WO2020147496A1

WO2020147496A1 - Self-driving vehicle testing processing method and apparatus, and electronic device

Info

Publication number: WO2020147496A1
Application number: PCT/CN2019/126281
Authority: WO
Inventors: 马世贵; 慎东辉; 李盖凡; 吴楠; 王月
Original assignee: 北京百度网讯科技有限公司
Priority date: 2019-01-18
Filing date: 2019-12-18
Publication date: 2020-07-23
Also published as: CN109901549A

Abstract

A self-driving vehicle testing processing method and apparatus, and an electronic device (800). The self-driving vehicle testing processing method comprises: determining multiple single test results obtained after a self-driving vehicle travels on multiple test sites in a preset order, each of the multiple test sites being used for executing at least one test item (S201); and determining a closed-loop test result of the self-driving vehicle according to the multiple single test results (S202) According to the self-driving vehicle testing processing method, a complete closed-loop test can be automatically achieved when a self-driving vehicle travels simply along a preset route, thereby automatically and efficiently verifying the availability and stability of the self-driving vehicle.

Description

Automatic driving vehicle test processing method, device and electronic equipment

This application claims the priority of a Chinese patent application filed with the Chinese Patent Office on January 18, 2019, the application number is 2019100481729, and the application name is "Automatic driving vehicle test processing method, device and electronic equipment", the entire content of which is incorporated by reference In this application.

Technical field

The embodiments of the present invention relate to automatic driving technology, and in particular to an automatic driving vehicle test processing method, device and electronic equipment.

Background technique

An autonomous vehicle can operate the vehicle automatically and safely without manual active operation, thereby providing greater convenience to humans. Therefore, autonomous vehicles have received more and more attention, and more and more manufacturers have invested in the development and production of autonomous vehicles. After the production of self-driving vehicles is completed, before leaving the factory, it is necessary to verify whether the availability and stability indicators of the self-driving vehicle meet the factory requirements. Only when the availability and stability meet the factory requirements, the self-driving vehicle is allowed to leave the factory.

Therefore, it is necessary to conduct a closed-loop test on the self-driving vehicle before it leaves the factory to verify the usability and stability of the self-driving vehicle.

Summary of the invention

The embodiments of the present invention provide a test processing method, device, and electronic equipment for an automatic driving vehicle. The technical solution is as follows.

A first aspect of the embodiments of the present invention provides a test processing method for an automated driving vehicle, the method including:

Determine multiple individual test results obtained after the autonomous vehicle drives on multiple test sites in a preset sequence, each of the multiple test sites is used to execute at least one test item;

Determine the closed-loop test result of the autonomous vehicle according to the multiple individual test results.

Further, the determination of multiple individual test results obtained after the autonomous driving vehicle drives in multiple test sites in a preset order includes:

If the first detection result sent by the first detection device corresponding to the first test site is received, the test corresponding to the first test site is initiated to determine the performance of the autonomous vehicle when driving on the first test site. A single test result, and the first test result is used to instruct the autonomous vehicle to enter the first test site.

Further, the determining a single test result when the autonomous vehicle is driving on the first test site includes:

Comparing the actual driving data of the autonomous vehicle at the first test site with the expected driving data corresponding to the first test site to obtain a comparison result;

According to the comparison result, a single test result of the autonomous vehicle when driving on the first test site is determined.

Further, the determining the closed-loop test result of the autonomous vehicle according to the multiple individual test results includes:

If the second test result sent by the second test device corresponding to the first test site is received, the closed-loop test result of the autonomous vehicle is determined according to the single test result of the first test site, and the second test result is used as Instructing the autonomous vehicle to leave the first test site.

Further, after determining the closed loop test result of the autonomous vehicle according to the multiple individual test results, the method further includes:

Generating a test result report according to the multiple single test results and the closed loop test result, the test result report including the multiple single test results and the closed loop test result;

Output the ring test result report.

Further, the test site includes: a ramp test site, a curve test site, an intelligent obstacle avoidance test site, a right-angle turning test site, and a parking test site.

A second aspect of the embodiments of the present invention provides an automatic driving vehicle test processing device, the device including:

The first determining module is used to determine multiple individual test results obtained after the autonomous vehicle drives in multiple test sites in a preset order, each of the multiple test sites is used to execute at least one Test items;

The second determination module is configured to determine the closed-loop test result of the autonomous vehicle according to the multiple individual test results.

Further, the first determining module is specifically configured to:

Upon receiving the first detection result sent by the first detection device corresponding to the first test site, start to execute the test corresponding to the first test site to determine the performance of the autonomous vehicle when driving on the first test site A single test result, and the first test result is used to instruct the autonomous vehicle to enter the first test site.

Further, the first determining module includes:

A comparison unit, configured to compare the actual driving data of the autonomous vehicle at the first test site with the expected driving data corresponding to the first test site to obtain a comparison result;

The determining unit is configured to determine, according to the comparison result, a single test result of the autonomous vehicle when driving on the first test site.

Further, the second determining module is specifically configured to:

Upon receiving the second detection result sent by the second detection device corresponding to the first test site, the closed-loop test result of the autonomous vehicle is determined according to the single test result of the first test site, and the second detection result is used Instructing the autonomous vehicle to leave the first test site.

Further, it also includes:

A generating module for generating a test result report according to the multiple single test results and the closed loop test result, the test result report including the multiple single test results and the closed loop test result;

The output module is used to output the loop test result report.

A third aspect of the embodiments of the present invention provides an electronic device, including:

Memory, used to store program instructions;

The processor is configured to call and execute the program instructions in the memory to execute the method steps described in the first aspect.

A fourth aspect of the embodiments of the present invention provides a readable storage medium in which a computer program is stored, and the computer program is used to execute the method described in the first aspect.

According to the test processing method, device and electronic equipment of an autonomous driving vehicle provided by the embodiments of the present invention, the autonomous vehicle drives in a plurality of preset test sites in a preset order and performs operations corresponding to the test sites, so that the number of test sites can be determined. A single test result, based on the multiple single test results, the closed-loop test result of the autonomous vehicle can be determined, so that the autonomous vehicle can automatically complete the complete closed-loop test only by following the preset route, thereby realizing automatic and efficient verification The availability and stability of autonomous vehicles.

BRIEF DESCRIPTION

In order to more clearly explain the technical solutions of the present invention or the prior art, the following will briefly introduce the drawings needed in the description of the embodiments or the prior art. Obviously, the drawings in the following description are of the present invention. For some of the embodiments of the invention, for those of ordinary skill in the art, other drawings may be obtained based on these drawings without creative labor.

FIG. 1 is an exemplary system architecture diagram of an automatic driving vehicle test processing method provided by an embodiment of the present invention;

2 is a schematic flowchart of Embodiment 1 of a test processing method for an automated driving vehicle provided by an embodiment of the present invention;

3 is a schematic flowchart of Embodiment 2 of the automatic driving vehicle test processing method provided by an embodiment of the present invention;

4 is a schematic flowchart of Embodiment 2 of an automated driving vehicle test processing method provided by an embodiment of the present invention;

FIG. 5 is a block diagram of a module structure of an automatic driving vehicle test processing device provided by an embodiment of the present invention;

FIG. 6 is a block diagram of a module structure of an automatic driving vehicle test processing device provided by an embodiment of the present invention;

FIG. 7 is a block diagram of a module structure of an automatic driving vehicle test processing device provided by an embodiment of the present invention;

FIG. 8 is a physical block diagram of an electronic device 800 according to an embodiment of the present invention.

detailed description

In order to make the objectives, technical solutions and advantages of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are the present invention. Invented some embodiments, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without making creative efforts fall within the protection scope of the present invention.

Before describing the technical solution of the embodiment of the present invention, the closed loop test involved in the embodiment of the present invention is first explained. The process of driving a vehicle from the starting point to the end point of a specified route can be called a closed loop. Based on the closed-loop concept, the vehicle automatically drives on the designated route and completes a series of test items during the automatic driving process to verify the usability and stability of the vehicle. This process can be called a closed-loop test.

FIG. 1 is an exemplary system architecture diagram of an automated driving vehicle test processing method provided by an embodiment of the present invention. As shown in FIG. 1, the method relates to an automated driving vehicle and multiple detection devices respectively installed on multiple test sites. And the server. Wherein, each test site may include two detection devices, one detection device is used to detect whether the autonomous driving vehicle has entered the test site, and the other detection device is used to detect whether the autonomous driving vehicle has driven out of the test site. Each detection device in each test site is connected to the server, and the detection results are sent to the server in real time. At the same time, the self-driving vehicle is also connected to the server. When the server obtains from the detection device that the self-driving vehicle has entered the test site, it can control the self-driving vehicle to perform operations corresponding to the test site, and according to the actual operations performed by the autonomous vehicle The expected operations corresponding to the test site are compared to obtain the individual test results corresponding to the test site. The server then determines the closed-loop test result of the autonomous vehicle based on the results of multiple individual tests.

It should be noted that the system architecture shown in Figure 1 above is only an example. In the specific implementation process, the detection device can also be directly connected to the autonomous vehicle, and the autonomous vehicle performs each test according to the detection result of the detection device. For the individual test corresponding to the field, the autonomous vehicle sends each individual test result to the server, and the server determines the closed-loop test result of the autonomous vehicle based on the multiple individual test results. The embodiment of the present invention does not specifically limit this. To facilitate understanding, the following embodiments of the present invention take the system architecture shown in FIG. 1 as an example for description.

For ease of description, the following embodiments all refer to the self-driving vehicle simply as "vehicle".

FIG. 2 is a schematic flowchart of Embodiment 1 of an automatic driving vehicle test processing method provided by an embodiment of the present invention, and the execution body of the method may be the aforementioned server. As shown in Figure 2, the method includes:

S201. Determine multiple single test results obtained after the autonomous vehicle drives in multiple test sites in a preset order, each of the multiple test sites is used to execute at least one test item.

Among them, one test item can be executed in one test site, or multiple test items can be executed, which is not specifically limited in the embodiment of the present invention. Exemplarily, in the intelligent obstacle avoidance test site, the obstacle avoidance function can be tested, that is, a test item can be executed. In the ramp test site, testing the ramp parking and ramp starting projects, namely the implementation of two test items. For each test item, a single test result can be obtained. For example, two single test results of parking and starting can be obtained at the ramp test site.

Optionally, before proceeding with this embodiment, you can first set a driving route for the autonomous vehicle. The driving route corresponds to each test site. After driving according to the driving route, the vehicle can enter each test site in a preset order. Furthermore, the actual driving conditions of the vehicle can be tested.

Optionally, the aforementioned multiple test sites may include: a ramp test site, a curve test site, an intelligent obstacle avoidance test site, a right-angle turning test site, and a parking warehousing test site.

Taking the above ramp test site as an example, you can select the area where the ramp exists as the ramp test site. The server can use the (Global Positioning System, GPS) module installed on the autonomous vehicle to obtain the real-time location information of the vehicle. When the self-driving vehicle enters the ramp test site and drives to the reference location for testing parking on the ramp, the server sends a parking instruction to the self-driving vehicle and obtains the actual parking position of the self-driving vehicle at the reference location, and then obtains After reaching the actual parking position, the parking position is compared with the reference position to obtain the test result of the ramp parking. For example, if the distance offset between the actual parking position of the vehicle and the reference position is greater than the preset value, the test result that the ramp parking test failed can be obtained.

S202. Determine a closed-loop test result of the aforementioned autonomous vehicle based on the aforementioned multiple individual test results.

After the vehicle drives in each test site in a preset sequence and performs corresponding operations on the test site, the server can determine multiple individual test results. Furthermore, the server can perform a combined analysis on the multiple individual test results, thereby obtaining the closed-loop test result of the vehicle.

Exemplarily, if each of the multiple individual test results is the test passed, the server may determine that the closed-loop test result is the test passed. If one or more of the multiple individual test results is a test failure, the server may determine that the closed-loop test result is a test failure.

Further, the server can output the closed-loop test results and all individual test items and individual test results in the form of reports.

Table 1 below is an example of the test result report output by the server.

Table 1

In this embodiment, the self-driving vehicle drives in a plurality of pre-set test sites in a preset order and performs operations corresponding to the test sites, so that multiple individual test results can be determined, and based on the multiple individual test results, Determine the closed-loop test results of the self-driving vehicle, so that the self-driving vehicle can automatically complete the complete closed-loop test only by following the preset route, and then realize the automatic and efficient verification of the usability and stability of the self-driving vehicle.

On the basis of the foregoing embodiment, this embodiment relates to a specific process of testing at a test site.

As mentioned above, each test site may include two detection devices, one detection device is used to detect whether the autonomous driving vehicle has entered the test site, and the other detection device is used to detect whether the autonomous driving vehicle has left the test site. For ease of description, the embodiment of the present invention refers to the detection device that detects whether the vehicle enters the test site as the first detection device, and the detection device that detects whether the vehicle exits the test site is called the second detection device.

Optionally, if the first detection result sent by the first detection device corresponding to the first test site is received, the test corresponding to the first test site is initiated to determine when the autonomous vehicle is driving on the first test site The above-mentioned first test result is used to instruct the above-mentioned autonomous vehicle to enter the above-mentioned first test site.

Wherein, the first test site is any one of the multiple test sites.

Exemplarily, the above-mentioned first detection device may be a sensor.

When the first detection device detects the vehicle, it indicates that the vehicle has entered the first test site, and the first detection device may send the detection result that the vehicle has entered the first test site to the server. After receiving the detection result, the server starts to execute the test corresponding to the first test site. For example, the first test site is a ramp test site. After the server receives the first detection result sent by the first detection device in the ramp test site, the server can send the vehicle to the reference position of the ramp test site. The vehicle sends a parking instruction and obtains the actual parking position of the vehicle for the reference position, and then determines the single test result of the test for parking the vehicle on the ramp on the first test site based on the actual parking position.

Fig. 3 is a schematic flowchart of the second embodiment of the automatic driving vehicle test processing method provided by an embodiment of the present invention. As shown in Fig. 3, the foregoing process of determining the single test result of the automatic driving vehicle when driving at the first test site includes:

S301. Compare the actual driving data of the autonomous vehicle at the first test site with the expected driving data corresponding to the first test site to obtain a comparison result.

Optionally, the expected driving data may be different for different test sites. Exemplarily, for a ramp parking test item at a ramp test site, the corresponding expected driving data may be a reference position where the vehicle needs to stop. For the intelligent obstacle avoidance test project of the intelligent obstacle avoidance test site, the corresponding expected driving data may be the expected distance between the vehicle and the obstacle.

Taking the ramp parking test project at the ramp test site as an example, the server sends a parking instruction to the autonomous vehicle and obtains the actual parking position of the autonomous vehicle for the reference position. After obtaining the actual parking position, the server stops The position is compared with the reference position, and the comparison result is obtained.

S302. Determine a single test result of the autonomous vehicle when driving at the first test site according to the foregoing comparison result.

Taking the ramp parking test project at the ramp test site as an example, the comparison result obtained by the server can be the distance between the actual parking position and the reference position. If the distance is greater than the preset distance, it means that the vehicle is parked on the ramp There may be situations such as slipping a car, so that a single test result that failed the test can be obtained.

Optionally, if the second detection result sent by the second detection device corresponding to the first test site is received, the closed-loop test result of the autonomous vehicle is determined according to the single test result of the first test site, and the second detection result is used for Instruct the self-driving vehicle to leave the first test site.

If the second detection result sent by the second detection device is received, it means that the vehicle has left the first test site, and the server has determined at least one single test result when the vehicle is driving at the first test site, based on the single test Results and individual test results of other test sites, the server can determine the closed-loop test results of the vehicle. Exemplarily, if each individual test result is a test pass, the closed-loop test result is a test pass.

On the basis of the foregoing embodiment, this embodiment relates to the process of outputting a test result report after the closed-loop test result is determined.

FIG. 4 is a schematic flowchart of Embodiment 2 of the test processing method for an automated driving vehicle provided by an embodiment of the present invention. As shown in FIG. 4, after the closed-loop test result is determined, it further includes:

S401: Generate a test result report based on the multiple single test results and the closed loop test results, where the test result report includes the multiple single test results and the closed loop test results.

In an example, the test result report can be in the form shown in Table 1. In the test result report, the closed-loop test result is first displayed. Under the closed-loop test result, each individual test name and individual test result are displayed separately .

S402: Output the above test result report.

In an optional manner, the server can directly output the above test result report, for example, it can be directly displayed or the user can download the test result report.

In another optional manner, the server may also send the above-mentioned test results to a specific management platform, and the management platform outputs to the user.

Fig. 5 is a module structure diagram of an automatic driving vehicle test processing device provided by an embodiment of the present invention. As shown in Fig. 5, the device includes:

The first determining module 501 is configured to determine multiple individual test results obtained after the autonomous vehicle drives in multiple test sites in a preset order, and each test site of the multiple test sites is used to execute at least one test site. Kind of test items.

The second determination module 502 is configured to determine the closed-loop test result of the autonomous vehicle according to the multiple individual test results.

The device is used to implement the foregoing method embodiments, and its implementation principles and technical effects are similar, and will not be repeated here.

In another embodiment, the first determining module 501 is specifically configured to:

FIG. 6 is a module structure diagram of an automatic driving vehicle test processing device provided by an embodiment of the present invention. As shown in FIG. 6, the first determining module 501 includes:

The comparison unit 5011 is configured to compare the actual driving data of the autonomous vehicle on the first test site with the expected driving data corresponding to the first test site to obtain a comparison result.

The determining unit 5012 is configured to determine, according to the comparison result, a single test result when the autonomous vehicle is driving on the first test site.

In another embodiment, the second determining module 502 is specifically configured to:

FIG. 7 is a module structure diagram of an automatic driving vehicle test processing device provided by an embodiment of the present invention. As shown in FIG. 7, the above-mentioned device further includes:

The generating module 503 is configured to generate a test result report according to the multiple single test results and the closed loop test result, the test result report including the multiple single test results and the closed loop test result.

The output module 504 is used to output the loop test result report.

In another embodiment, the test site includes: a ramp test site, a curve test site, an intelligent obstacle avoidance test site, a right-angle turn test site, and a parking test site.

FIG. 8 is a physical block diagram of an electronic device 800 provided by an embodiment of the present invention. As shown in FIG. 8, the electronic device includes:

The memory 801 is used to store program instructions.

The processor 802 is configured to call and execute program instructions in the memory 801, and execute the method steps described in the foregoing method embodiments.

Persons of ordinary skill in the art may understand that all or part of the steps of the foregoing method embodiments may be completed by a program instructing relevant hardware. The aforementioned program may be stored in a computer-readable storage medium. When the program is executed, the steps including the foregoing method embodiments are executed; and the foregoing storage medium includes various media that can store program codes, such as ROM, RAM, magnetic disk, or optical disk.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand: The technical solutions recorded in the foregoing embodiments can still be modified, or some or all of the technical features can be equivalently replaced; these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present invention range.

Claims

An automatic driving vehicle test processing method, characterized in that it comprises:

Determine multiple individual test results obtained after the autonomous vehicle drives on multiple test sites in a preset sequence, each of the multiple test sites is used to execute at least one test item;

Determine the closed-loop test result of the autonomous vehicle according to the multiple individual test results.
The method according to claim 1, wherein the determining the multiple individual test results obtained after the autonomous driving vehicle drives in multiple test sites in a preset sequence comprises:

If the first detection result sent by the first detection device corresponding to the first test site is received, the test corresponding to the first test site is initiated to determine the performance of the autonomous vehicle when driving on the first test site. A single test result, and the first test result is used to instruct the autonomous vehicle to enter the first test site.
The method according to claim 2, wherein the determining a single test result of the autonomous vehicle when driving on the first test site comprises:

Comparing the actual driving data of the autonomous vehicle at the first test site with the expected driving data corresponding to the first test site to obtain a comparison result;

According to the comparison result, a single test result of the autonomous vehicle when driving on the first test site is determined.
The method according to any one of claims 1 to 3, wherein the determining a closed-loop test result of the autonomous vehicle according to the multiple individual test results comprises:

If the second test result sent by the second test device corresponding to the first test site is received, the closed-loop test result of the autonomous vehicle is determined according to the single test result of the first test site, and the second test result is used as Instructing the autonomous vehicle to leave the first test site.
The method according to any one of claims 1 to 4, wherein after determining the closed-loop test result of the autonomous vehicle according to the multiple individual test results, the method further comprises:

Generating a test result report according to the multiple single test results and the closed loop test result, the test result report including the multiple single test results and the closed loop test result;

Output the ring test result report.
The method according to any one of claims 1-5, wherein the test site comprises: a ramp test site, a curve test site, an intelligent obstacle avoidance test site, a right-angle turn test site, and a parking test site site.
An automatic driving vehicle test processing device, characterized in that it comprises:

The first determining module is used to determine multiple individual test results obtained after the autonomous vehicle drives in multiple test sites in a preset order, each of the multiple test sites is used to execute at least one Test items;

The second determination module is configured to determine the closed-loop test result of the autonomous vehicle according to the multiple individual test results.
The device according to claim 7, wherein the first determining module is specifically configured to:

Upon receiving the first detection result sent by the first detection device corresponding to the first test site, start to execute the test corresponding to the first test site to determine the performance of the autonomous vehicle when driving on the first test site A single test result, and the first test result is used to instruct the autonomous vehicle to enter the first test site.
The device according to claim 8, wherein the first determining module comprises:

A comparison unit, configured to compare the actual driving data of the autonomous vehicle at the first test site with the expected driving data corresponding to the first test site to obtain a comparison result;

The determining unit is configured to determine, according to the comparison result, a single test result of the autonomous vehicle when driving on the first test site.
The device according to any one of claims 7-9, wherein the second determining module is specifically configured to:

Upon receiving the second detection result sent by the second detection device corresponding to the first test site, the closed-loop test result of the autonomous vehicle is determined according to the single test result of the first test site, and the second detection result is used Instructing the autonomous vehicle to leave the first test site.
The device according to any one of claims 7-10, further comprising:

A generating module for generating a test result report according to the multiple single test results and the closed loop test result, the test result report including the multiple single test results and the closed loop test result;

The output module is used to output the loop test result report.
The device according to any one of claims 7-11, wherein the test site comprises: a ramp test site, a curve test site, an intelligent obstacle avoidance test site, a right-angle turn test site, and a parking warehousing test site.
An electronic device, characterized in that it comprises:

Memory, used to store program instructions;

The processor is configured to call and execute program instructions in the memory, and execute the method steps of any one of claims 1-6.
A readable storage medium, wherein a computer program is stored in the readable storage medium, and the computer program is used to execute the method according to any one of claims 1-6.