring the application code of the unmanned vehicle application through the activated container image to be repaired, generating the repaired repaired container image.
  • the R&D or test personnel repairs the application code of the driverless vehicle application through the mirror image of the container to be repaired.
  • the electronic device can use the test data in the container generated by the image of the container to be repaired to reproduce the test scenario in which the problem occurs during the test, and the development or test personnel can use the test scenario to Drive the vehicle application for debugging and compiling to fix the problem. Therefore, the electronic device can detect the repair operation of the application code of the driverless vehicle application by the R&D or tester through the activated image of the container to be repaired, thereby generating the repaired repaired container image after the repair operation is performed.
  • step 304 the repaired container image is uploaded to the cloud server.
  • the electronic device can upload the repaired container image to the cloud server, thereby completing the repair of the application code for the driverless vehicle application.
  • the method provided by the foregoing embodiment of the present application obtains the test result of testing the unmanned vehicle application in multiple test scenarios on the cloud server, and implements the consistency of the environment between the terminal and the cloud server through the container image, so that Unmanned vehicle applications are repaired on the terminal using problematic test scenarios, which can significantly accelerate development efficiency.
  • the present application provides An embodiment of a device for developing an unmanned vehicle application, the device embodiment corresponding to the method embodiment shown in FIG. 2, the device being specifically applicable to various electronic devices.
  • the apparatus 400 for developing an unmanned vehicle application includes an acquisition unit 401 and a repair unit 402.
  • the obtaining unit 401 is configured to obtain test results for performing a test operation on the unmanned vehicle application in the multiple test scenarios respectively;
  • the repair unit 402 is configured to use the test scenario data of the test scenario in which the test result has a problem, for the driverless
  • the vehicle application performs a repair operation
  • the container image includes an operating system level component for deploying the driverless vehicle component and a mirror layer of a third party dependent library and application code for deploying the driverless vehicle application and the driverless vehicle The mirroring layer of the running environment of the application; wherein the repairing operation includes: pushing the test scenario data into the container image to form a mirror image of the container to be repaired and delivering the image to the R&D or test terminal for launching the R&D or test terminal; receiving the R&D or test terminal
  • the uploaded container image is uploaded, where the repaired container image is the image generated by the R&D or tester to repair the application code of the driver
  • the specific processing of the acquiring unit 401 and the repairing unit 402 of the apparatus 400 for developing an unmanned vehicle application may refer to step 201 and step 202 in the corresponding embodiment of FIG. 2, and details are not described herein again.
  • the apparatus 400 further includes: a regression testing unit 403.
  • the regression testing unit 403 is configured to perform regression testing on the unmanned vehicle application in the repaired container image on multiple test scenarios.
  • the apparatus 400 further includes a continuation repair unit 404.
  • the continuation repair unit 404 is configured to continue to perform the above repair operation if a problem occurs in the regression test.
  • the continuation repair unit 404 is configured to continue to perform the above repair operation if a problem occurs in the regression test.
  • the obtaining unit 401 is further configured to: start a container image, perform offline test on the unmanned vehicle application in multiple test scenarios simulated by the simulator; and obtain multiple tests. The test result of the offline test under the scenario.
  • the obtaining unit 401 is further configured to: start a container image, perform offline test on the unmanned vehicle application in multiple test scenarios simulated by the simulator; and obtain multiple tests. The test result of the offline test under the scenario.
  • the obtaining unit 401 is further configured to: obtain a test result of performing an on-road test in an unmanned vehicle deployed with an unmanned vehicle application in multiple test scenarios.
  • the obtaining unit 401 is further configured to: obtain a test result of performing an on-road test in an unmanned vehicle deployed with an unmanned vehicle application in multiple test scenarios.
  • the container image is a docker image.
  • the container image is a docker image.
  • the present application provides an embodiment of an apparatus for developing an unmanned vehicle application, the apparatus embodiment and the method embodiment shown in FIG.
  • the device can be specifically applied to various electronic devices.
  • the apparatus 500 for developing an unmanned vehicle application includes a receiving unit 501, a starting unit 502, a generating unit 503, and an uploading unit 504.
  • the receiving unit 501 is configured to receive a to-be-repaired container image delivered by the cloud server, where the cloud server is pre-established with a container image, where the container image includes an operating system level component required for deploying the unmanned vehicle component and The mirror layer of the container image of the third-party dependent library and the application code for deploying the driverless vehicle application and the mirroring layer of the operating environment of the driverless vehicle application.
  • the image of the container to be repaired is obtained by the cloud server in multiple test scenarios.
  • the test scenario data of the test scenario in which the test occurs is pushed into the image formed by the container image;
  • the startup unit 502 is configured to start the mirror image of the container to be repaired; and
  • the generating unit 503 The uploading unit 504 is configured to upload the repaired container image to the cloud server.
  • step receiving unit 501 the initiating unit 502, the generating unit 503, and the uploading unit 504 may refer to step 301, step 302, step 303, and step 304 in the corresponding embodiment of FIG. 3, and details are not described herein again. .
  • FIG. 6 a block diagram of a computer system 600 suitable for use in implementing a terminal device or server of an embodiment of the present application is shown.
  • computer system 600 includes a central processing unit (CPU) 601 that can be loaded into a program in random access memory (RAM) 603 according to a program stored in read only memory (ROM) 602 or from storage portion 608. And perform various appropriate actions and processes.
  • RAM random access memory
  • ROM read only memory
  • RAM random access memory
  • various programs and data required for the operation of the system 600 are also stored.
  • the CPU 601, the ROM 602, and the RAM 603 are connected to each other through a bus 604.
  • An input/output (I/O) interface 605 is also coupled to bus 604.
  • the following components are connected to the I/O interface 605: an input portion 606 including a keyboard, a mouse, etc.; an output portion 607 including, for example, a cathode ray tube (CRT), a liquid crystal display (LCD), and the like, and a storage portion 608 including a hard disk or the like. And a communication portion 609 including a network interface card such as a LAN card, a modem, or the like. The communication section 609 performs communication processing via a network such as the Internet.
  • Driver 610 is also coupled to I/O interface 605 as needed.
  • a removable medium 611 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory or the like, is mounted on the drive 610 as needed so that a computer program read therefrom is installed into the storage portion 608 as needed.
  • an embodiment of the present disclosure includes a computer program product comprising a computer program tangibly embodied on a machine readable medium, the computer program comprising program code for executing the method illustrated in the flowchart.
  • the computer program can be downloaded and installed from the network via communication portion 609, and/or installed from removable media 611.
  • each block of the flowchart or block diagrams can represent a module, a program segment, or a portion of code that includes one or more logic for implementing the specified.
  • Functional executable instructions can also occur in a different order than that illustrated in the drawings. For example, two successively represented blocks may in fact be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending upon the functionality involved.
  • each block of the block diagrams and/or flowcharts, and combinations of blocks in the block diagrams and/or flowcharts can be implemented in a dedicated hardware-based system that performs the specified function or operation. , Or it can be implemented by a combination of dedicated hardware and computer instructions.
  • the units involved in the embodiments of the present application may be implemented by software or by hardware.
  • the described unit may also be provided in the processor, for example, as an information extraction unit and a generation unit. Wherein, the names of these units do not constitute a limitation on the unit itself under certain circumstances.
  • the acquisition unit may also be described as “acquiring a test for performing test operations on an unmanned vehicle application in multiple test scenarios. The unit of results.”
  • the present application further provides a non-volatile computer storage medium, which may be a non-volatile computer storage medium included in the apparatus described in the foregoing embodiments; It may be a non-volatile computer storage medium that exists alone and is not assembled into the terminal.
  • the non-volatile computer storage medium stores one or more programs, when the one or more programs are executed by one device, causing the device to: perform execution on an unmanned vehicle application separately in a plurality of test scenarios Test results of the test operation; performing test operations on the driverless vehicle application using test scenario data of the test scenario in which the test result is problematic, the container image including an operating system required for deploying the unmanned vehicle component to operate a mirroring layer of the level component and the third party dependent library and an application code for deploying the driverless vehicle application and a mirroring layer of the operating environment of the driverless vehicle application; wherein the repairing operation comprises: pushing the test scene data Forming a mirror image of the container to be repaired and delivering it to a R&D or test terminal for booting by the R&D or test terminal; receiving a repaired container image uploaded by the R&D or test terminal, wherein the repaired container Mirroring is the image of the undeveloped or tester through the mirror of the container to be repaired Application code drive vehicle applications repair the generated image.
  • the non-volatile computer storage medium stores one or more programs, and when the one or more programs are executed by one device, the device: receives the image of the container to be repaired delivered by the cloud server, where
  • the cloud server is pre-established with a container image
  • the container image includes a mirror layer for deploying an operating system level component required for the operation of the driverless vehicle component and a container image of the third party dependent library, and for deploying the driverless vehicle
  • An application code of the application and a mirroring layer of an operating environment of the driverless vehicle application, the image of the container to be repaired is a test result of the cloud server acquiring a test operation on an unmanned vehicle application in multiple test scenarios After Test scenario data of the test scenario in which the test occurs is pushed into the image formed by the image of the container; the image of the container to be repaired is activated; and the unmanned vehicle is mirrored in response to the image of the container to be repaired by the R&D or tester
  • the repair operation of the applied application code generates a repaired repaired container image; uploads

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Abstract

一种用于开发无人驾驶车辆应用的方法和装置。所述方法的一具体实施方式包括：获取在多个测试场景下对无人驾驶车辆应用执行测试操作的测试结果（201）；使用问题测试场景的测试场景数据，对所述无人驾驶车辆应用执行修复操作（202），容器镜像包括用于部署无人驾驶车辆组件运行所需要的操作系统级组件及第三方依赖库的镜像层以及用于部署无人驾驶车辆应用的应用代码以及所述无人驾驶车辆应用的运行环境的镜像层；其中，所述修复操作包括：将测试场景数据推入所述容器镜像形成待修复容器镜像并下发至研发或测试终端，以供所述研发或测试终端启动；接收所述研发或测试终端上传的已修复容器镜像。该实施方式可以显著加快无人驾驶车辆应用的开发效率。

Description

用于开发无人驾驶车辆应用的方法和装置
相关申请的交叉引用
本申请要求于2016年10月13日提交的中国专利申请号为“201610894665.0”的优先权，其全部内容作为整体并入本申请中。
技术领域
本申请涉及计算机技术领域，具体涉及无人驾驶车辆技术领域，尤其涉及用于开发无人驾驶车辆应用的方法和装置。
背景技术
在无人驾驶车辆的发展中，模拟器起到的作用至关重要，模拟器为无人车的各个模块提供一个离线的集成测试环境。为无人驾驶车辆采集到的场景数据是非常关键的信息，而这些数据要被使用，必须依赖模拟器。
然而，现有技术中的模拟器是在线版或离线版，有时离线版仅是一个云端模拟器的客户端。无论哪一种方式，很难兼顾研发与测试人员快速开发的需要和快速云端大规模模拟的需要。此外，将本地的环境精确的推送到云端也比较复杂，几乎不可能达到。
发明内容
本申请的目的在于提出一种用于开发无人驾驶车辆应用的方法和装置，来解决以上背景技术部分提到的技术问题。
第一方面，本申请提供了一种用于开发无人驾驶车辆应用的方法，所述方法包括：获取在多个测试场景下分别对无人驾驶车辆应用执行测试操作的测试结果；使用测试结果出现问题的测试场景的测试场景数据，对所述无人驾驶车辆应用执行修复操作，所述容器镜像包括用于部署无人驾驶车辆组件运行所需要的操作系统级组件及第三方依赖 库的镜像层以及用于部署无人驾驶车辆应用的应用代码以及所述无人驾驶车辆应用的运行环境的镜像层；其中，所述修复操作包括：将测试场景数据推入所述容器镜像形成待修复容器镜像并下发至研发或测试终端，以供所述研发或测试终端启动；接收所述研发或测试终端上传的已修复容器镜像，其中，所述已修复容器镜像是研发或测试人员通过所启动的待修复容器镜像对所述无人驾驶车辆应用的应用代码进行修复所生成的镜像。
在一些实施例中，所述方法还包括：在所述多个测试场景上对所述已修复容器镜像中的无人驾驶车辆应用执行回归测试。
在一些实施例中，所述方法还包括：若回归测试发生问题，则继续执行所述修复操作。
在一些实施例中，所述获取在多个测试场景下分别对无人驾驶车辆应用执行测试操作的测试结果，包括：启动所述容器镜像，对所述无人驾驶车辆应用在模拟器所模拟的多个测试场景下分别进行线下测试；获取多个测试场景下线下测试的测试结果。
在一些实施例中，所述获取在多个测试场景下分别对无人驾驶车辆应用执行测试操作的测试结果，包括：获取部署有所述无人驾驶车辆应用的无人驾驶车辆在多个测试场景下进行路上测试的测试结果。
在一些实施例中，所述容器镜像为docker镜像。
第二方面，本申请提供了又一种用于开发无人驾驶车辆应用的方法，所述方法包括：接收云端服务器下发的待修复容器镜像，其中，所述云端服务器预先建立有容器镜像，所述容器镜像包括用于部署无人驾驶车辆组件运行所需要的操作系统级组件及第三方依赖库的容器镜像的镜像层以及用于部署无人驾驶车辆应用的应用代码以及所述无人驾驶车辆应用的运行环境的镜像层，所述待修复容器镜像是所述云端服务器获取在多个测试场景下分别对无人驾驶车辆应用执行测试操作的测试结果后、将测试时发生问题的测试场景的测试场景数据推入所述容器镜像形成的镜像；启动所述待修复容器镜像；响应于研发或测试人员通过所启动的待修复容器镜像对所述无人驾驶车辆应用的应用代码的修复操作，生成修复后的已修复容器镜像；将所述已修复容 器镜像上传至所述云端服务器。
第三方面，本申请提供了一种用于开发无人驾驶车辆应用的装置，所述装置包括：获取单元，用于获取在多个测试场景下分别对无人驾驶车辆应用执行测试操作的测试结果；修复单元，用于使用测试结果出现问题的测试场景的测试场景数据，对所述无人驾驶车辆应用执行修复操作，所述容器镜像包括用于部署无人驾驶车辆组件运行所需要的操作系统级组件及第三方依赖库的镜像层以及用于部署无人驾驶车辆应用的应用代码以及所述无人驾驶车辆应用的运行环境的镜像层；其中，所述修复操作包括：将测试场景数据推入所述容器镜像形成待修复容器镜像并下发至研发或测试终端，以供所述研发或测试终端启动；接收所述研发或测试终端上传的已修复容器镜像，其中，所述已修复容器镜像是研发或测试人员通过所启动的待修复容器镜像对所述无人驾驶车辆应用的应用代码进行修复所生成的镜像。
在一些实施例中，所述装置还包括：回归测试单元，用于在所述多个测试场景上对所述已修复容器镜像中的无人驾驶车辆应用执行回归测试。
在一些实施例中，所述装置还包括：继续修复单元，用于若回归测试发生问题，则继续执行所述修复操作。
在一些实施例中，所述获取单元进一步用于：启动所述容器镜像，对所述无人驾驶车辆应用在模拟器所模拟的多个测试场景下分别进行线下测试；获取多个测试场景下线下测试的测试结果。
在一些实施例中，所述获取单元进一步用于：获取部署有所述无人驾驶车辆应用的无人驾驶车辆在多个测试场景下进行路上测试的测试结果。
在一些实施例中，所述容器镜像为docker镜像。
第四方面，本申请提供了又一种用于开发无人驾驶车辆应用的装置，所述装置包括：接收单元，用于接收云端服务器下发的待修复容器镜像，其中，所述云端服务器预先建立有容器镜像，所述容器镜像包括用于部署无人驾驶车辆组件运行所需要的操作系统级组件及第三方依赖库的容器镜像的镜像层以及用于部署无人驾驶车辆应用的应用 代码以及所述无人驾驶车辆应用的运行环境的镜像层，所述待修复容器镜像是所述云端服务器获取在多个测试场景下分别对无人驾驶车辆应用执行测试操作的测试结果后、将测试时发生问题的测试场景的测试场景数据推入所述容器镜像形成的镜像；启动单元，用于启动所述待修复容器镜像；生成单元，用于响应于研发或测试人员通过所启动的待修复容器镜像对所述无人驾驶车辆应用的应用代码的修复操作，生成修复后的已修复容器镜像；上传单元，用于将所述已修复容器镜像上传至所述云端服务器。
本申请提供的用于开发无人驾驶车辆应用的方法和装置，在云端服务器上获取多个测试场景下对无人驾驶车辆应用进行测试的测试结果，而通过容器镜像实现终端与云端服务器中环境的一致性，从而可以在终端上使用出现问题的测试场景对无人驾驶车辆应用进行修复，从而可以显著加快开发效率。
附图说明
通过阅读参照以下附图所作的对非限制性实施例所作的详细描述，本申请的其它特征、目的和优点将会变得更明显：
图1是本申请可以应用于其中的示例性系统架构图；
图2是根据本申请的用于开发无人驾驶车辆应用的方法的一个实施例的流程图；
图3是根据本申请的用于开发无人驾驶车辆应用的方法的又一个实施例的流程图；
图4是根据本申请的用于开发无人驾驶车辆应用的装置的一个实施例的结构示意图；
图5是根据本申请的用于开发无人驾驶车辆应用的装置的又一个实施例的结构示意图；
图6是适于用来实现本申请实施例的终端设备或服务器的计算机系统的结构示意图。
具体实施方式
下面结合附图和实施例对本申请作进一步的详细说明。可以理解的是，此处所描述的具体实施例仅仅用于解释相关发明，而非对该发明的限定。另外还需要说明的是，为了便于描述，附图中仅示出了与有关发明相关的部分。
需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。下面将参考附图并结合实施例来详细说明本申请。
图1示出了可以应用本申请的用于开发无人驾驶车辆应用的方法或装置的实施例的示例性系统架构100。
如图1所示，系统架构100可以包括终端设备101、102，网络103和服务器104。网络103用以在终端设备101、102和服务器104之间提供通信链路的介质。网络103可以包括各种连接类型，例如有线、无线通信链路或者光纤电缆等等。
终端设备101可以是具有显示屏的各种电子设备，包括但不限于膝上型便携计算机和台式计算机等等。用户可以使用终端设备101、102对应用程序进行开发或测试。终端设备还可以通过网络103与服务器104交互，以接收或发送消息等。
服务器104可以是提供各种服务的服务器，例如对终端设备101、102上加载的信息提供支持的云端服务器。云端服务器可以向终端设备101、102下发数据(例如容器镜像)，也可以接收终端设备101、102上传的信息。
需要说明的是，本申请图2对应实施例所提供的用于开发无人驾驶车辆应用的方法一般由云端服务器104执行，相应地，图4对应实施例提供的用于开发无人驾驶车辆应用的装置一般设置于云端服务器104中；图3对应实施例所提供的用于开发无人驾驶车辆应用的方法一般由终端101、102执行，相应地，图5对应实施例提供的用于开发无人驾驶车辆应用的装置一般设置于终端101、102中。
应该理解，图1中的终端设备、网络和服务器的数目仅仅是示意性的。根据实现需要，可以具有任意数目的终端设备、网络和服务器。
继续参考图2，示出了根据本申请的用于开发无人驾驶车辆应用 的方法的一个实施例的流程200。所述的用于开发无人驾驶车辆应用的方法，包括以下步骤：
步骤201，获取在多个测试场景下分别对无人驾驶车辆应用执行测试操作的测试结果。
在本实施例中，用于开发无人驾驶车辆应用的方法运行于其上的电子设备(例如图1所示的终端)可以在本地或远程获取在多个测试场景下分别对无人驾驶车辆应用执行测试操作的测试结果。
在本实施例的一些可选实现方式中，步骤201包括：启动上述容器镜像，对无人驾驶车辆应用在模拟器所模拟的多个测试场景下分别进行线下测试；获取多个测试场景下线下测试的测试结果。
在本实施例的一些可选实现方式中，步骤202包括：启动容器镜像，对无人驾驶车辆应用在模拟器所模拟的多个测试场景下分别进行线下测试；获取多个测试场景下线下测试的测试结果。
在本实施例的一些可选实现方式中，步骤201包括：获取部署有无人驾驶车辆应用的无人驾驶车辆在多个测试场景下进行路上测试的测试结果。
步骤202，使用测试结果出现问题的测试场景的测试场景数据，对无人驾驶车辆应用执行修复操作。
在本实施例中，基于步骤201中得到的测试结果，上述电子设备(例如图1所示的云端服务器)可以首先分析测试结果，确定测试时出现问题的测试场景。之后，电子设备可以获取该出现问题的测试场景数据，并利用测试场景数据对无人驾驶车辆应用执行修复操作。
上述修复操作具体包括以下具体步骤：首先，电子设备可以将测试场景数据推入容器镜像形成待修复容器镜像；其次，电子设备可以将待修复容器镜像下发至研发或测试终端，以供研发或测试终端启动；之后，电子设备接收述研发或测试终端上传的已修复容器镜像，其中，已修复容器镜像是研发或测试人员通过所启动的待修复容器镜像对无人驾驶车辆应用进行修复所生成的镜像。
实践中，在研发或测试终端启动待修复容器镜像时，研发或测试终端可以利用测试场景数据重现出问题的测试场景，研发或测试人员 可以在该测试场景下对无人驾驶车辆应用进行调试和编译，从而修复无人驾驶应用的应用代码。之后，研发或测试终端可以使用修复后的应用代码替换出现问题的代码，形成已修复容器镜像。最后，研发或测试终端可以将已修复容器镜像上传至云端服务器，从而云端服务器即可获取到该已修复容器镜像。
在本实施例的一些可选的实现方式中，在步骤202之后，上述方法还包括以下步骤：在多个测试场景上对已修复容器镜像中的无人驾驶车辆应用执行回归测试。该实现方式可以通过回归测试对修复后的无人驾驶车辆应用是否会出现新问题进行验证。
在上一实现方式的一些可选实现方式中，上述方法还包括：若回归测试发生问题，则继续执行修复操作。在该实现方式中，电子设备可以针对已修复容器镜像中的无人驾驶车辆应用，在多个测试场景上执行回归测试；当回归测试出现问题时，则继续执行上述修复操作。该实现方式在回归测试出现问题时，可以反复将测试时产生问题的测试场景推入容器镜像并下发至终端，从而可以使用出现问题的测试场景不断对无人驾驶车辆应用进行调试与编译，最终可以修复问题。
本申请的上述实施例提供的方法，在云端服务器上获取多个测试场景下对无人驾驶车辆应用进行测试的测试结果，而通过容器镜像实现终端与云端服务器中环境的一致性，从而可以在终端上使用出现问题的测试场景对无人驾驶车辆应用进行修复，从而可以显著加快开发效率。
进一步参考图3，其示出了用于开发无人驾驶车辆应用的方法的又一个实施例的流程300。该用于开发无人驾驶车辆应用的方法的流程300，包括以下步骤：
步骤301，接收云端服务器下发的待修复容器镜像。
在本实施例中，云端服务器预先建立有容器镜像，该容器镜像包括用于部署无人驾驶车辆组件运行所需要的操作系统级组件及第三方依赖库的容器镜像的镜像层以及用于部署无人驾驶车辆应用的应用代码以及无人驾驶车辆应用的运行环境的镜像层。云端服务器可以首先 获取在多个测试场景下分别对无人驾驶车辆应用执行测试操作的测试结果。之后，云端服务器可以将测试时发生问题的测试场景的测试场景数据推入容器镜像形成待修复镜像，并下发至终端。如此，用于开发无人驾驶车辆应用的方法执行于其上的电子设备(例如图1中的终端设备)即可接收到云端服务器下发的待修复容器镜像。
步骤302，启动上述待修复容器镜像。
在本实施例中，基于步骤301所接收到的待修复容器镜像，电子设备可以启动该待修复容器镜像。
步骤303，响应于研发或测试人员通过所启动的待修复容器镜像对无人驾驶车辆应用的应用代码的修复操作，生成修复后的已修复容器镜像。
在本实施例中，步骤302启动待修复容器镜像后，研发或测试人员通过所启动的待修复容器镜像对无人驾驶车辆应用的应用代码进行修复。具体的，启动待修复容器镜像后，电子设备即可在待修复容器镜像生成的容器中使用测试数据重现上述测试过程中出现问题的测试场景，研发或测试人员可以借助该测试场景对无人驾驶车辆应用进行调试与编译，进而修复出现的问题。因此，电子设备可以检测研发或测试人员通过所启动的待修复容器镜像对无人驾驶车辆应用的应用代码的修复操作，从而在被执行修复操作后生成修复后的已修复容器镜像。
步骤304，将已修复容器镜像上传至云端服务器。
在本实施例中，基于步骤304所生成的已修复容器镜像，电子设备可以将已修复容器镜像上传至云端服务器，从而完成对对无人驾驶车辆应用的应用代码的修复。本申请的上述实施例提供的方法，在云端服务器上获取多个测试场景下对无人驾驶车辆应用进行测试的测试结果，而通过容器镜像实现终端与云端服务器中环境的一致性，从而可以在终端上使用出现问题的测试场景对无人驾驶车辆应用进行修复，从而可以显著加快开发效率。
进一步参考图4，作为对上述各图所示方法的实现，本申请提供 了一种用于开发无人驾驶车辆应用的装置的一个实施例，该装置实施例与图2所示的方法实施例相对应，该装置具体可以应用于各种电子设备中。
如图4所示，本实施例所述的用于开发无人驾驶车辆应用的装置400包括：获取单元401、修复单元402。其中，获取单元401用于获取在多个测试场景下分别对无人驾驶车辆应用执行测试操作的测试结果；修复单元402用于使用测试结果出现问题的测试场景的测试场景数据，对无人驾驶车辆应用执行修复操作，容器镜像包括用于部署无人驾驶车辆组件运行所需要的操作系统级组件及第三方依赖库的镜像层以及用于部署无人驾驶车辆应用的应用代码以及无人驾驶车辆应用的运行环境的镜像层；其中，上述修复操作包括：将测试场景数据推入容器镜像形成待修复容器镜像并下发至研发或测试终端，以供研发或测试终端启动；接收研发或测试终端上传的已修复容器镜像，其中，已修复容器镜像是研发或测试人员通过所启动的待修复容器镜像对无人驾驶车辆应用的应用代码进行修复所生成的镜像。
在本实施例中，用于开发无人驾驶车辆应用的装置400的获取单元401、修复单元402的具体处理可以参考图2对应实施例中的步骤201、步骤202，这里不再赘述。
在本实施例的一些可选实现方式中，装置400还包括：回归测试单元403。其中，回归测试单元403用于：在多个测试场景上对已修复容器镜像中的无人驾驶车辆应用执行回归测试。该实现方式的具体处理可以参考图2对应实施例中相应的实现方式。
在本实施例的一些可选实现方式中，装置400还包括继续修复单元404。其中，继续修复单元404用于：若回归测试发生问题，则继续执行上述修复操作。该实现方式的具体处理可以参考图2对应实施例中相应的实现方式。
在本实施例的一些可选实现方式中，获取单元401进一步用于：启动容器镜像，对无人驾驶车辆应用在模拟器所模拟的多个测试场景下分别进行线下测试；获取多个测试场景下线下测试的测试结果。该实现方式的具体处理可以参考图2对应实施例中相应的实现方式。该 实现方式的具体处理可以参考图2对应实施例中相应的实现方式。
在本实施例的一些可选实现方式中，获取单元401进一步用于：获取部署有无人驾驶车辆应用的无人驾驶车辆在多个测试场景下进行路上测试的测试结果。该实现方式的具体处理可以参考图2对应实施例中相应的实现方式。
在本实施例的一些可选实现方式中，上述容器镜像为docker镜像。该实现方式的具体处理可以参考图2对应实施例中相应的实现方式。
进一步参考图5，作为对上述各图所示方法的实现，本申请提供了一种用于开发无人驾驶车辆应用的装置的一个实施例，该装置实施例与图3所示的方法实施例相对应，该装置具体可以应用于各种电子设备中。
如图5所示，本实施例所述的用于开发无人驾驶车辆应用的装置500包括：接收单元501、启动单元502、生成单元503和上传单元504。其中，接收单元501用于接收云端服务器下发的待修复容器镜像，其中，上述云端服务器预先建立有容器镜像，该容器镜像包括用于部署无人驾驶车辆组件运行所需要的操作系统级组件及第三方依赖库的容器镜像的镜像层以及用于部署无人驾驶车辆应用的应用代码以及无人驾驶车辆应用的运行环境的镜像层，该待修复容器镜像是云端服务器获取在多个测试场景下分别对无人驾驶车辆应用执行测试操作的测试结果后、将测试时发生问题的测试场景的测试场景数据推入容器镜像形成的镜像；启动单元502用于启动待修复容器镜像合；生成单元503用于启动待修复容器镜像；而上传单元504用于将已修复容器镜像上传至云端服务器。
在本实施例中，步骤接收单元501、启动单元502、生成单元503和上传单元504的具体处理可以参考图3对应实施例中的步骤301、步骤302、步骤303和步骤304，这里不再赘述。
下面参考图6，其示出了适于用来实现本申请实施例的终端设备或服务器的计算机系统600的结构示意图。
如图6所示，计算机系统600包括中央处理单元(CPU)601，其可以根据存储在只读存储器(ROM)602中的程序或者从存储部分608加载到随机访问存储器(RAM)603中的程序而执行各种适当的动作和处理。在RAM 603中，还存储有系统600操作所需的各种程序和数据。CPU 601、ROM 602以及RAM 603通过总线604彼此相连。输入/输出(I/O)接口605也连接至总线604。
以下部件连接至I/O接口605：包括键盘、鼠标等的输入部分606；包括诸如阴极射线管(CRT)、液晶显示器(LCD)等以及扬声器等的输出部分607；包括硬盘等的存储部分608；以及包括诸如LAN卡、调制解调器等的网络接口卡的通信部分609。通信部分609经由诸如因特网的网络执行通信处理。驱动器610也根据需要连接至I/O接口605。可拆卸介质611，诸如磁盘、光盘、磁光盘、半导体存储器等等，根据需要安装在驱动器610上，以便于从其上读出的计算机程序根据需要被安装入存储部分608。
特别地，根据本公开的实施例，上文参考流程图描述的过程可以被实现为计算机软件程序。例如，本公开的实施例包括一种计算机程序产品，其包括有形地包含在机器可读介质上的计算机程序，所述计算机程序包含用于执行流程图所示的方法的程序代码。在这样的实施例中，该计算机程序可以通过通信部分609从网络上被下载和安装，和/或从可拆卸介质611被安装。
附图中的流程图和框图，图示了按照本申请各种实施例的系统、方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序段、或代码的一部分，所述模块、程序段、或代码的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。也应当注意，在有些作为替换的实现中，方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如，两个接连地表示的方框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这依所涉及的功能而定。也要注意的是，框图和/或流程图中的每个方框、以及框图和/或流程图中的方框的组合，可以用执行规定的功能或操作的专用的基于硬件的系统来实现， 或者可以用专用硬件与计算机指令的组合来实现。
描述于本申请实施例中所涉及到的单元可以通过软件的方式实现，也可以通过硬件的方式来实现。所描述的单元也可以设置在处理器中，例如，可以描述为、信息选取单元和生成单元。其中，这些单元的名称在某种情况下并不构成对该单元本身的限定，例如，获取单元还可以被描述为“获取在多个测试场景下分别对无人驾驶车辆应用执行测试操作的测试结果的单元”。
作为另一方面，本申请还提供了一种非易失性计算机存储介质，该非易失性计算机存储介质可以是上述实施例中所述装置中所包含的非易失性计算机存储介质；也可以是单独存在，未装配入终端中的非易失性计算机存储介质。上述非易失性计算机存储介质存储有一个或者多个程序，当所述一个或者多个程序被一个设备执行时，使得所述设备：获取在多个测试场景下分别对无人驾驶车辆应用执行测试操作的测试结果；使用测试结果出现问题的测试场景的测试场景数据，对所述无人驾驶车辆应用执行修复操作，所述容器镜像包括用于部署无人驾驶车辆组件运行所需要的操作系统级组件及第三方依赖库的镜像层以及用于部署无人驾驶车辆应用的应用代码以及所述无人驾驶车辆应用的运行环境的镜像层；其中，所述修复操作包括：将测试场景数据推入所述容器镜像形成待修复容器镜像并下发至研发或测试终端，以供所述研发或测试终端启动；接收所述研发或测试终端上传的已修复容器镜像，其中，所述已修复容器镜像是研发或测试人员通过所启动的待修复容器镜像对所述无人驾驶车辆应用的应用代码进行修复所生成的镜像。或者，上述非易失性计算机存储介质存储有一个或者多个程序，当所述一个或者多个程序被一个设备执行时，使得所述设备：接收云端服务器下发的待修复容器镜像，其中，所述云端服务器预先建立有容器镜像，所述容器镜像包括用于部署无人驾驶车辆组件运行所需要的操作系统级组件及第三方依赖库的容器镜像的镜像层以及用于部署无人驾驶车辆应用的应用代码以及所述无人驾驶车辆应用的运行环境的镜像层，所述待修复容器镜像是所述云端服务器获取在多个测试场景下分别对无人驾驶车辆应用执行测试操作的测试结果后、将 测试时发生问题的测试场景的测试场景数据推入所述容器镜像形成的镜像；启动所述待修复容器镜像；响应于研发或测试人员通过所启动的待修复容器镜像对所述无人驾驶车辆应用的应用代码的修复操作，生成修复后的已修复容器镜像；将所述已修复容器镜像上传至所述云端服务器。
以上描述仅为本申请的较佳实施例以及对所运用技术原理的说明。本领域技术人员应当理解，本申请中所涉及的发明范围，并不限于上述技术特征的特定组合而成的技术方案，同时也应涵盖在不脱离所述发明构思的情况下，由上述技术特征或其等同特征进行任意组合而形成的其它技术方案。例如上述特征与本申请中公开的(但不限于)具有类似功能的技术特征进行互相替换而形成的技术方案。

Claims (18)

  1. 一种用于开发无人驾驶车辆应用的方法，其特征在于，所述方法包括：
    获取在多个测试场景下分别对无人驾驶车辆应用执行测试操作的测试结果；
    使用测试结果出现问题的测试场景的测试场景数据，对所述无人驾驶车辆应用执行修复操作，所述容器镜像包括用于部署无人驾驶车辆组件运行所需要的操作系统级组件及第三方依赖库的镜像层以及用于部署无人驾驶车辆应用的应用代码以及所述无人驾驶车辆应用的运行环境的镜像层；
    其中，所述修复操作包括：将测试场景数据推入所述容器镜像形成待修复容器镜像并下发至研发或测试终端，以供所述研发或测试终端启动；接收所述研发或测试终端上传的已修复容器镜像，其中，所述已修复容器镜像是研发或测试人员通过所启动的待修复容器镜像对所述无人驾驶车辆应用的应用代码进行修复所生成的镜像。
  2. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    在所述多个测试场景上对所述已修复容器镜像中的无人驾驶车辆应用执行回归测试。
  3. 根据权利要求2所述的方法，其特征在于，所述方法还包括：
    若回归测试发生问题，则继续执行所述修复操作。
  4. 根据权利要求1所述的方法，其特征在于，所述获取在多个测试场景下分别对无人驾驶车辆应用执行测试操作的测试结果，包括：
    启动所述容器镜像，对所述无人驾驶车辆应用在模拟器所模拟的多个测试场景下分别进行线下测试；
    获取多个测试场景下线下测试的测试结果。
  5. 根据权利要求1所述的方法，其特征在于，所述获取在多个测试场景下分别对无人驾驶车辆应用执行测试操作的测试结果，包括：
    获取部署有所述无人驾驶车辆应用的无人驾驶车辆在多个测试场景下进行路上测试的测试结果。
  6. 根据权利要求1-5之一所述的方法，其特征在于，所述容器镜像为docker镜像。
  7. 一种用于开发无人驾驶车辆应用的方法，其特征在于，所述方法包括：
    接收云端服务器下发的待修复容器镜像，其中，所述云端服务器预先建立有容器镜像，所述容器镜像包括用于部署无人驾驶车辆组件运行所需要的操作系统级组件及第三方依赖库的容器镜像的镜像层以及用于部署无人驾驶车辆应用的应用代码以及所述无人驾驶车辆应用的运行环境的镜像层，所述待修复容器镜像是所述云端服务器获取在多个测试场景下分别对无人驾驶车辆应用执行测试操作的测试结果后、将测试时发生问题的测试场景的测试场景数据推入所述容器镜像形成的镜像；
    启动所述待修复容器镜像；
    响应于研发或测试人员通过所启动的待修复容器镜像对所述无人驾驶车辆应用的应用代码的修复操作，生成修复后的已修复容器镜像；
    将所述已修复容器镜像上传至所述云端服务器。
  8. 一种用于开发无人驾驶车辆应用的装置，其特征在于，所述装置包括：
    获取单元，用于获取在多个测试场景下分别对无人驾驶车辆应用执行测试操作的测试结果；
    修复单元，用于使用测试结果出现问题的测试场景的测试场景数据，对所述无人驾驶车辆应用执行修复操作，所述容器镜像包括用于部署无人驾驶车辆组件运行所需要的操作系统级组件及第三方依赖库 的镜像层以及用于部署无人驾驶车辆应用的应用代码以及所述无人驾驶车辆应用的运行环境的镜像层；
    其中，所述修复操作包括：将测试场景数据推入所述容器镜像形成待修复容器镜像并下发至研发或测试终端，以供所述研发或测试终端启动；接收所述研发或测试终端上传的已修复容器镜像，其中，所述已修复容器镜像是研发或测试人员通过所启动的待修复容器镜像对所述无人驾驶车辆应用的应用代码进行修复所生成的镜像。
  9. 根据权利要求8所述的装置，其特征在于，所述装置还包括：
    回归测试单元，用于在所述多个测试场景上对所述已修复容器镜像中的无人驾驶车辆应用执行回归测试。
  10. 根据权利要求9所述的装置，其特征在于，所述装置还包括：
    继续修复单元，用于若回归测试发生问题，则继续执行所述修复操作。
  11. 根据权利要求8所述的装置，其特征在于，所述获取单元进一步用于：
    启动所述容器镜像，对所述无人驾驶车辆应用在模拟器所模拟的多个测试场景下分别进行线下测试；
    获取多个测试场景下线下测试的测试结果。
  12. 根据权利要求8所述的装置，其特征在于，所述获取单元进一步用于：
    获取部署有所述无人驾驶车辆应用的无人驾驶车辆在多个测试场景下进行路上测试的测试结果。
  13. 根据权利要求8-12之一所述的装置，其特征在于，所述容器镜像为docker镜像。
  14. 一种用于开发无人驾驶车辆应用的装置，其特征在于，所述装置包括：
    接收单元，用于接收云端服务器下发的待修复容器镜像，其中，所述云端服务器预先建立有容器镜像，所述容器镜像包括用于部署无人驾驶车辆组件运行所需要的操作系统级组件及第三方依赖库的容器镜像的镜像层以及用于部署无人驾驶车辆应用的应用代码以及所述无人驾驶车辆应用的运行环境的镜像层，所述待修复容器镜像是所述云端服务器获取在多个测试场景下分别对无人驾驶车辆应用执行测试操作的测试结果后、将测试时发生问题的测试场景的测试场景数据推入所述容器镜像形成的镜像；
    启动单元，用于启动所述待修复容器镜像；
    生成单元，用于响应于研发或测试人员通过所启动的待修复容器镜像对所述无人驾驶车辆应用的应用代码的修复操作，生成修复后的已修复容器镜像；
    上传单元，用于将所述已修复容器镜像上传至所述云端服务器。
  15. 一种设备，包括：
    处理器；和
    存储器，
    所述存储器中存储有能够被所述处理器执行的计算机可读指令，在所述计算机可读指令被执行时，所述处理器执行用于开发无人驾驶车辆应用的方法，所述方法包括：
    获取在多个测试场景下分别对无人驾驶车辆应用执行测试操作的测试结果；
    使用测试结果出现问题的测试场景的测试场景数据，对所述无人驾驶车辆应用执行修复操作，所述容器镜像包括用于部署无人驾驶车辆组件运行所需要的操作系统级组件及第三方依赖库的镜像层以及用于部署无人驾驶车辆应用的应用代码以及所述无人驾驶车辆应用的运行环境的镜像层；
    其中，所述修复操作包括：将测试场景数据推入所述容器镜像形 成待修复容器镜像并下发至研发或测试终端，以供所述研发或测试终端启动；接收所述研发或测试终端上传的已修复容器镜像，其中，所述已修复容器镜像是研发或测试人员通过所启动的待修复容器镜像对所述无人驾驶车辆应用的应用代码进行修复所生成的镜像。
  16. 一种非易失性计算机存储介质，所述计算机存储介质存储有能够被处理器执行的计算机可读指令，当所述计算机可读指令被处理器执行时，所述处理器执行用于开发无人驾驶车辆应用的方法，所述方法包括：
    获取在多个测试场景下分别对无人驾驶车辆应用执行测试操作的测试结果；
    使用测试结果出现问题的测试场景的测试场景数据，对所述无人驾驶车辆应用执行修复操作，所述容器镜像包括用于部署无人驾驶车辆组件运行所需要的操作系统级组件及第三方依赖库的镜像层以及用于部署无人驾驶车辆应用的应用代码以及所述无人驾驶车辆应用的运行环境的镜像层；
    其中，所述修复操作包括：将测试场景数据推入所述容器镜像形成待修复容器镜像并下发至研发或测试终端，以供所述研发或测试终端启动；接收所述研发或测试终端上传的已修复容器镜像，其中，所述已修复容器镜像是研发或测试人员通过所启动的待修复容器镜像对所述无人驾驶车辆应用的应用代码进行修复所生成的镜像。
  17. 一种设备，包括：
    处理器；和
    存储器，
    所述存储器中存储有能够被所述处理器执行的计算机可读指令，在所述计算机可读指令被执行时，所述处理器执行用于开发无人驾驶车辆应用的方法，所述方法包括：
    接收云端服务器下发的待修复容器镜像，其中，所述云端服务器预先建立有容器镜像，所述容器镜像包括用于部署无人驾驶车辆组件 运行所需要的操作系统级组件及第三方依赖库的容器镜像的镜像层以及用于部署无人驾驶车辆应用的应用代码以及所述无人驾驶车辆应用的运行环境的镜像层，所述待修复容器镜像是所述云端服务器获取在多个测试场景下分别对无人驾驶车辆应用执行测试操作的测试结果后、将测试时发生问题的测试场景的测试场景数据推入所述容器镜像形成的镜像；
    启动所述待修复容器镜像；
    响应于研发或测试人员通过所启动的待修复容器镜像对所述无人驾驶车辆应用的应用代码的修复操作，生成修复后的已修复容器镜像；
    将所述已修复容器镜像上传至所述云端服务器。
  18. 一种非易失性计算机存储介质，所述计算机存储介质存储有能够被处理器执行的计算机可读指令，当所述计算机可读指令被处理器执行时，所述处理器执行用于开发无人驾驶车辆应用的方法，所述方法包括：
    接收云端服务器下发的待修复容器镜像，其中，所述云端服务器预先建立有容器镜像，所述容器镜像包括用于部署无人驾驶车辆组件运行所需要的操作系统级组件及第三方依赖库的容器镜像的镜像层以及用于部署无人驾驶车辆应用的应用代码以及所述无人驾驶车辆应用的运行环境的镜像层，所述待修复容器镜像是所述云端服务器获取在多个测试场景下分别对无人驾驶车辆应用执行测试操作的测试结果后、将测试时发生问题的测试场景的测试场景数据推入所述容器镜像形成的镜像；
    启动所述待修复容器镜像；
    响应于研发或测试人员通过所启动的待修复容器镜像对所述无人驾驶车辆应用的应用代码的修复操作，生成修复后的已修复容器镜像；
    将所述已修复容器镜像上传至所述云端服务器。
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