WO2022088699A1 - 自动驾驶车辆的测试方法、装置及系统 - Google Patents

自动驾驶车辆的测试方法、装置及系统 Download PDF

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Publication number
WO2022088699A1
WO2022088699A1 PCT/CN2021/101255 CN2021101255W WO2022088699A1 WO 2022088699 A1 WO2022088699 A1 WO 2022088699A1 CN 2021101255 W CN2021101255 W CN 2021101255W WO 2022088699 A1 WO2022088699 A1 WO 2022088699A1
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Prior art keywords
test
motion platform
motion
information
control module
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PCT/CN2021/101255
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English (en)
French (fr)
Inventor
吴昊
余本德
张良壮
姜艺
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华为技术有限公司
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Priority to EP21884440.5A priority Critical patent/EP4220117A4/en
Publication of WO2022088699A1 publication Critical patent/WO2022088699A1/zh
Priority to US18/140,123 priority patent/US20230399012A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M17/00—Testing of vehicles
    • G01M17/007—Wheeled or endless-tracked vehicles
    • 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
    • G06F11/3684—Test management for test design, e.g. generating new test cases
    • 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]
    • G06F30/20—Design optimisation, verification or simulation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G06V20/582—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of traffic signs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • 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

Definitions

  • the present application relates to the technical field of autonomous driving, and in particular, to a testing method, device and system for autonomous driving vehicles.
  • An autonomous vehicle also known as an unmanned vehicle or a computer-driven vehicle, is a kind of intelligent vehicle that realizes unmanned driving through a computer system.
  • autonomous vehicles drive on real roads, they need to deal with complex and changing traffic scenarios.
  • a large number of tests need to be carried out before self-driving vehicles are put on the road.
  • simulation test uses simulation software to test, which is very different from the situation of the vehicle driving on the real road, and the test result is inaccurate.
  • Large-scale testing on open roads is to allow autonomous vehicles to drive on real roads and conduct tests.
  • the closed field test is to test the self-driving vehicle in the closed test field by simulating various set scenarios. The test results are accurate and the test cost is low. Therefore, closed field testing is widely used.
  • testers are required to participate in closed-field testing. For example, testers need to set test parameters of the test scene, import test parameters into the equipment of the vehicle, etc., which will lead to problems of low test efficiency and high labor costs.
  • the present application provides a test method, device and system for an autonomous vehicle, which can test the autonomous vehicle without the participation of testers, which can improve the test efficiency and reduce labor costs.
  • an embodiment of the present application provides a test system for an autonomous vehicle, the system includes: a software control module, a motion control module, and multiple motion platforms, the software control module is communicatively connected to the motion control module, and the motion control module and the multiple motion control modules are connected in communication.
  • the communication connection of a motion platform the communication connection between multiple motion platforms; the multiple motion platforms include a test motion platform and a target motion platform, the test motion platform is the tested motion platform, and the target motion platform is the motion that assists the test in the test scene platform; the software control module is used to obtain the information of the first test scene, and send the information of the first test scene to the motion control module; wherein, the information of the first test scene is used to indicate that in the first test scene, the information of the test motion platform is The number, the number of target motion platforms, and the parameter information of each motion platform, the parameter information of the motion platform is used to indicate the motion situation of the motion platform in the first test scene; the motion control module is used for receiving from the software control module The information of the first test scene, determine the test motion platform and the target motion platform in a plurality of motion platforms according to the information of the first test scene, and send the parameter information of the test motion platform to each determined test motion platform, to each The determined target motion platform sends the parameter information of the target motion platform; the determined test motion platform is
  • the software control module can acquire the information of the first test scene, and send the information of the first test scene to the motion control module.
  • the motion control module receives the information of the first test scene, can determine the test motion platform and the target motion platform among the plurality of motion platforms according to the information of the first test scene, and sends the parameter information of the motion platform to each determined motion platform, So that the motion platform performs corresponding operations according to the parameter information of the motion platform.
  • self-driving vehicles can be tested without the participation of testers, which can improve test efficiency and reduce labor costs.
  • the test process is closed-loop control (without the participation of testers), which can reduce the accumulated error in the test process and make the test results more accurate.
  • the test system further includes a positioning module, the positioning module is communicatively connected with the software control module, and the positioning module is communicatively connected with the multiple motion platforms; the positioning module is used to obtain the determined test motion platform The position information and the position information of the determined target motion platform, and send the determined position information of the test motion platform and the determined position information of the target motion platform to the software control module; the software control module is also used for receiving from the positioning module.
  • the determined position information of the test motion platform and the determined position information of the target motion platform, and the determined test motion platform and the determined target motion are displayed on the map according to the determined position information of the test motion platform and the determined position information of the target motion platform The location of the platform.
  • the software control module can display the determined positions of the test motion platform and the determined target motion platform on the map. In this way, the tester can observe the motion state of the motion platform in the first test scene in real time.
  • the test system further includes a sensing module, which is connected in communication with the software control module; the sensing module is used to obtain image information of the first test scene, and send the first test to the software control module. image information of the scene; the software control module is further configured to receive the image information of the first test scene from the sensing module, and display an image corresponding to the image information of the first test scene.
  • the software control module can display the image corresponding to the image information of the first test scene, so that the tester can observe the situation of the motion platform in the first test scene.
  • the software control module is further configured to acquire the test data of the determined test motion platform, and determine the test result of the determined test motion platform according to the test data. Based on the above implementation manner, the software control module can acquire the test data of the determined test motion platform, and determine the test result of the determined test motion platform according to the test data, so that the tester can determine whether the determined test motion platform is qualified.
  • the parameter information of the motion platform includes at least one of the following parameters: the information of the initial position of the motion platform in the first test scene, the trigger condition of the first test scene corresponding to the motion platform , the end condition of the first test scene corresponding to the motion platform, the motion speed of the motion platform, the information of the motion track of the motion platform, and the parameter configuration information of the motion platform during the motion.
  • the software control module can acquire various parameters of the motion platform.
  • the motion platform can simulate a more accurate test scene.
  • motion platforms are able to simulate more test scenarios.
  • the first test scenario includes at least one of the following scenarios: traffic light recognition and response scenario, traffic sign and marking recognition and response scenario, front vehicle driving state recognition and response scenario, obstacle recognition and response scenario Scenarios, pedestrian and non-motor vehicle identification and avoidance scenarios, following car driving scenarios, roadside parking scenarios, overtaking scenarios, merging scenarios, intersection communication scenarios, roundabout communication scenarios, and emergency braking scenarios.
  • the test system can test the above-mentioned various test scenarios, and the coverage of the test scenarios is wide.
  • the information of the first test scene further includes configuration information of the test motion platform in the first test scene.
  • the test system can also filter the motion platform according to the configuration information of the motion platform to achieve the test purpose.
  • an embodiment of the present application provides a method for testing an automatic driving vehicle, the method comprising: a software control module obtains information of a first test scene, and the information of the first test scene is used to indicate that in the first test scene, the test The number of motion platforms, the number of target motion platforms, and the parameter information of each motion platform, the test motion platform is the tested motion platform, the target motion platform is the motion platform that assists the test in the test scene, and the parameter information of the motion platform is used. for indicating the motion of the motion platform in the first test scene; the software control module sends the information of the first test scene to the motion control module.
  • the software control module can obtain the information of the first test scene, and send the information of the first test scene to the motion control module, so that the motion control module can determine the test motion platform according to the information of the first test scene and the target motion platform, and send the parameter information of the motion platform to each determined motion platform, so that the motion platform performs the corresponding operation according to the parameter information of the motion platform.
  • self-driving vehicles can be tested without the participation of testers, which can improve test efficiency and reduce labor costs.
  • the test process is closed-loop control (without the participation of testers), which can reduce the accumulated error in the test process and make the test results more accurate.
  • the method also includes: the software control module receives the position information of the determined test motion platform and the determined target motion platform from the positioning module, and the determined test motion platform and the determined target motion platform are: The motion control module determines the motion platform according to the information of the first test scene; the software control module displays the determined test motion platform and the determined test motion platform on the map according to the determined position information of the test motion platform and the determined position information of the target motion platform The target motion platform position. Based on the above implementation manner, the software control module can display the determined positions of the test motion platform and the determined target motion platform on the map. In this way, the tester can observe the motion state of the motion platform in the first test scene in real time.
  • the method further includes: the software control module receives the image information of the first test scene from the perception module; the software control module displays an image corresponding to the image information of the first test scene. Based on the above implementation manner, the software control module can display the image corresponding to the image information of the first test scene, so that the tester can observe the situation of the motion platform in the first test scene.
  • the software control module obtains the test data of the determined test motion platform, and the determined test motion platform is the motion platform determined by the motion control module according to the information of the first test scene; the software control module determines the determined test motion platform according to the test data. The test results of the test motion platform. Based on the above implementation manner, the software control module can acquire the test data of the determined test motion platform, and determine the test result of the determined test motion platform according to the test data, so that the tester can determine whether the determined test motion platform is qualified.
  • the parameter information of the motion platform includes at least one of the following parameters: the information of the initial position of the motion platform in the first test scene, the trigger condition of the first test scene corresponding to the motion platform , the end condition of the first test scene corresponding to the motion platform, the motion speed of the motion platform, the information of the motion track of the motion platform, and the parameter configuration information of the motion platform during the motion.
  • the software control module can acquire various parameters of the motion platform.
  • the motion platform can simulate a more accurate test scene.
  • motion platforms are able to simulate more test scenarios.
  • the first test scenario includes at least one of the following scenarios: traffic light recognition and response scenario, traffic sign and marking recognition and response scenario, front vehicle driving state recognition and response scenario, obstacle recognition and response scenario Scenarios, pedestrian and non-motor vehicle identification and avoidance scenarios, following car driving scenarios, roadside parking scenarios, overtaking scenarios, merging scenarios, intersection communication scenarios, roundabout communication scenarios, and emergency braking scenarios.
  • traffic light recognition and response scenario traffic sign and marking recognition and response scenario
  • front vehicle driving state recognition and response scenario
  • obstacle recognition and response scenario Scenarios pedestrian and non-motor vehicle identification and avoidance scenarios
  • following car driving scenarios roadside parking scenarios, overtaking scenarios, merging scenarios, intersection communication scenarios, roundabout communication scenarios, and emergency braking scenarios.
  • the information of the first test scene further includes configuration information of the test motion platform in the first test scene.
  • the motion platform can be screened according to the configuration information of the motion platform to achieve the test purpose.
  • an embodiment of the present application provides a method for testing an autonomous vehicle, the method comprising: a motion control module receiving information of a first test scene from a software control module, where the information of the first test scene is used to indicate the first test In the scene, the number of test motion platforms, the number of target motion platforms, and the parameter information of each motion platform, the test motion platform is the tested motion platform, the target motion platform is the motion platform that assists the test in the test scene, and the motion platform
  • the parameter information is used to indicate the motion situation of the motion platform in the first test scene; the motion control module determines the test motion platform and the target motion platform in a plurality of motion platforms according to the information of the first test scene; The determined test motion platform sends the parameter information of the test motion platform; the motion control module sends the parameter information of the target motion platform to each determined target motion platform.
  • the motion control module can receive the information of the first test scene from the software control module, determine the test motion platform and the target motion platform among the plurality of motion platforms according to the information of the first test scene, and send the information to each motion platform.
  • a determined motion platform sends parameter information of the motion platform, so that the motion platform can perform corresponding operations according to the parameter information of the motion platform.
  • self-driving vehicles can be tested without the participation of testers, which can improve test efficiency and reduce labor costs.
  • the test process is closed-loop control (without the participation of testers), which can reduce the accumulated error in the test process and make the test results more accurate.
  • the parameter information of the motion platform includes at least one of the following parameters: the information of the initial position of the motion platform in the first test scene, the trigger condition of the first test scene corresponding to the motion platform , the end condition of the first test scene corresponding to the motion platform, the motion speed of the motion platform, the information of the motion track of the motion platform, and the parameter configuration information of the motion platform during the motion.
  • the parameter information of the motion platform can be of various types of parameters.
  • the motion platform can simulate a more accurate test scene.
  • motion platforms are able to simulate more test scenarios.
  • the first test scenario includes at least one of the following scenarios: traffic light recognition and response scenario, traffic sign and marking recognition and response scenario, front vehicle driving state recognition and response scenario, obstacle recognition and response scenario Scenarios, pedestrian and non-motor vehicle identification and avoidance scenarios, following car driving scenarios, roadside parking scenarios, overtaking scenarios, merging scenarios, intersection communication scenarios, roundabout communication scenarios, and emergency braking scenarios.
  • traffic light recognition and response scenario traffic sign and marking recognition and response scenario
  • front vehicle driving state recognition and response scenario
  • obstacle recognition and response scenario Scenarios pedestrian and non-motor vehicle identification and avoidance scenarios
  • following car driving scenarios roadside parking scenarios, overtaking scenarios, merging scenarios, intersection communication scenarios, roundabout communication scenarios, and emergency braking scenarios.
  • the information of the first test scene further includes configuration information of the test motion platform in the first test scene.
  • the motion control module can screen the motion platform according to the configuration information of the motion platform, so as to realize the test purpose.
  • an embodiment of the present application provides a method for testing an autonomous vehicle, the method comprising: a first motion platform receives parameter information of the first motion platform from a motion control module, and the parameter information of the first motion platform is used for In order to indicate the motion situation of the first motion platform in the first test scene, the first motion platform is a test motion platform or a target motion platform; the first motion platform performs the first operation according to the parameter information of the first motion platform.
  • the first motion platform may receive parameter information of the first motion platform from the motion control module, and perform corresponding operations according to the parameter information of the first motion platform.
  • self-driving vehicles can be tested without the participation of testers, which can improve test efficiency and reduce labor costs.
  • the test process is closed-loop control (without the participation of testers), which can reduce the accumulated error in the test process and make the test results more accurate. It can be understood that in the conventional technology, when the number of vehicles in the test scene is large, the tester needs to configure the parameters of each vehicle and import the parameters of each vehicle into the vehicle, which requires a large workload and a long time. . If the method provided in the fourth aspect above is adopted, the efficiency can be greatly improved.
  • the method further includes: the first motion platform sends test data of the first motion platform to the software control module, and the test data of the first motion platform includes the first motion platform tested in the first test scene data obtained during the process.
  • the software control module can acquire the test data of the first motion platform, and determine the test result of the first motion platform according to the test data, so that the tester can determine whether the first motion platform is qualified.
  • the test motion platform is the tested motion platform
  • the target motion platform is the motion platform that assists the test in the test scene.
  • the parameter information of the first motion platform includes at least one of the following parameters: information on the initial position of the first motion platform in the first test scene, the first test scene corresponding to the first motion platform The trigger condition of the first motion platform, the end condition of the first test scene corresponding to the first motion platform, the motion speed of the first motion platform, the information of the motion trajectory of the first motion platform, and the parameter configuration information of the first motion platform during the motion process .
  • the parameter information of the first motion platform may include various types of parameters.
  • the first motion platform can simulate a more accurate test scene.
  • the first motion platform can simulate more test scenarios.
  • an embodiment of the present application provides a testing device, which can implement the method in the second aspect or any possible implementation manner of the second aspect.
  • the apparatus comprises corresponding units or components for carrying out the above-described method.
  • the units included in the apparatus may be implemented by software and/or hardware.
  • the apparatus can be, for example, a software control module, or a chip, a chip system, or a processor that can support the software control module to implement the above method.
  • an embodiment of the present application provides a testing device, which can implement the method in the third aspect or any possible implementation manner of the third aspect.
  • the apparatus comprises corresponding units or components for carrying out the above-described method.
  • the units included in the apparatus may be implemented by software and/or hardware.
  • the apparatus may be, for example, a motion control module, or a chip, a chip system, or a processor that can support the motion control module to implement the above method.
  • an embodiment of the present application provides a testing device, which can implement the method in the fourth aspect or any possible implementation manner of the fourth aspect.
  • the apparatus comprises corresponding units or components for carrying out the above-described method.
  • the units included in the apparatus may be implemented by software and/or hardware.
  • the apparatus may be, for example, a first motion platform, or a chip, a chip system, or a processor that can support the first motion platform to implement the above method.
  • an embodiment of the present application provides a testing device, including: a processor, the processor is coupled to a memory, and the memory is used to store a program or an instruction, when the program or instruction is executed by the processor , so that the device implements the method described in the second aspect or any two possible implementation manners of the first aspect.
  • an embodiment of the present application provides a testing device, comprising: a processor, the processor is coupled to a memory, and the memory is used to store a program or an instruction, when the program or instruction is executed by the processor , so that the device implements the method described in the third aspect or any possible implementation manner of the third aspect.
  • an embodiment of the present application provides a testing device, including: a processor, where the processor is coupled to a memory, and the memory is used to store a program or an instruction, when the program or instruction is executed by the processor , so that the apparatus implements the method described in the fourth aspect or any of the possible implementation manners of the fourth aspect.
  • an embodiment of the present application provides a testing device, which is used to implement the method described in the second aspect or any possible implementation manner of the second aspect.
  • an embodiment of the present application provides a testing device, which is used to implement the method described in the third aspect or any possible implementation manner of the third aspect.
  • an embodiment of the present application provides a testing device, which is used to implement the method described in the fourth aspect or any possible implementation manner of the fourth aspect.
  • an embodiment of the present application provides a computer-readable medium on which a computer program or instruction is stored, and when the computer program or instruction is executed, causes a computer to execute the second aspect or any one of the second aspect. methods described in possible implementations.
  • an embodiment of the present application provides a computer-readable medium on which a computer program or instruction is stored, and when the computer program or instruction is executed, causes a computer to execute the third aspect or any one of the third aspect methods described in possible implementations.
  • an embodiment of the present application provides a computer-readable medium on which a computer program or instruction is stored, and when the computer program or instruction is executed, causes a computer to execute the fourth aspect or any one of the fourth aspect. methods described in possible implementations.
  • an embodiment of the present application provides a computer program product, which includes computer program code, and when the computer program code is run on a computer, enables the computer to execute the second aspect or any of the possible possibilities of the second aspect. Implement the method described in the method.
  • the embodiments of the present application provide a computer program product, which includes computer program code, and when the computer program code runs on a computer, the computer program code enables the computer to execute the third aspect or any of the possible third aspects. Implement the method described in the method.
  • an embodiment of the present application provides a computer program product, which includes computer program code, and when the computer program code runs on a computer, the computer program code enables the computer to execute the fourth aspect or any of the possible aspects of the fourth aspect. Implement the method described in the method.
  • an embodiment of the present application provides a chip, including: a processor, where the processor is coupled to a memory, and the memory is used to store programs or instructions, and when the programs or instructions are executed by the processor , so that the chip implements the method described in the second aspect or any possible implementation manner of the second aspect.
  • an embodiment of the present application provides a chip, including: a processor, where the processor is coupled to a memory, and the memory is used to store a program or an instruction, and when the program or instruction is executed by the processor , the chip is made to implement the method described in the third aspect or any of the possible implementation manners of the third aspect.
  • an embodiment of the present application provides a chip, including: a processor, where the processor is coupled to a memory, and the memory is used to store programs or instructions, and when the programs or instructions are executed by the processor At the time, the chip is made to implement the method described in the fourth aspect or any of the possible implementation manners of the fourth aspect.
  • test device chip, computer readable medium or computer program product provided above are all used to execute the corresponding method provided above. Therefore, the beneficial effects that can be achieved can refer to the corresponding method. The beneficial effects in the method will not be repeated here.
  • FIG. 1A is a schematic diagram 1 of a test system architecture provided by an embodiment of the present application.
  • 1B is a schematic structural diagram of a software control module, a motion control module, and a motion platform provided by an embodiment of the application;
  • 1C is a second schematic diagram of a test system architecture provided by an embodiment of the present application.
  • FIG. 2 is a schematic diagram of a hardware structure of a testing device provided by an embodiment of the present application.
  • FIG. 3 is a schematic flowchart 1 of a testing method for an automatic driving vehicle provided by an embodiment of the present application
  • FIG. 4 is a second schematic flowchart of a testing method for an automatic driving vehicle provided by an embodiment of the present application
  • FIG. 5 is a third schematic flowchart of a testing method for an automatic driving vehicle provided by an embodiment of the present application.
  • FIG. 6 is a fourth schematic flowchart of a testing method for an automatic driving vehicle provided by an embodiment of the present application.
  • FIG. 7 is a schematic structural diagram 1 of a testing device provided by an embodiment of the present application.
  • FIG. 8 is a second structural schematic diagram of a testing device provided by an embodiment of the present application.
  • FIG. 9 is a third structural schematic diagram of a testing device provided by an embodiment of the present application.
  • FIG. 10 is a schematic diagram of the composition of the test system provided by the embodiment of the present application.
  • the testing method, device, and system for an automatic driving vehicle provided by the embodiments of the present application can be applied to any scenario where a closed field test of the automatic driving vehicle is required.
  • the automatic driving vehicle testing method, device and system provided by the embodiments of the present application can test automatic driving vehicles in various scenarios of closed field testing without the participation of testers, with high test efficiency and labor cost Low.
  • the tester in the embodiment of the present application refers to a relevant person participating in the test of the self-driving vehicle.
  • the system architecture applicable to the embodiments of the present application includes a software control module, a motion control module, and multiple motion platforms.
  • the software control module communicates with the motion control module.
  • the motion control module communicates with multiple motion platforms. Communication connection between multiple motion platforms.
  • the above-mentioned modules are connected to each other through high-power wireless fidelity (wireless-fidelity, WiFi) technology, or between the modules and the motion platform.
  • the multiple motion platforms include a test motion platform and a target motion platform.
  • the test motion platform is the tested motion platform.
  • the target motion platform is the motion platform that assists the test in the test scene.
  • the software control module stores or preconfigures configuration information of various test scenarios.
  • the configuration information of the scene in the embodiment of the present application may also be referred to as a configuration file of the scene, a configuration document, or the like, which is not limited.
  • the format of the configuration information may be extensible markup language (XML) or JSON (JavaScript Object Notation).
  • the configuration information of a test scenario may be as follows:
  • the configuration information of the above test scene indicates that the test scene includes the test motion platform 1 and the target motion platform 1 .
  • the running speed of the test motion platform 1 is 30 km/h, and the initial position of the test motion platform 1 in the test scene is (X 1 , Y 1 , Z 1 ).
  • the running speed of the target motion platform 1 is 20 km/h, and the initial position of the target motion platform 1 in the test scene is (X 2 , Y 2 , Z 2 ).
  • configuration information in XML format is only an example.
  • the configuration information may also include more information than the above example, and the name of each parameter in the configuration information may also be different from the example. .
  • the configuration information is obtained according to data collected from roads, and/or data collected from simulation tests, and/or scenarios specified by laws and regulations.
  • the tester can design various test scenarios according to the data collected from the road, and/or the data collected by the simulation test, and/or the scenarios stipulated by laws and regulations, and configure the configuration information according to the various designed test scenarios.
  • L2 level automation technology is used.
  • L2-level automation technology the number of test scenarios, the types of objects in the test scenarios (for example, the self-driving vehicle being tested, vehicles other than the self-driving vehicle being tested, or devices for sensing surrounding conditions, etc.) and There are fewer numbers and simpler object-to-object relationships in the test scene.
  • more test scenarios can be designed than in the L2-level automation technology, which makes the test of the autonomous vehicle more convenient. for comprehensive.
  • a configuration information can correspond to a test scenario.
  • the overtaking scenario corresponds to configuration information 1
  • the emergency braking scenario corresponds to configuration information 2.
  • the configuration information is used to indicate the information of the test scenario corresponding to the configuration information.
  • the configuration information may indicate the number of test motion platforms in the test scene corresponding to the configuration information, the number of target motion platforms, the start position and start speed of the test motion platform, the start position and start speed of the target motion platform and many more.
  • one configuration information may correspond to one situation in one test scenario, or may correspond to multiple situations in one test scenario.
  • the emergency braking scenario includes case 1 and case 2.
  • Case 1 is used to instruct the vehicle to start braking 10 meters away from the vehicle in front
  • case 2 is used to instruct the vehicle to start braking 5 meters away from the vehicle ahead.
  • the situation 1 in the emergency braking scenario corresponds to the configuration information A
  • the situation 2 in the emergency braking scenario corresponds to the configuration information B.
  • configuration information A includes a description of case 1
  • configuration information B includes a description of case 2.
  • both the situation 1 and the situation 2 in the emergency braking scenario correspond to the configuration information C.
  • the configuration information C should include the description of the above-mentioned case 1 and case 2.
  • the tester can maintain the configuration information in the software control module.
  • the tester can delete, update or add configuration information in the software control module. For example, when there is no need to test a certain test scenario, the tester can delete the configuration information of the test scenario in the software control module. For another example, when a parameter corresponding to a certain test scenario needs to be updated, the tester can update the configuration information of the test scenario. When there is a new test scenario, the tester can add configuration information of the new test scenario in the software control module.
  • the software control module can obtain the information of the test scene, and send the information of the test scene to the motion control module.
  • the motion control module is used to control the above-mentioned multiple motion platforms.
  • the motion control module may determine the state of each motion platform, for example, the motion control module may determine whether a motion platform is in a use state or an idle state.
  • the motion control module can also determine the test motion platform and the target motion platform in the motion platform in the idle state according to the received information of the test scene.
  • the motion control module can also communicate with the motion platform. For example, the motion control module may send the parameter information of the test motion platform to the determined test motion platform, and send the parameter information of the target motion platform to the determined target motion platform.
  • the motion control module can also coordinate the parameters between the motion platforms during the test to assist the motion platforms to complete the test.
  • the motion platform can carry various types of simulants.
  • the plurality of motion platforms may include one or more of the following: dummies, fake cars, obstacles, bicycles, electric vehicles, tricycles, and autonomous vehicles.
  • the dummy can be used to simulate the movement of a person, for example, the position of the person, the movement speed of the person, the movement trajectory of the person, and the like.
  • the fake car can simulate the movement of the vehicle, for example, the position of the vehicle, the speed of the vehicle, the trajectory of the vehicle, and so on. That is to say, when testing self-driving vehicles, you can use real cars for testing, or you can use fake cars for testing.
  • the motion platform can communicate with the motion control module.
  • the motion platform may receive parameter information of the motion platform from the motion control module.
  • the motion platform can also perform operations corresponding to the parameter information according to the received parameter information of the motion platform.
  • the system architecture applicable to the embodiments of the present application further includes a positioning module and/or a perception module.
  • the positioning module is connected in communication with a plurality of motion platforms, and the positioning module is also connected in communication with the software control module.
  • the positioning module and the motion platform, the positioning module and the software control module are connected through high-power WiFi and other technologies.
  • the positioning module is used to obtain the position information of the motion platform.
  • the positioning module is also used for sending the position information of the motion platform to the software control module.
  • the positioning module may be a device, such as a positioning base station, for acquiring the position information of various devices.
  • the perception module is in communication connection with the software control module.
  • the sensing module and the software control module are communicated and connected through technologies such as high-power WiFi.
  • the perception module is used to obtain image information of the test scene.
  • the perception module may include a camera, and the camera may capture an image of the test scene to obtain image information of the test scene.
  • the sensing module is further configured to send the acquired image information of the test scene to the software control module, so that the software control module displays an image corresponding to the image information according to the received image information.
  • perception module and the positioning module may also have other naming manners, which are not limited.
  • the system architecture may be as shown in FIG. 1A .
  • the system architecture shown in FIG. 1A includes a software control module 101 , a motion control module 102 and a motion platform 103 - a motion platform 105 .
  • the software control module 101 is connected in communication with the motion control module 102 , and the motion control module 102 , the motion platform 103 , the motion platform 104 and the motion platform 105 are connected in communication.
  • the software control module 101 may be configured to acquire information of the first test scene, and send the information of the first test scene to the motion control module.
  • the information of the first test scene is used to indicate the number of test motion platforms, the number of target motion platforms, and the parameter information of each motion platform in the first test scene.
  • the test motion platform is the tested motion platform
  • the target motion platform is the motion platform that assists the test in the test scene.
  • the parameter information of the motion platform is used to indicate the motion situation of the motion platform in the first test scene.
  • the software control module 102 can be configured to receive the information of the first test scene from the software control module 101, determine the test motion platform and the target motion platform among the plurality of motion platforms according to the information of the first test scene, and move to each determined test motion platform.
  • the platform sends the parameter information of the test motion platform, and sends the parameter information of the target motion platform to each determined target motion platform.
  • the motion platform in FIG. 1A for example, the motion platform 103, the motion platform 104 or the motion platform 105, can be used to receive the parameter information of the motion platform from the motion control module 102, and execute the motion platform according to the parameter information of the motion platform. The operation corresponding to the parameter information.
  • the system architecture shown in FIG. 1A may further include a positioning module and/or a sensing module (not shown in FIG. 1A ).
  • a positioning module and/or a sensing module for the introduction of the positioning module and/or the sensing module, reference may be made to the foregoing description, which will not be repeated. It can be understood that the positioning module can also be integrated in the software control module 101 or the motion control module 102 .
  • the structure of the software control module 101, the structure of the motion control module 102, and the structure of the motion platform in FIG. 1A may be as shown in FIG. 1B.
  • the software control module 101 includes a scene library 1011 and a scene language conversion unit 1012 .
  • the configuration information of various test scenarios is stored or preconfigured in the scenario library.
  • the scene language conversion unit 1012 can be configured to convert the configuration information in the scene library 1011 into the information of the test scene corresponding to the configuration information.
  • the motion control module 102 includes a parameter processing unit 1021 and a scheduling and control unit 1022 .
  • the parameter processing unit 1021 may be used to process the information of the test scene. For example, the parameter processing unit 1021 may obtain, according to the information of the test scene, the number of test motion platforms, the number of target motion platforms, and the parameter information of each motion platform in the test scene.
  • the scheduling and control unit 1022 can be used to determine the test motion platform and the target motion platform among the plurality of motion platforms, send parameter information of the test motion platform to each determined test motion platform, and send the target motion to each determined target motion platform Platform parameter information.
  • the motion platform 103 includes a positioning unit 1031 and a control unit 1032 .
  • the positioning unit 1031 can be used to obtain the position information of the motion platform 103 .
  • the control unit 1032 may be configured to perform an operation corresponding to the parameter information according to the parameter information of the motion platform 103 .
  • the structure of the software control module 101 , the structure of the motion control module 102 , and the structure of the motion platform 103 shown in FIG. 1B are only for examples, and not for limiting the technical solutions of the present application. Those skilled in the art should understand that, in the specific implementation process, the software control module, motion control module, or motion platform may also include other modules, which are not limited.
  • the above software control module and motion control module are two different modules.
  • the software control module and the motion control module can also be integrated into one module.
  • the integrated module has both the functions of the software control module and the function of the motion control module.
  • FIG. 1C the system architecture provided by the embodiments of the present application may be as shown in FIG. 1C .
  • the system architecture shown in FIG. 1C includes a control module 106 and a motion platform 107 - a motion platform 109 .
  • the control module 106 may have the functions of the software control module 101 and the motion control module 102 described above.
  • the control module 106 may be configured to acquire information of the first test scene, determine a test motion platform and a target motion platform among the plurality of motion platforms according to the information of the first test scene, and send the test motion platform to each determined test motion platform The parameter information of the target motion platform is sent to each determined target motion platform.
  • the motion platform in FIG. 1C for example, motion platform 107, motion platform 108 or motion platform 109, can be used to receive parameter information of the motion platform from the control module 106, and execute the parameters of the motion platform according to the parameter information of the motion platform information corresponding to the operation.
  • the system architecture shown in FIG. 1C may further include a positioning module and/or a sensing module (not shown in FIG. 1C ).
  • a positioning module and/or a sensing module for the introduction of the positioning module and/or the sensing module, reference may be made to the foregoing description, which will not be repeated. It can be understood that the positioning module can also be integrated in the control module 106 .
  • system architectures shown in FIG. 1A and FIG. 1C are only used for example, and are not used to limit the technical solutions of the present application.
  • system architecture may also include other devices or modules, and the number of software control modules, motion control modules, motion platforms or control modules may also be determined according to specific needs. be restricted.
  • the modules or motion platforms in FIG. 1A and FIG. 1C in the embodiment of the present application may be in a device.
  • a functional module may be an element in a hardware device, for example, a chip or component in a test device, or a software functional module running on hardware, or an instance on a platform (for example, a cloud platform). Virtualization capabilities.
  • FIG. 2 is a schematic diagram of a hardware structure of a testing device applicable to the embodiment of the present application.
  • the testing apparatus 20 includes at least one processor 201 and at least one communication interface 204, and is used for implementing the method provided by the embodiment of the present application.
  • the testing device 20 may also include a communication line 202 and a memory 203 .
  • the processor 201 may be a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more processors for controlling the execution of the programs of the present application. integrated circuit.
  • CPU central processing unit
  • ASIC application-specific integrated circuit
  • Communication line 202 may include a path, such as a bus, for transferring information between the components described above.
  • the communication interface 204 can be any device such as a transceiver, such as an Ethernet interface, a radio access network (RAN) interface, a wireless local area network (WLAN) interface, a transceiver, a pin , bus, or transceiver circuit, etc.
  • a transceiver such as an Ethernet interface, a radio access network (RAN) interface, a wireless local area network (WLAN) interface, a transceiver, a pin , bus, or transceiver circuit, etc.
  • Memory 203 may be read-only memory (ROM) or other types of static storage devices that can store static information and instructions, random access memory (RAM) or other types of information and instructions It can also be an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disk storage, optical disk storage (including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or capable of carrying or storing desired program code in the form of instructions or data structures and capable of being executed by a computer Access any other medium without limitation.
  • the memory may exist independently and be coupled to the processor 201 through the communication line 202 .
  • the memory 203 may also be integrated with the processor 201 .
  • the memory provided by the embodiments of the present application may generally be non-volatile.
  • the memory 203 is used for storing computer-executed instructions involved in executing the solutions provided by the embodiments of the present application, and the execution is controlled by the processor 201 .
  • the processor 201 is configured to execute the computer-executed instructions stored in the memory 203, so as to implement the methods provided by the embodiments of the present application.
  • the computer-executed instructions in the embodiments of the present application may also be referred to as application program codes, which are not specifically limited in the embodiments of the present application.
  • the coupling in the embodiments of the present application is an indirect coupling or communication connection between devices, units or modules, which may be in electrical, mechanical or other forms, and is used for information exchange between devices, units or modules.
  • the processor 201 may include one or more CPUs, such as CPU0 and CPU1 in FIG. 2 .
  • the testing apparatus 20 may include multiple processors, such as the processor 201 and the processor 207 in FIG. 2 .
  • processors can be a single-core (single-CPU) processor or a multi-core (multi-CPU) processor.
  • a processor herein may refer to one or more devices, circuits, and/or processing cores for processing data (eg, computer program instructions).
  • the testing apparatus 20 may further include an output device 205 and/or an input device 206 .
  • Output device 205 is coupled to processor 201 and can display information in a variety of ways.
  • the output device 205 may be a liquid crystal display (LCD), a light emitting diode (LED) display device, a cathode ray tube (CRT) display device, or a projector (projector) Wait.
  • Input device 206 is coupled to processor 201 and can receive user input in a variety of ways.
  • the input device 206 may be a mouse, a keyboard, a touch screen device, a sensor device, or the like.
  • the above-mentioned testing device 20 may be a general-purpose device or a special-purpose device.
  • the testing device 20 may be a desktop computer, a laptop computer, a network server, an embedded device, or a device with a similar structure in FIG. 2 .
  • the embodiment of the present application does not limit the type of the testing device 20 .
  • test method for an automatic driving vehicle provided by the embodiment of the present application will be described in detail below by taking the system architecture shown in FIG. 1A as an example.
  • A/B may indicate A or B
  • a and/or may be used to describe There are three kinds of relationships between related objects, for example, A and/or B, which can be expressed as: the existence of A alone, the existence of A and B at the same time, and the existence of B alone, where A and B can be singular or plural.
  • words such as “first” and “second” may be used to distinguish technical features with the same or similar functions.
  • the words “first”, “second” and the like do not limit the quantity and execution order, and the words “first”, “second” and the like do not limit certain differences.
  • words such as “exemplary” or “for example” are used to represent examples, illustrations or illustrations, and any embodiment or design solution described as “exemplary” or “for example” should not be construed are preferred or advantageous over other embodiments or designs.
  • the use of words such as “exemplary” or “such as” is intended to present the related concepts in a specific manner to facilitate understanding.
  • the software control module, and/or the motion control module, and/or the motion platform, and/or the perception module, and/or the positioning module may perform the steps in the embodiments of the present application. Some or all of the steps are only examples, and the embodiments of the present application may also perform other steps or variations of various steps. In addition, various steps may be performed in different orders presented in the embodiments of the present application, and it may not be necessary to perform all the steps in the embodiments of the present application.
  • the specific structure of the execution body of the test method for the automatic driving vehicle is not particularly limited in the embodiment of the present application, as long as the method provided by the embodiment of the present application can be implemented.
  • the execution body of the test method for an autonomous driving vehicle provided in the embodiment of the present application may be a software control module, or a component applied in the software control module, such as a chip, which is not limited in this application.
  • the execution body of the test method for an autonomous driving vehicle provided in the embodiment of the present application may be a motion control module, or a component applied in the motion control module, such as a chip, which is not limited in this application.
  • the execution body of the testing method for an autonomous driving vehicle provided in the embodiment of the present application may be a motion platform, or a component applied to the motion platform, such as a chip, which is not limited in this application.
  • the following embodiments are described by taking an example where the execution bodies of the testing method for an automatic driving vehicle are a software control module, a motion control module and a motion platform respectively.
  • a method for testing an automatic driving vehicle includes steps 301 to 305 .
  • Step 301 The software control module obtains information of the first test scenario.
  • the software control module may be the software control module 101 in FIG. 1A .
  • the information of the first test scene is used to indicate the number of test motion platforms, the number of target motion platforms, and the parameter information of each motion platform in the first test scene.
  • the first test scenario includes at least one of the following scenarios: traffic light recognition and response scenario, traffic sign and marking recognition and response scenario, driving state recognition and response scenario of the vehicle ahead, obstacle recognition and response scenario, pedestrian and non-traffic Motor vehicle identification and avoidance scenarios, following car driving scenarios, roadside parking scenarios, overtaking scenarios, merging scenarios, intersection communication scenarios, roundabout communication scenarios and emergency braking scenarios.
  • traffic light recognition and response scenario traffic sign and marking recognition and response scenario
  • driving state recognition and response scenario of the vehicle ahead obstacle recognition and response scenario
  • pedestrian and non-traffic Motor vehicle identification and avoidance scenarios following car driving scenarios, roadside parking scenarios, overtaking scenarios, merging scenarios, intersection communication scenarios, roundabout communication scenarios and emergency braking scenarios.
  • the first test scenario may also include other scenarios that can be tested, which is not limited.
  • the motion platform in the embodiment of the present application may be a dummy, a fake car, an obstacle, a bicycle, an electric vehicle, a tricycle, an autonomous vehicle, and the like.
  • dummies and fake cars you can refer to the previous descriptions, which will not be repeated.
  • the test motion platform is the motion platform to be tested, for example, the autonomous vehicle to be tested.
  • the target motion platform is the motion platform that assists the test in the test scene, such as a dummy, an obstacle, a dummy car for the test, or an autonomous vehicle for the test.
  • the parameter information of the motion platform may be used to indicate the motion situation of the motion platform in the first test scene.
  • the parameter information of the motion platform may indicate the start position, start speed, etc. of the motion platform.
  • the parameter information of the motion platform includes at least one of the following parameters: the information of the initial position of the motion platform in the first test scene, the trigger condition of the first test scene corresponding to the motion platform, the The end condition of the first test scene, the motion speed of the motion platform, the information of the motion track of the motion platform, and the parameter configuration information of the motion platform during the motion.
  • the information on the initial position of the motion platform in the first test scene may be used to indicate the initial position of the motion platform in the first test scene, for example, the coordinates of the initial position of the motion platform in the first test scene.
  • the initial position of the motion platform in the first test scene may also be referred to as the initial position of the motion platform in the first test scene.
  • the trigger condition of the first test scene corresponding to the motion platform may be used to indicate the condition corresponding to the motion platform to trigger the first test scene.
  • the trigger condition of the first test scene corresponding to the motion platform may instruct the motion platform to start identifying the traffic lights at the intersection when it is 10 meters away from the intersection. traffic light.
  • the trigger condition of the first test scene corresponding to the motion platform may instruct the motion platform to start overtaking when the speed of the preceding motion platform is less than 60km/h.
  • the end condition of the first test scene corresponding to the motion platform may be used to indicate the condition for ending the test corresponding to the motion platform.
  • the end condition of the first test scene corresponding to the motion platform may instruct the motion platform to end the test when the travel distance following the preceding motion platform is greater than 2 km.
  • the motion speed of the motion platform may include the start speed of the motion platform, and/or the speed of the motion platform while it is running, and/or the speed of the motion platform when the test ends.
  • the initial speed of the motion platform is the speed to be reached within a preset time period after the motion platform is started.
  • the information of the motion trajectory of the motion platform can be used to indicate the travel route of the motion platform in the first test scene.
  • the information of the motion trajectory of the motion platform may indicate the starting position of the motion platform for lane change, and the time taken by the motion platform from the start of the lane change to the end of the lane change.
  • the parameter configuration information of the motion platform during the motion process can be used to indicate the parameter configuration of the motion platform during the motion process. For example, the moment when the motion platform turns on the turn signal, the moment when the motion platform accelerates, and the moment when the motion platform brakes, etc.
  • the information of the first test scene further includes configuration information of the test motion platform in the first test scene.
  • the configuration information of the test motion platform is used to indicate the configuration of the test motion platform, for example, the model of the test motion platform.
  • the software control module acquires the information of the first test scene in response to the operation of the tester; or, the software control module acquires the information of the first test scene according to a pre-stored program. For example, if the pre-stored program instructs to start the test at 9:00 pm, the software control module obtains the information of the first test scenario at 9:00 pm.
  • the software control module obtains the information of the first test scenario, including: the software control module determines the configuration information of the first test scenario, and obtains the information of the first test scenario according to the configuration information of the first test scenario. Further, the software control module may determine and identify the configuration information of the first test scene, and extract the information of the first test scene from the configuration information of the first test scene.
  • the information of the first test scene includes: the number of test motion platforms 1, the number of target motion platforms 1, and the test motion platform 1.
  • Step 302 The software control module sends the information of the first test scene to the motion control module.
  • the motion control module may be the motion control module 102 in FIG. 1A .
  • the motion control module receives the information of the first test scenario from the software control module.
  • Step 303 The motion control module determines a test motion platform and a target motion platform among the plurality of motion platforms according to the information of the first test scene.
  • the plurality of motion platforms may include motion platform 103 , motion platform 104 and motion platform 105 in FIG. 1A .
  • the motion control module determines the test motion platform and the target in the motion platform in an idle state among the plurality of motion platforms according to the number of test motion platforms and the number of target motion platforms indicated by the information of the first test scene. sports platform.
  • Step 304 The motion control module sends parameter information of the test motion platform to each determined test motion platform.
  • the determined test motion platform receives parameter information of the test motion platform from the motion control module.
  • the determined test motion platform receives parameter information of the test motion platform from the motion control module, and performs the first operation according to the parameter information of the test motion platform.
  • the parameter information of the test motion platform includes the information of the initial position of the test motion platform in the first test scene, and the trigger condition of the first test scene corresponding to the test motion platform. , test the starting speed of the motion platform as an example. If the information on the initial position of the test motion platform in the first test scene indicates that the initial position of the test motion platform in the first test scene is 100 meters away from the obstacle, the trigger condition of the first test scene corresponding to the test motion platform indicates the test motion When the platform is 20 meters away from the obstacle, it starts to identify the obstacle. The initial speed of the test motion platform is 40km/h within 10s after the test motion platform is started, and the test motion platform receives the above test motion platform.
  • test motion platform After the parameter information, drive into the test site corresponding to the first test scene, and stop at a position 100 meters away from the reserved obstacle. After the test starts, the test motion platform starts and drives to the direction of the obstacle. 40km/h, when the obstacle is 20 meters away, it starts to identify the obstacle.
  • the determined test motion platform receives the parameter information from the test motion platform of the motion control module, and can first drive into the test site corresponding to the first test scene, and the test motion platform is at the initial position of the first test scene. Stop, send the ready indication information to the other motion platforms determined by the motion control module, and perform the first operation after receiving the indication information that the other motion platforms are ready.
  • Step 305 The motion control module sends parameter information of the target motion platform to each determined target motion platform.
  • the determined target motion platform receives parameter information of the target motion platform from the motion control module.
  • the determined target motion platform receives parameter information of the target motion platform from the motion control module, and performs the second operation according to the parameter information of the target motion platform.
  • the parameter information of the target motion platform includes the information of the initial position of the target motion platform in the first test scene, and the parameters of the target motion platform during the motion process.
  • the configuration information is described as an example.
  • the parameter configuration information of the target motion platform during the motion instructs the target motion platform to turn on the left turn signal 1 minute after starting , and turn left, increase the driving speed to 80km/h 3 minutes after starting, then the target motion platform will drive into the test site corresponding to the first test scene after receiving the above parameter information of the target motion platform, at the coordinates of Stop at the position of (X 1 , Y 1 , Z 1 ), after the test starts, the target motion platform starts, turn on the left turn signal 1 minute after starting, turn left, and increase the driving speed to 80km 3 minutes after starting /h.
  • the determined target motion platform receives the parameter information of the target motion platform from the motion control module, and can first drive into the test site corresponding to the first test scene, and the target motion platform is at the initial position of the first test scene. Stop, send the ready indication information to other motion platforms determined by the motion control module, and perform the second operation after receiving the ready indication information of the other motion platforms.
  • step 304 may be performed first and then step 305 may be performed, or step 305 may be performed first and then step 304 may be performed, or step 304 and step 305 may be performed simultaneously.
  • the software control module can acquire the information of the first test scene, and send the information of the first test scene to the motion control module.
  • the motion control module receives the information of the first test scene, can determine the test motion platform and the target motion platform among the plurality of motion platforms according to the information of the first test scene, and sends the parameter information of the motion platform to each determined motion platform, In order for the motion platform to perform corresponding operations according to the parameter information of the motion platform, and during the test, the motion control module and the motion platform, and between the motion platform and the motion platform can communicate with each other, coordinate parameters at any time, and complete the test together. In this way, self-driving vehicles can be tested without the participation of testers, which can improve test efficiency and reduce labor costs.
  • the test process is closed-loop control (without the participation of testers), which can reduce the accumulated error in the test process and make the test results more accurate. It can be understood that in the conventional technology, when the number of vehicles in the test scene is large, the tester needs to configure the parameters of each vehicle and import the parameters of each vehicle into the vehicle, which requires a large workload and a long time. . If the method provided by the embodiment of the present application is adopted, the efficiency can be greatly improved.
  • multiple test scenarios can be tested at the same time. That is to say, the software control module can acquire the information of multiple test scenarios at the same time, and send the information of the multiple test scenarios to the motion control module. After receiving the information of the multiple test scenarios, the motion control module can determine a motion platform for each test scene, and send parameter information of the motion platform to each motion platform, so that each motion platform can perform corresponding operations. In this way, multiple test scenarios can be tested in parallel, and the test efficiency can be improved.
  • the positioning module can obtain the position information of the determined test motion platform and the determined position information of the target motion platform, and will determine the position information of the test motion platform and The determined position information of the target motion platform is sent to the software control module, so that the software control module displays the determined test motion platform and the determined position of the target motion platform on the map.
  • the method shown in FIG. 3 further includes steps 401 to 403 .
  • Step 401 The positioning module obtains the determined position information of the test motion platform and the determined position information of the target motion platform.
  • the determined location information of the test motion platform may be used to indicate the determined location of the test motion platform, eg, the determined coordinates of the test motion platform.
  • the determined position information of the target motion platform may be used to indicate the determined position of the target motion platform, eg, the determined coordinates of the target motion platform.
  • the positioning module can acquire the determined position information of the test motion platform and the determined position information of the target motion platform in real time.
  • the determined test motion platform can also obtain its own position information, and send its own position information to the software control module through the positioning module; or, the determined test motion platform can also obtain its own position information and directly send it to the software control module. Send your location information.
  • the determined target motion platform can also obtain its own position information, and send its own position information to the software control module through the positioning module; or, the determined target motion platform can also obtain its own position information and send it directly to the software control module. own location information.
  • Step 402 The positioning module sends the determined position information of the test motion platform and the determined position information of the target motion platform to the software control module.
  • the software control module receives the determined position information of the test motion platform and the determined position information of the target motion platform from the positioning module.
  • Step 403 The software control module displays the determined positions of the test motion platform and the determined target motion platform on the map according to the determined position information of the test motion platform and the determined position information of the target motion platform.
  • the determined position information of the test motion platform indicates the coordinates of the determined test motion platform
  • the determined position information of the target motion platform indicates the determined coordinates of the target motion platform as an example
  • the software control module is based on the determined test motion platform.
  • the position information of the determined test motion platform is displayed on the coordinates of the determined test motion platform.
  • the software control module displays the determined target motion platform on the coordinates of the determined target motion platform according to the determined position information of the target motion platform.
  • the software control module can display the determined positions of the test motion platform and the determined target motion platform on the map. In this way, the tester can observe the motion state of the motion platform in the first test scene in real time.
  • the sensing module can acquire the image information of the first test scene, and send the image information to the software control module, so that the software control module displays the corresponding image information.
  • Image Exemplarily, as shown in FIG. 5 , the method shown in FIG. 3 further includes steps 501 to 503 .
  • Step 501 The perception module acquires image information of the first test scene.
  • the image information of the first test scene includes an image or video stream.
  • the camera in the perception module may capture images or videos of the moving platform in the first test scene.
  • Step 502 The sensing module sends the image information of the first test scene to the software control module.
  • the software control module receives the image information of the first test scene from the perception module.
  • Step 503 The software control module displays an image corresponding to the image information of the first test scene.
  • the software control module may display an image or video of the motion platform in the first test scene.
  • the software control module can display the image corresponding to the image information of the first test scene, so that the tester can observe the situation of the moving platform in the first test scene.
  • steps 501 to 503 can also be applied to the method shown in FIG. 4 , which is not limited.
  • the software control module may acquire the determined test data of the test motion platform, and determine the test result of the determined test motion platform according to the test data.
  • the method shown in FIG. 3 further includes steps 601 to 602 .
  • Step 601 The software control module acquires the determined test data of the test motion platform.
  • the test data of the determined test motion platform includes various data of the determined test motion platform during the test, for example, the determined acceleration of the test motion platform, the determined acceleration of the test motion platform from the first speed to the second speed Time, or the data of each equipment (engine, braking system, etc.) in the test motion platform determined during the test, etc.
  • test data of the determined test motion platform can be sent to the software control module by the determined test motion platform, or sent to the software control module by the positioning module, motion control module, etc., without limitation.
  • the software control module can also acquire the test data of the determined target motion platform to assist in determining the test result of the determined test motion platform.
  • the test data of the determined target motion platform please refer to the introduction of the test data of the determined test motion platform.
  • Step 602 The software control module determines the test result of the determined test motion platform according to the determined test data of the test motion platform.
  • the software control module may pre-store various test indexes, and the software control module determines the test result of the determined test motion platform according to the test indexes and the determined test data of the test motion platform.
  • the index stored in the software control module indicates that the distance from the previous motion platform is greater than 5 meters, if the test motion platform determined in the test process is different from the previous motion platform. If the distance of the motion platform is always greater than 5 meters, the determined test motion platform passes the test. If the distance between the test motion platform and the previous motion platform determined during the test is less than 5 meters for a period of time, the determined test motion platform fails. test.
  • the software control module displays the determined test data of the target motion platform on the human-computer interaction interface, and the test results are determined by the tester.
  • the software control module determines the test of the determined test motion platform according to the test data of the determined target motion platform and the determined test data of the test motion platform. result.
  • steps 601 to 602 can also be applied to the method shown in FIG. 4 and/or the method shown in FIG. 5 , which is not limited.
  • the software control module can obtain the test data of the determined test motion platform, and determine the test result of the determined test motion platform according to the test data, so that the tester can determine whether the determined test motion platform is qualified.
  • the foregoing mainly introduces the solutions provided by the embodiments of the present application from the perspective of interaction between various modules.
  • the above-mentioned software control module, motion control module, or motion platform, etc. include corresponding hardware structures and/or software modules for executing each function.
  • the unit and algorithm operations of each example described in conjunction with the embodiments disclosed herein can be implemented in hardware or in the form of a combination of hardware and computer software. Whether a function is performed by hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each particular application, but such implementations should not be considered beyond the scope of this application.
  • the software control module, the motion control module, or the motion platform may be divided into functional modules according to the foregoing method examples.
  • each functional module may be divided corresponding to each function, or two or more functions may be integrated in in a processing module.
  • the above-mentioned integrated modules can be implemented in the form of hardware, and can also be implemented in the form of software function modules. It should be noted that, the division of modules in the embodiments of the present application is schematic, and is only a logical function division, and there may be other division manners in actual implementation.
  • FIG. 7 shows a schematic structural diagram of a testing device.
  • the test device may be a software control module or a chip or a system-on-chip in the software control module, or other combined devices, components, etc. that can realize the above-mentioned terminal functions.
  • the testing apparatus shown in FIG. 7 includes: a processing unit 701 and a transceiver unit 702 .
  • the processing unit 701 is configured to acquire information of the first test scenario.
  • the information of the first test scene is used to indicate the number of test motion platforms, the number of target motion platforms, and the parameter information of each motion platform in the first test scene.
  • the test motion platform is the tested motion platform
  • the target motion platform is the motion platform that assists the test in the test scene
  • the parameter information of the motion platform is used to indicate the motion of the motion platform in the first test scene.
  • the processing unit 701 may be used to perform step 301 .
  • the transceiver unit 702 is configured to send the information of the first test scene to the motion control module.
  • the transceiver unit 702 may be used to perform step 302 .
  • the transceiver unit 702 is also used to receive the position information of the determined test motion platform and the determined target motion platform from the positioning module, and the determined test motion platform and the determined target motion platform are motion.
  • the transceiver unit 702 is further configured to receive image information of the first test scene from the sensing module; the processing unit 701 is further configured to display an image corresponding to the image information of the first test scene.
  • the processing unit 701 is further configured to acquire the test data of the determined test motion platform, and the determined test motion platform is the motion platform determined by the motion control module according to the information of the first test scene; the processing unit 701 is further It is used to determine the test result of the determined test motion platform according to the test data.
  • the parameter information of the motion platform includes at least one of the following parameters: the information of the initial position of the motion platform in the first test scene, the trigger condition of the first test scene corresponding to the motion platform, the The end condition of the first test scene, the motion speed of the motion platform, the information of the motion track of the motion platform, and the parameter configuration information of the motion platform during the motion.
  • the first test scenario includes at least one of the following scenarios: traffic light recognition and response scenario, traffic sign and marking recognition and response scenario, front vehicle driving state recognition and response scenario, obstacle recognition and response scenario Scenarios, pedestrian and non-motor vehicle identification and avoidance scenarios, following car driving scenarios, roadside parking scenarios, overtaking scenarios, merging scenarios, intersection communication scenarios, roundabout communication scenarios, and emergency braking scenarios.
  • the information of the first test scene further includes configuration information of the test motion platform in the first test scene.
  • test apparatus is presented in the form of dividing each functional module in an integrated manner.
  • Module herein may refer to a specific ASIC, circuit, processor and memory executing one or more software or firmware programs, integrated logic circuit, and/or other device that may provide the functions described above.
  • the test device can take the form shown in FIG. 2 .
  • the processor 201 in FIG. 2 may invoke the computer-executed instructions stored in the memory 203 to cause the testing apparatus to execute the methods in the foregoing method embodiments.
  • the functions/implementation processes of the processing unit 701 and the transceiver unit 702 in FIG. 7 may be implemented by the processor 201 in FIG. 2 calling the computer-executed instructions stored in the memory 203 .
  • the function/implementation process of the processing unit 701 in FIG. 7 can be implemented by the processor 201 in FIG. 2 calling the computer-executed instructions stored in the memory 203, and the function/implementation process of the transceiver unit 702 in FIG. 2 in the communication interface 204 to achieve.
  • test device provided in this embodiment can execute the above-mentioned test method for an automatic driving vehicle, the technical effect that can be obtained can be referred to the above-mentioned method embodiment, which will not be repeated here.
  • FIG. 8 shows a schematic structural diagram of a testing device.
  • the test device may be a motion control module or a chip or a system-on-chip in the motion control module, or other combined devices, components, etc. that can realize the functions of the above motion control module, and the test device may be used to execute the motion control involved in the above embodiments function of the module.
  • the test apparatus shown in FIG. 8 includes: a transceiver unit 801 and a processing unit 802 .
  • the transceiver unit 801 is used to receive the information of the first test scene from the software control module, and the information of the first test scene is used to indicate the number of test motion platforms, the number of target motion platforms, and each motion in the first test scene
  • the parameter information of the platform, the test motion platform is the tested motion platform
  • the target motion platform is the motion platform that assists the test in the test scene
  • the parameter information of the motion platform is used to indicate the motion of the motion platform in the first test scene.
  • the transceiver unit 801 may be used to perform step 302 .
  • the processing unit 802 is configured to determine a test motion platform and a target motion platform from among the plurality of motion platforms according to the information of the first test scene. For example, in conjunction with FIG. 3 , the processing unit 802 may be used to perform step 303 .
  • the transceiver unit 801 is further configured to send parameter information of the test motion platform to each determined test motion platform.
  • the transceiver unit 801 may also be used to perform step 304 .
  • the transceiver unit 801 is further configured to send parameter information of the target motion platform to each determined target motion platform. For example, in conjunction with FIG. 3 , the transceiver unit 801 may also be used to perform step 305 .
  • the parameter information of the motion platform includes at least one of the following parameters: the information of the initial position of the motion platform in the first test scene, the trigger condition of the first test scene corresponding to the motion platform, the motion platform Corresponding to the end condition of the first test scene, the motion speed of the motion platform, the information of the motion track of the motion platform, and the parameter configuration information of the motion platform during the motion.
  • the first test scenario includes at least one of the following scenarios: traffic light recognition and response scenario, traffic sign and marking recognition and response scenario, front vehicle driving state recognition and response scenario, obstacle recognition and response scenario Scenarios, pedestrian and non-motor vehicle identification and avoidance scenarios, following car driving scenarios, roadside parking scenarios, overtaking scenarios, merging scenarios, intersection communication scenarios, roundabout communication scenarios, and emergency braking scenarios.
  • the information of the first test scene further includes configuration information of the test motion platform in the first test scene.
  • test apparatus is presented in the form of dividing each functional module in an integrated manner.
  • Module herein may refer to a specific ASIC, circuit, processor and memory executing one or more software or firmware programs, integrated logic circuit, and/or other device that may provide the functions described above.
  • the test device can take the form shown in FIG. 2 .
  • the processor 201 in FIG. 2 may invoke the computer-executed instructions stored in the memory 203 to cause the testing apparatus to execute the methods in the foregoing method embodiments.
  • the functions/implementation process of the transceiver unit 801 and the processing unit 802 in FIG. 2 may be implemented by the processor 201 in FIG. 2 calling the computer-executed instructions stored in the memory 203 .
  • the function/implementation process of the processing unit 802 in FIG. 8 can be implemented by the processor 201 in FIG. 2 calling the computer-executed instructions stored in the memory 203, and the function/implementation process of the transceiver unit 801 in FIG. 2 in the communication interface 204 to achieve.
  • test device provided in this embodiment can execute the above-mentioned test method for an automatic driving vehicle, the technical effect that can be obtained can be referred to the above-mentioned method embodiment, which will not be repeated here.
  • FIG. 9 shows a schematic structural diagram of a testing device.
  • the test device may be a first motion platform or a chip or a system-on-chip in the first motion platform, or other combined devices, components, etc. that can realize the functions of the first motion platform.
  • Features of the first motion platform may be a first motion platform or a chip or a system-on-chip in the first motion platform, or other combined devices, components, etc. that can realize the functions of the first motion platform.
  • the test apparatus shown in FIG. 9 includes: a transceiver unit 901 and a processing unit 902 .
  • the transceiver unit 901 is used to receive parameter information of the test device from the motion control module, the parameter information of the test device is used to indicate the motion of the test device in the first test scene, and the test device is a test motion platform or a target motion platform.
  • the transceiver unit 901 may be used to perform step 304 or step 305 .
  • the processing unit 902 is configured to perform the first operation according to the parameter information of the testing device.
  • the transceiver unit 901 is further configured to send test data of the test device to the software control module, where the test data of the test device includes data obtained by the test device in the process of testing in the first test scenario.
  • the test motion platform is the tested motion platform
  • the target motion platform is the motion platform that assists the test in the test scene.
  • the parameter information of the test device includes at least one of the following parameters: information about the initial position of the test device in the first test scene, the trigger condition of the first test scene corresponding to the test device, the test device Corresponding to the end condition of the first test scene, the movement speed of the test device, the information of the movement track of the test device, and the parameter configuration information of the test device during the movement process.
  • test apparatus is presented in the form of dividing each functional module in an integrated manner.
  • Module herein may refer to a specific ASIC, circuit, processor and memory executing one or more software or firmware programs, integrated logic circuit, and/or other device that may provide the functions described above.
  • the test device can take the form shown in FIG. 2 .
  • the processor 201 in FIG. 2 may invoke the computer-executed instructions stored in the memory 203 to cause the testing apparatus to execute the methods in the foregoing method embodiments.
  • the functions/implementation process of the transceiver unit 901 and the processing unit 902 in FIG. 2 may be implemented by the processor 201 in FIG. 2 calling the computer-executed instructions stored in the memory 203 .
  • the function/implementation process of the processing unit 902 in FIG. 9 can be implemented by the processor 201 in FIG. 2 calling the computer-executed instructions stored in the memory 203, and the function/implementation process of the transceiver unit 901 in FIG. 2 in the communication interface 204 to achieve.
  • test device provided in this embodiment can execute the above-mentioned test method for an automatic driving vehicle, the technical effect that can be obtained can be referred to the above-mentioned method embodiment, which will not be repeated here.
  • FIG. 10 shows a schematic diagram of the composition of a testing system.
  • the testing system 100 may include: a software control module 1001 , a motion control module 1002 and a motion platform 1003 .
  • FIG. 10 is only an exemplary drawing, and the embodiments of the present application do not limit the number of software control modules, motion control modules, or motion platforms included in the test system 100 shown in FIG. 10 .
  • the software control module 1001 has the function of the test device shown in FIG. 7, and can be used to obtain the information of the first test scenario. Send the information of the first test scene to the motion control module 1002 .
  • the motion control module 1002 has the function of the above-mentioned test device shown in FIG. 8 , and can be used to receive the information of the first test scene from the software control module 1001, and determine the test motion platform and the test motion platform among the plurality of motion platforms according to the information of the first test scene.
  • the target motion platform sends the parameter information of the motion platform 1003 to the motion platform 1003 .
  • the motion platform 1003 has the function of the test device shown in FIG. 9 , and is used to receive parameter information of the motion platform 1003 from the motion control module 1002 and perform the first operation according to the parameter information of the motion platform 1003 .
  • the disclosed apparatus and method may be implemented in other manners.
  • the device embodiments described above are only illustrative.
  • the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods.
  • multiple units or components may be Incorporation may either be integrated into another device, or some features may be omitted, or not implemented.
  • the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or units, and may be in electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separated, and components shown as units may be one physical unit or multiple physical units, that is, they may be located in one place, or may be distributed to multiple different places . Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this embodiment.
  • each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit.
  • the above-mentioned integrated units may be implemented in the form of hardware, or may be implemented in the form of software functional units.
  • the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it may be stored in a readable storage medium.
  • the technical solutions of the embodiments of the present application can be embodied in the form of software products in essence, or the parts that contribute to the prior art, or all or part of the technical solutions, which are stored in a storage medium , including several instructions to make a device (may be a single chip microcomputer, a chip, etc.) or a processor (processor) to execute all or part of the steps of the methods described in the various embodiments of the present application.
  • the aforementioned storage medium includes: a U disk, a removable hard disk, a ROM, a RAM, a magnetic disk, or an optical disk and other mediums that can store program codes.

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Abstract

一种自动驾驶车辆的测试方法、装置及系统，涉及自动驾驶技术领域。系统包括软件控制模块（101）、运动控制模块（102）和多个运动平台（103，104，105）。软件控制模块（101）可以获取第一测试场景的信息（301），将第一测试场景的信息发送给运动控制模块（102），（302）。运动控制模块（102）接收到第一测试场景的信息，可以根据第一测试场景的信息在多个运动平台（103，104，105）中确定测试运动平台和目标运动平台（303），向每个确定的运动平台发送其参数信息（304，305），以便其根据参数信息执行对应的操作。如此，不需要测试人员的参与即可对自动驾驶车辆进行测试，可以提高测试效率，降低人力成本。

Description

自动驾驶车辆的测试方法、装置及系统
“本申请要求于2020年10月29日提交国家知识产权局、申请号为202011186659.2、发明名称为“自动驾驶车辆的测试方法、装置及系统”的专利申请的优先权，其全部内容通过引用结合在本申请中”。
技术领域
本申请涉及自动驾驶技术领域，尤其涉及自动驾驶车辆的测试方法、装置及系统。
背景技术
自动驾驶车辆又称为无人驾驶车辆或电脑驾驶车辆，是一种通过电脑系统实现无人驾驶的智能汽车。自动驾驶车辆在真实道路上行驶时，需要应对复杂多变的交通场景。为了保证自动驾驶车辆行驶的安全性，自动驾驶车辆在上路之前，需要进行大量的测试。
自动驾驶车辆有以下三种测试方式：仿真测试、封闭场地测试和开放道路大规模测试。其中，仿真测试是利用仿真软件进行测试，与车辆在真实道路上行驶的情况有很大不同，测试结果不准确。开放道路大规模测试是让自动驾驶车辆在真实道路上行驶，并进行测试，虽然测试结果较为准确，但测试成本过高。而封闭场地测试是在封闭测试场地内，通过模拟各种设定的场景，对自动驾驶车辆进行测试，测试结果准确并且测试成本较低。因此，封闭场地测试的应用较为广泛。
目前，封闭场地测试是需要测试人员参与的，例如，测试人员需要设置测试场景的测试参数，将测试参数导入车辆的设备中等，会导致测试效率低、人力成本高等问题。
发明内容
本申请提供自动驾驶车辆的测试方法、装置及系统，在不需要测试人员的参与的情况下即可对自动驾驶车辆进行测试，可以提高测试效率，降低人力成本。
为达到上述目的，本申请的实施例采用如下技术方案：
第一方面，本申请实施例提供一种自动驾驶车辆的测试系统，该系统包括：软件控制模块、运动控制模块和多个运动平台，软件控制模块与运动控制模块通信连接，运动控制模块和多个运动平台通信连接，多个运动平台之间通信连接；多个运动平台包括测试运动平台和目标运动平台，测试运动平台为被测试的运动平台，目标运动平台为在测试场景中辅助测试的运动平台；软件控制模块，用于获取第一测试场景的信息，并向运动控制模块发送第一测试场景的信息；其中，第一测试场景的信息用于指示第一测试场景中，测试运动平台的数量，目标运动平台的数量，和每个运动平台的参数信息，运动平台的参数信息用于指示该运动平台在该第一测试场景中的运动情况；运动控制模块，用于接收来自软件控制模块的第一测试场景的信息，根据第一测试场景的信息在多个运动平台中确定测试运动平台和目标运动平台，并向每个确定的测试运动平台发送测试运动平台的参数信息，向每个确定的目标运动平台发送该目标运动平台的参数信息；确定的测试运动平台，用于接收来自运动控制模块的测试运动平台的参数信息，根据测试运动平台的参数信息执行第一操作；确定的目标运动平台，用 于接收来自运动控制模块的目标运动平台的参数信息，根据目标运动平台的参数信息执行第二操作。
根据上述第一方面提供的系统，软件控制模块可以获取第一测试场景的信息，将第一测试场景的信息发送给运动控制模块。运动控制模块接收到第一测试场景的信息，可以根据第一测试场景的信息在多个运动平台中确定测试运动平台和目标运动平台，向每个确定的运动平台发送该运动平台的参数信息，以便该运动平台根据该运动平台的参数信息执行对应的操作。如此，不需要测试人员的参与即可对自动驾驶车辆进行测试，可以提高测试效率，降低人力成本。另外，测试过程为闭环控制(没有测试人员的参与)，可以消减测试过程中的累计误差，使得测试结果更为准确。可以理解的，常规技术中，在测试场景中的车辆数量较多的情况下，测试人员需要配置每辆车的参数，将每辆车的参数导入车辆中，工作量较大，耗时较长。若采用上述第一方面提供的系统，可以大幅提高效率。
一种可能的实现方式，该测试系统还包括定位模块，该定位模块与软件控制模块通信连接，该定位模块与该多个运动平台通信连接；该定位模块，用于获取该确定的测试运动平台的位置信息和该确定的目标运动平台的位置信息，并向软件控制模块发送确定的测试运动平台的位置信息和确定的目标运动平台的位置信息；软件控制模块，还用于接收来自定位模块的确定的测试运动平台的位置信息和确定的目标运动平台的位置信息，根据确定的测试运动平台的位置信息和确定的目标运动平台的位置信息在地图上显示确定的测试运动平台和确定的目标运动平台的位置。基于上述实现方式，软件控制模块可以在地图上显示确定的测试运动平台和确定的目标运动平台的位置。如此，测试人员可以实时观察到第一测试场景中运动平台的运动状态。
一种可能的实现方式，该测试系统还包括感知模块，感知模块与该软件控制模块通信连接；该感知模块用于获取该第一测试场景的图像信息，向该软件控制模块发送该第一测试场景的图像信息；该软件控制模块，还用于接收来自该感知模块的该第一测试场景的图像信息，并显示该第一测试场景的图像信息对应的图像。基于上述实现方式，软件控制模块可以显示第一测试场景的图像信息对应的图像，以便测试人员观察第一测试场景中运动平台的情况。
一种可能的实现方式，软件控制模块，还用于获取该确定的测试运动平台的测试数据，根据该测试数据确定该确定的测试运动平台的测试结果。基于上述实现方式，软件控制模块可以获取确定的测试运动平台的测试数据，根据测试数据确定该确定的测试运动平台的测试结果，以便测试人员确定该确定的测试运动平台是否合格。
一种可能的实现方式，该运动平台的参数信息包括以下参数中的至少一项：该运动平台在该第一测试场景的初始位置的信息，该运动平台对应的该第一测试场景的触发条件，该运动平台对应的该第一测试场景的结束条件，该运动平台的运动速度，该运动平台的运动轨迹的信息，和该运动平台在运动过程中的参数配置信息。基于上述实现方式，软件控制模块可以获取运动平台的多种参数，一方面，运动平台能够模拟更准确的测试场景。另一方面，运动平台能够模拟更多的测试场景。
一种可能的实现方式，第一测试场景包括以下场景中的至少一个：交通灯识别及响应场景、交通标志和标线识别及响应场景、前方车辆行驶状态识别及响应场景、障 碍物识别及响应场景、行人和非机动车识别及避让场景、跟车行驶场景、靠路边停车场景、超车场景、并道场景、交叉路口通信场景、环形路口通信场景和紧急制动场景。基于上述实现方式，测试系统能够测试上述各种测试场景，测试场景的覆盖面广。
一种可能的实现方式，第一测试场景的信息还包括第一测试场景中，测试运动平台的配置信息。基于上述实现方式，测试系统还可以根据运动平台的配置信息筛选运动平台，以实现测试目的。
第二方面，本申请实施例提供一种自动驾驶车辆的测试方法，该方法包括：软件控制模块获取第一测试场景的信息，第一测试场景的信息用于指示该第一测试场景中，测试运动平台的数量，目标运动平台的数量，和每个运动平台的参数信息，测试运动平台为被测试的运动平台，目标运动平台为在测试场景中辅助测试的运动平台，运动平台的参数信息用于指示该运动平台在该第一测试场景中的运动情况；软件控制模块向运动控制模块发送该第一测试场景的信息。
根据上述第二方面提供的方法，软件控制模块可以获取第一测试场景的信息，将第一测试场景的信息发送给运动控制模块，以便运动控制模块根据第一测试场景的信息，确定测试运动平台和目标运动平台，向每个确定的运动平台发送该运动平台的参数信息，使得该运动平台根据该运动平台的参数信息执行对应的操作。如此，不需要测试人员的参与即可对自动驾驶车辆进行测试，可以提高测试效率，降低人力成本。另外，测试过程为闭环控制(没有测试人员的参与)，可以消减测试过程中的累计误差，使得测试结果更为准确。可以理解的，常规技术中，在测试场景中的车辆数量较多的情况下，测试人员需要配置每辆车的参数，将每辆车的参数导入车辆中，工作量较大，耗时较长。若采用上述第二方面提供的方法，可以大幅提高效率。
一种可能的实现方式，该方法还包括：软件控制模块接收来自定位模块的确定的测试运动平台的位置信息和确定的目标运动平台的位置信息，确定的测试运动平台和确定的目标运动平台为该运动控制模块根据第一测试场景的信息确定的运动平台；软件控制模块根据确定的测试运动平台的位置信息和确定的目标运动平台的位置信息在地图上显示该确定的测试运动平台和该确定的目标运动平台位置。基于上述实现方式，软件控制模块可以在地图上显示确定的测试运动平台和确定的目标运动平台的位置。如此，测试人员可以实时观察到第一测试场景中运动平台的运动状态。
一种可能的实现方式，该方法还包括：软件控制模块接收来自感知模块的第一测试场景的图像信息；软件控制模块显示该第一测试场景的图像信息对应的图像。基于上述实现方式，软件控制模块可以显示第一测试场景的图像信息对应的图像，以便测试人员观察第一测试场景中运动平台的情况。
一种可能的实现方式，软件控制模块获取确定的测试运动平台的测试数据，确定的测试运动平台为运动控制模块根据第一测试场景的信息确定的运动平台；软件控制模块根据测试数据确定该确定的测试运动平台的测试结果。基于上述实现方式，软件控制模块可以获取确定的测试运动平台的测试数据，根据测试数据确定该确定的测试运动平台的测试结果，以便测试人员确定该确定的测试运动平台是否合格。
一种可能的实现方式，该运动平台的参数信息包括以下参数中的至少一项：该运动平台在该第一测试场景的初始位置的信息，该运动平台对应的该第一测试场景的触 发条件，该运动平台对应的该第一测试场景的结束条件，该运动平台的运动速度，和该运动平台的运动轨迹的信息，和该运动平台在运动过程中的参数配置信息。基于上述实现方式，软件控制模块可以获取运动平台的多种参数，一方面，运动平台能够模拟更准确的测试场景。另一方面，运动平台能够模拟更多的测试场景。
一种可能的实现方式，第一测试场景包括以下场景中的至少一个：交通灯识别及响应场景、交通标志和标线识别及响应场景、前方车辆行驶状态识别及响应场景、障碍物识别及响应场景、行人和非机动车识别及避让场景、跟车行驶场景、靠路边停车场景、超车场景、并道场景、交叉路口通信场景、环形路口通信场景和紧急制动场景。基于上述实现方式，能够测试上述各种测试场景，测试场景的覆盖面广。
一种可能的实现方式，该第一测试场景的信息还包括该第一测试场景中，测试运动平台的配置信息。基于上述实现方式，能够根据运动平台的配置信息筛选运动平台，以实现测试目的。
第三方面，本申请实施例提供一种自动驾驶车辆的测试方法，该方法包括：运动控制模块接收来自软件控制模块的第一测试场景的信息，第一测试场景的信息用于指示第一测试场景中，测试运动平台的数量，目标运动平台的数量，和每个运动平台的参数信息，测试运动平台为被测试的运动平台，目标运动平台为在测试场景中辅助测试的运动平台，运动平台的参数信息用于指示运动平台在该第一测试场景中的运动情况；运动控制模块根据第一测试场景的信息在多个运动平台中确定测试运动平台和目标运动平台；运动控制模块向每个确定的测试运动平台发送该测试运动平台的参数信息；运动控制模块向每个确定的目标运动平台发送该目标运动平台的参数信息。
根据上述第三方面提供的方法，运动控制模块可以接收来自软件控制模块的第一测试场景的信息，根据第一测试场景的信息在多个运动平台中确定测试运动平台和目标运动平台，向每个确定的运动平台发送该运动平台的参数信息，以便该运动平台根据该运动平台的参数信息执行对应的操作。如此，不需要测试人员的参与即可对自动驾驶车辆进行测试，可以提高测试效率，降低人力成本。另外，测试过程为闭环控制(没有测试人员的参与)，可以消减测试过程中的累计误差，使得测试结果更为准确。可以理解的，常规技术中，在测试场景中的车辆数量较多的情况下，测试人员需要配置每辆车的参数，将每辆车的参数导入车辆中，工作量较大，耗时较长。若采用上述第三方面提供的方法，可以大幅提高效率。
一种可能的实现方式，该运动平台的参数信息包括以下参数中的至少一项：该运动平台在该第一测试场景的初始位置的信息，该运动平台对应的该第一测试场景的触发条件，该运动平台对应的该第一测试场景的结束条件，该运动平台的运动速度，该运动平台的运动轨迹的信息，和该运动平台在运动过程中的参数配置信息。基于上述实现方式，运动平台的参数信息可以多种类型的参数，一方面，运动平台能够模拟更准确的测试场景。另一方面，运动平台能够模拟更多的测试场景。
一种可能的实现方式，第一测试场景包括以下场景中的至少一个：交通灯识别及响应场景、交通标志和标线识别及响应场景、前方车辆行驶状态识别及响应场景、障碍物识别及响应场景、行人和非机动车识别及避让场景、跟车行驶场景、靠路边停车场景、超车场景、并道场景、交叉路口通信场景、环形路口通信场景和紧急制动场景。 基于上述实现方式，能够测试上述各种测试场景，测试场景的覆盖面广。
一种可能的实现方式，第一测试场景的信息还包括第一测试场景中，测试运动平台的配置信息。基于上述实现方式，运动控制模块能够根据运动平台的配置信息筛选运动平台，以实现测试目的。
第四方面，本申请实施例提供一种自动驾驶车辆的测试方法，该方法包括：第一运动平台接收来自运动控制模块的该第一运动平台的参数信息，该第一运动平台的参数信息用于指示该第一运动平台在第一测试场景中的运动情况，该第一运动平台为测试运动平台或目标运动平台；第一运动平台根据第一运动平台的参数信息执行第一操作。
根据上述第四方面提供的方法，第一运动平台可以接收来自运动控制模块的第一运动平台的参数信息，根据第一运动平台的参数信息执行对应的操作。如此，不需要测试人员的参与即可对自动驾驶车辆进行测试，可以提高测试效率，降低人力成本。另外，测试过程为闭环控制(没有测试人员的参与)，可以消减测试过程中的累计误差，使得测试结果更为准确。可以理解的，常规技术中，在测试场景中的车辆数量较多的情况下，测试人员需要配置每辆车的参数，将每辆车的参数导入车辆中，工作量较大，耗时较长。若采用上述第四方面提供的方法，可以大幅提高效率。
一种可能的实现方式，该方法还包括：第一运动平台向软件控制模块发送第一运动平台的测试数据，第一运动平台的测试数据包括该第一运动平台在该第一测试场景中测试的过程中获取的数据。基于上述实现方式，软件控制模块可以获取第一运动平台的测试数据，根据该测试数据确定该第一运动平台的测试结果，以便测试人员确定该第一运动平台是否合格。
一种可能的实现方式，该测试运动平台为被测试的运动平台，该目标运动平台为在测试场景中辅助测试的运动平台。
一种可能的实现方式，第一运动平台的参数信息包括以下参数中的至少一项：第一运动平台在该第一测试场景的初始位置的信息，第一运动平台对应的该第一测试场景的触发条件，第一运动平台对应的该第一测试场景的结束条件，第一运动平台的运动速度，第一运动平台的运动轨迹的信息，和第一运动平台在运动过程中的参数配置信息。基于上述实现方式，第一运动平台的参数信息可以包括多种类型的参数，一方面，第一运动平台能够模拟更准确的测试场景。另一方面，第一运动平台能够模拟更多的测试场景。
第五方面，本申请实施例提供一种测试装置，可以实现上述第二方面、或第二方面任一种可能的实现方式中的方法。该装置包括用于执行上述方法的相应的单元或部件。该装置包括的单元可以通过软件和/或硬件方式实现。该装置例如可以为软件控制模块、或者为可支持软件控制模块实现上述方法的芯片、芯片系统、或处理器等。
第六方面，本申请实施例提供一种测试装置，可以实现上述第三方面、或第三方面任一种可能的实现方式中的方法。该装置包括用于执行上述方法的相应的单元或部件。该装置包括的单元可以通过软件和/或硬件方式实现。该装置例如可以为运动控制模块、或者为可支持运动控制模块实现上述方法的芯片、芯片系统、或处理器等。
第七方面，本申请实施例提供一种测试装置，可以实现上述第四方面、或第四方 面任一种可能的实现方式中的方法。该装置包括用于执行上述方法的相应的单元或部件。该装置包括的单元可以通过软件和/或硬件方式实现。该装置例如可以为第一运动平台、或者为可支持第一运动平台实现上述方法的芯片、芯片系统、或处理器等。
第八方面，本申请实施例提供一种测试装置，包括：处理器，所述处理器与存储器耦合，所述存储器用于存储程序或指令，当所述程序或指令被所述处理器执行时，使得该装置实现上述第二方面、或第一方面任二种可能的实现方式中所述的方法。
第九方面，本申请实施例提供一种测试装置，包括：处理器，所述处理器与存储器耦合，所述存储器用于存储程序或指令，当所述程序或指令被所述处理器执行时，使得该装置实现上述第三方面、或第三方面任一种可能的实现方式中所述的方法。
第十方面，本申请实施例提供一种测试装置，包括：处理器，所述处理器与存储器耦合，所述存储器用于存储程序或指令，当所述程序或指令被所述处理器执行时，使得该装置实现上述第四方面、或第四方面任一种可能的实现方式中所述的方法。
第十一方面，本申请实施例提供一种测试装置，该装置用于实现上述第二方面、或第二方面任一种可能的实现方式中所述的方法。
第十二方面，本申请实施例提供一种测试装置，该装置用于实现上述第三方面、或第三方面任一种可能的实现方式中所述的方法。
第十三方面，本申请实施例提供一种测试装置，该装置用于实现上述第四方面、或第四方面任一种可能的实现方式中所述的方法。
第十四方面，本申请实施例提供一种计算机可读介质，其上存储有计算机程序或指令，所述计算机程序或指令被执行时使得计算机执行上述第二方面、或第二方面任一种可能的实现方式中所述的方法。
第十五方面，本申请实施例提供一种计算机可读介质，其上存储有计算机程序或指令，所述计算机程序或指令被执行时使得计算机执行上述第三方面、或第三方面任一种可能的实现方式中所述的方法。
第十六方面，本申请实施例提供一种计算机可读介质，其上存储有计算机程序或指令，所述计算机程序或指令被执行时使得计算机执行上述第四方面、或第四方面任一种可能的实现方式中所述的方法。
第十七方面，本申请实施例提供一种计算机程序产品，其包括计算机程序代码，所述计算机程序代码在计算机上运行时，使得计算机执行上述第二方面、或第二方面任一种可能的实现方式中所述的方法。
第十八方面，本申请实施例提供一种计算机程序产品，其包括计算机程序代码，所述计算机程序代码在计算机上运行时，使得计算机执行上述第三方面、或第三方面任一种可能的实现方式中所述的方法。
第十九方面，本申请实施例提供一种计算机程序产品，其包括计算机程序代码，所述计算机程序代码在计算机上运行时，使得计算机执行上述第四方面、或第四方面任一种可能的实现方式中所述的方法。
第二十方面，本申请实施例提供一种芯片，包括：处理器，所述处理器与存储器耦合，所述存储器用于存储程序或指令，当所述程序或指令被所述处理器执行时，使得该芯片实现上述第二方面、或第二方面任一种可能的实现方式中所述的方法。
第二十一方面，本申请实施例提供一种芯片，包括：处理器，所述处理器与存储器耦合，所述存储器用于存储程序或指令，当所述程序或指令被所述处理器执行时，使得该芯片实现上述第三方面、或第三方面任一种可能的实现方式中所述的方法。
第二十二方面，本申请实施例提供一种芯片，包括：处理器，所述处理器与存储器耦合，所述存储器用于存储程序或指令，当所述程序或指令被所述处理器执行时，使得该芯片实现上述第四方面、或第四方面任一种可能的实现方式中所述的方法。
可以理解的，上述提供的任一种测试装置、芯片、计算机可读介质或计算机程序产品等均用于执行上文所提供的对应的方法，因此，其所能达到的有益效果可参考对应的方法中的有益效果，此处不再赘述。
附图说明
图1A为本申请实施例提供的测试系统架构示意图一；
图1B为本申请实施例提供的软件控制模块、运动控制模块和运动平台的结构示意图；
图1C为本申请实施例提供的测试系统架构示意图二；
图2为本申请实施例提供的测试装置的硬件结构示意图；
图3为本申请实施例提供的自动驾驶车辆的测试方法的流程示意图一；
图4为本申请实施例提供的自动驾驶车辆的测试方法的流程示意图二；
图5为本申请实施例提供的自动驾驶车辆的测试方法的流程示意图三；
图6为本申请实施例提供的自动驾驶车辆的测试方法的流程示意图四；
图7为本申请实施例提供的测试装置的结构示意图一；
图8为本申请实施例提供的测试装置的结构示意图二；
图9为本申请实施例提供的测试装置的结构示意图三；
图10为本申请实施例提供的测试系统的组成示意图。
具体实施方式
下面结合附图对本申请实施例的实施方式进行详细描述。
本申请实施例提供的自动驾驶车辆的测试方法、装置及系统，能够应用于任一需要对自动驾驶车辆进行封闭场地测试的场景中。通过本申请实施例提供的自动驾驶车辆的测试方法、装置及系统能够在不需要测试人员参与的情况下，对封闭场地测试的各种场景中的自动驾驶车辆进行测试，测试效率高，人力成本低。其中，本申请实施例中的测试人员是指参与自动驾驶车辆的测试的相关人员。
首先，对本申请实施例可应用的系统架构进行说明。
在一种可能的实现方式中，本申请实施例可应用的系统架构包括软件控制模块、运动控制模块和多个运动平台。软件控制模块与运动控制模块通信连接。运动控制模块和多个运动平台通信连接。多个运动平台之间通信连接。例如，上述模块与模块之间，或者模块与运动平台之间通过大功率的无线保真(wireless-fidelity，WiFi)等技术通信连接。其中，多个运动平台包括测试运动平台和目标运动平台。测试运动平台为被测试的运动平台。目标运动平台为在测试场景中辅助测试的运动平台。
可以理解的，上述软件控制模块、运动控制模块、运动平台、测试运动平台或目标运动平台还可以有其他的命名方式，不予限制。
其中，软件控制模块存储或预配置了各种测试场景的配置信息。本申请实施例中场景的配置信息也可以称为场景的配置文件、配置文档等，不予限制。该配置信息的格式可以是可扩展标记语言(extensible markup language，XML)或JSON(JavaScript Object Notation)等。
示例性的，以该配置信息的格式为XML为例，一个测试场景的配置信息可以如下所示：
<Name＝"测试运动平台1"/>
<DriSpeed Value＝"30.0000000000000000e+00"/>
<InitPosition X 1＝"1.8860804268818999e+01"
Y 1＝"2.1281909654362000e+01"Z 1＝"0.0000000000000000e+00"/>
<Name＝"目标运动平台1"/>
<DriSpeed Value＝"20.0000000000000000e+00"/>
<InitPosition X 2＝"2.6660804256618999e+01"
Y 2＝"3.1288909654362000e+01"Z 2＝"0.0000000000000000e+00"/>
上述测试场景的配置信息表示该测试场景包括测试运动平台1和目标运动平台1。测试运动平台1行驶中的速度为30km/h，测试运动平台1在该测试场景的初始位置为(X 1，Y 1，Z 1)。目标运动平台1行驶中的速度为20km/h，目标运动平台1在该测试场景的初始位置为(X 2，Y 2，Z 2)。
可以理解的，上述格式为XML的配置信息仅是示例性的，在具体应用中，配置信息还可以包括比上述示例中更多的信息，配置信息中每个参数的名称也可以与示例中不同。
一种可能的实现方式，该配置信息是根据道路采集的数据，和/或，仿真测试收集的数据，和/或，法律法规规定的场景等得到的。例如，测试人员可以根据道路采集的数据，和/或，仿真测试收集的数据，和/或，法律法规规定的场景等设计各种测试场景，根据各种设计的测试场景配置该配置信息。
可以理解的，常规技术中，采用的是L2级别的自动化技术。L2级别的自动化技术中，测试场景的数量、测试场景中物体(例如，被测试的自动驾驶车辆、除被测试的自动驾驶车辆之外的车辆或用于感知周围情况的设备等)的种类和数量较少，而且测试场景中物体与物体之间的关系较简单。而根据道路采集的数据，和/或，仿真测试收集的数据，和/或，法律法规规定的场景可以设计出比L2级别的自动化技术中更多的测试场景，使得对自动驾驶车辆的测试更为全面。
一个配置信息可以对应一个测试场景。例如，超车场景对应配置信息1，紧急制动场景对应配置信息2。该配置信息用于指示该配置信息对应的测试场景的信息。例如，该配置信息可以指示该配置信息对应的测试场景中测试运动平台的数量，目标运动平台的数量，测试运动平台的起始位置、起始速度，目标运动平台的起始位置、起始速度等等。
进一步的，若一个测试场景包括多种情况，一个配置信息可以对应一个测试场景下的一种情况，也可以对应一个测试场景下的多种情况。例如，若紧急制动场景包括情况1和情况2。情况1用于指示距前车10米开始制动，情况2用于指示距前车5米 开始制动。一种可能的实施方式，紧急制动场景下的情况1对应配置信息A，紧急制动场景下的情况2对应配置信息B。在这种实施方式下，配置信息A包括对情况1的描述，配置信息B包括对情况2的描述。另一种可能的实施方式，紧急制动场景下的情况1和情况2都对应配置信息C。在这种实施方式下，配置信息C要包括对上述情况1和情况2的描述。
可以理解的，在使用过程中，测试人员可以维护软件控制模块中的配置信息。示例性的，测试人员可以在软件控制模块中删除、更新或增加配置信息。例如，在不需要对某个测试场景进行测试的情况下，测试人员可以在软件控制模块中删除该测试场景的配置信息。又例如，在某个测试场景对应的参数需要更新的情况下，测试人员可以更新该测试场景的配置信息。在有新的测试场景的情况下，测试人员可以在软件控制模块中增加该新的测试场景的配置信息。
一种可能的实现方式，软件控制模块可以获取测试场景的信息，将测试场景的信息发送给运动控制模块。
其中，运动控制模块用于控制上述多个运动平台。示例性的，运动控制模块可以确定每个运动平台的状态，例如，运动控制模块可以确定一个运动平台是处于使用状态还是空闲状态。运动控制模块还可以根据接收到的测试场景的信息在空闲状态的运动平台中确定测试运动平台和目标运动平台。运动控制模块还可以与运动平台通信。例如，运动控制模块可以向确定的测试运动平台发送测试运动平台的参数信息，向确定的目标运动平台发送目标运动平台的参数信息。运动控制模块还可以在测试过程中协调运动平台之间的参数，协助运动平台完成测试。
其中，运动平台可以承载各种类型的模拟物。例如，多个运动平台可以包括以下一种或多种：假人、假车、障碍物、自行车、电动车、三轮车和自动驾驶车辆。假人可以用于模拟人的运动情况，例如，人的位置、人的运动速度、人的运动轨迹等。假车可以模拟车辆的运动情况，例如，车辆的位置、车辆的运动速度、车辆的运动轨迹等。也就是说，在对自动驾驶车辆进行测试时，可以采用真车进行测试，也可以采用假车进行测试。
一种可能的实现方式，运动平台可以与运动控制模块通信。例如，运动平台可以接收来自运动控制模块的运动平台的参数信息。运动平台还可以根据接收到的运动平台的参数信息，执行该参数信息对应的操作。
可选的，本申请实施例可应用的系统架构还包括定位模块和/或感知模块。其中，定位模块与多个运动平台通信连接，定位模块还与软件控制模块通信连接。例如，定位模块与运动平台之间、定位模块与软件控制模块通过大功率的WiFi等技术通信连接。定位模块用于获取运动平台的位置信息。定位模块还用于向软件控制模块发送运动平台的位置信息。定位模块可以是定位基站等用于获取各种装置的位置信息的装置。
感知模块与软件控制模块通信连接。例如，感知模块与软件控制模块通过大功率的WiFi等技术通信连接。感知模块用于获取测试场景的图像信息。例如，感知模块可以包括摄像机，摄像机可以拍摄测试场景的图像，获取测试场景的图像信息。感知模块还用于向软件控制模块发送获取到的测试场景的图像信息，以便软件控制模块根据接收到的图像信息显示该图像信息对应的图像。
可以理解的，感知模块和定位模块还可以有其他的命名方式，不予限制。
示例性的，该系统架构可以如图1A所示。图1A所示的系统架构包括软件控制模块101，运动控制模块102以及运动平台103-运动平台105。软件控制模块101与运动控制模块102通信连接，运动控制模块102、运动平台103、运动平台104和运动平台105之间通信连接。
其中，软件控制模块101可以用于获取第一测试场景的信息，向运动控制模块发送第一测试场景的信息。其中，第一测试场景的信息用于指示第一测试场景中，测试运动平台的数量，目标运动平台的数量，每个运动平台的参数信息。测试运动平台为被测试的运动平台，目标运动平台为在测试场景中辅助测试的运动平台。运动平台的参数信息用于指示运动平台在第一测试场景中的运动情况。
软件控制模块102可以用于接收来自软件控制模块101的第一测试场景的信息，根据第一测试场景的信息在多个运动平台中确定测试运动平台和目标运动平台，向每个确定的测试运动平台发送测试运动平台的参数信息，向每个确定的目标运动平台发送目标运动平台的参数信息。
图1A中的运动平台，例如，运动平台103、运动平台104或运动平台105，可以用于收来自运动控制模块102的该运动平台的参数信息，根据该运动平台的参数信息执行该运动平台的参数信息对应的操作。
可选的，图1A所示的系统架构还可以包括定位模块和/或感知模块(图1A中未示出)。定位模块和/或感知模块的介绍可以参考前文所述，不予赘述。可以理解的，定位模块也可以集成在软件控制模块101或运动控制模块102中。
作为一种可能的实现方式，软件控制模块101的结构、运动控制模块102的结构、图1A中的运动平台(以运动平台103为例)的结构可以如图1B所示。
图1B中，软件控制模块101包括场景库1011和场景语言转换单元1012。其中，场景库中存储或预配置了各种测试场景的配置信息。场景语言转换单元1012可以用于将场景库1011中的配置信息转换为该配置信息对应的测试场景的信息。
运动控制模块102包括参数处理单元1021和调度和控制单元1022。其中，参数处理单元1021可以用于对测试场景的信息进行处理。例如，参数处理单元1021可以根据测试场景的信息得到该测试场景中，测试运动平台的数量、目标运动平台的数量以及每个运动平台的参数信息。调度和控制单元1022可以用于在多个运动平台中确定测试运动平台和目标运动平台，向每个确定的测试运动平台发送测试运动平台的参数信息，向每个确定的目标运动平台发送目标运动平台的参数信息。
运动平台103包括定位单元1031和控制单元1032。定位单元1031可以用于获取运动平台103的位置信息。控制单元1032可以用于根据运动平台103的参数信息执行该参数信息对应的操作。
图1B中所示的软件控制模块101的结构、运动控制模块102的结构、运动平台103的结构仅用于举例，并非用于限制本申请的技术方案。本领域的技术人员应当明白，在具体实现过程中，软件控制模块、运动控制模块、或运动平台还可以包括其他模块，不予限制。
上述软件控制模块和运动控制模块是两个不同的模块。在具体应用中，软件控制 模块与运动控制模块还可以集成在一个模块上。集成后的模块既具备软件控制模块的功能，也具备运动控制模块的功能。
示例性的，本申请实施例提供的系统架构可以如图1C所示。图1C所示的系统架构包括控制模块106以及运动平台107-运动平台109。
其中，控制模块106可以具备上述软件控制模块101和运动控制模块102的功能。例如，控制模块106可以用于获取第一测试场景的信息，根据第一测试场景的信息在多个运动平台中确定测试运动平台和目标运动平台，向每个确定的测试运动平台发送测试运动平台的参数信息，向每个确定的目标运动平台发送目标运动平台的参数信息。
图1C中的运动平台，例如，运动平台107、运动平台108或运动平台109，可以用于收来自控制模块106的该运动平台的参数信息，根据该运动平台的参数信息执行该运动平台的参数信息对应的操作。
可选的，图1C所示的系统架构还可以包括定位模块和/或感知模块(图1C中未示出)。定位模块和/或感知模块的介绍可以参考前文所述，不予赘述。可以理解的，定位模块也可以集成在控制模块106。
上述图1A和图1C所示的系统架构仅用于举例，并非用于限制本申请的技术方案。本领域的技术人员应当明白，在具体实现过程中，该系统架构还可以包括其他设备或模块，同时也可根据具体需要来确定软件控制模块、运动控制模块、运动平台或控制模块的数量，不予限制。
可选的，本申请实施例图1A和图1C中的模块或运动平台，例如软件控制模块101、运动控制模块102，运动平台103、控制模块106或运动平台107等，可以是一个装置内的一个功能模块。可以理解的是，该功能模块既可以是硬件设备中的元件，例如，测试装置中的芯片或部件，也可以是在硬件上运行的软件功能模块，或者是平台(例如，云平台)上实例化的虚拟化功能。
例如，图1A和图1C中的模块或运动平台均可以通过图2中的测试装置20来实现。图2所示为可适用于本申请实施例的测试装置的硬件结构示意图。该测试装置20包括至少一个处理器201和至少一个通信接口204，用于实现本申请实施例提供的方法。该测试装置20还可以包括通信线路202和存储器203。
处理器201可以是一个通用中央处理器(central processing unit，CPU)，微处理器，特定应用集成电路(application-specific integrated circuit，ASIC)，或一个或多个用于控制本申请方案程序执行的集成电路。
通信线路202可包括一通路，在上述组件之间传送信息，例如总线。
通信接口204，用于与其他设备或模块通信。通信接口204可以是任何收发器一类的装置，如可以是以太网接口、无线接入网(radio access network，RAN)接口、无线局域网(wireless local area networks，WLAN)接口、收发器、管脚、总线、或收发电路等。
存储器203可以是只读存储器(read-only memory，ROM)或可存储静态信息和指令的其他类型的静态存储设备，随机存取存储器(random access memory，RAM)或者可存储信息和指令的其他类型的动态存储设备，也可以是电可擦可编程只读存储器(electrically erasable programmable read-only memory，EEPROM)、只读光盘(compact  disc read-only memory，CD-ROM)或其他光盘存储、光碟存储(包括压缩光碟、激光碟、光碟、数字通用光碟、蓝光光碟等)、磁盘存储介质或者其他磁存储设备、或者能够用于携带或存储具有指令或数据结构形式的期望的程序代码并能够由计算机存取的任何其他介质，但不限于此。存储器可以是独立存在，通过通信线路202与处理器201相耦合。存储器203也可以和处理器201集成在一起。本申请实施例提供的存储器通常可以具有非易失性。其中，存储器203用于存储执行本申请实施例提供的方案所涉及的计算机执行指令，并由处理器201来控制执行。处理器201用于执行存储器203中存储的计算机执行指令，从而实现本申请实施例提供的方法。
本申请实施例中的计算机执行指令也可以称之为应用程序代码，本申请实施例对此不作具体限定。
本申请实施例中的耦合是装置、单元或模块之间的间接耦合或通信连接，可以是电性，机械或其它的形式，用于装置、单元或模块之间的信息交互。
作为一种实施例，处理器201可以包括一个或多个CPU，例如图2中的CPU0和CPU1。
作为一种实施例，测试装置20可以包括多个处理器，例如图2中的处理器201和处理器207。这些处理器中的每一个可以是一个单核(single-CPU)处理器，也可以是一个多核(multi-CPU)处理器。这里的处理器可以指一个或多个设备、电路、和/或用于处理数据(例如计算机程序指令)的处理核。
作为一种实施例，测试装置20还可以包括输出设备205和/或输入设备206。输出设备205和处理器201耦合，可以以多种方式来显示信息。例如，输出设备205可以是液晶显示器(liquid crystal display，LCD)，发光二级管(light emitting diode，LED)显示设备，阴极射线管(cathode ray tube，CRT)显示设备，或投影仪(projector)等。输入设备206和处理器201耦合，可以以多种方式接收用户的输入。例如，输入设备206可以是鼠标、键盘、触摸屏设备或传感设备等。
上述的测试装置20可以是一个通用设备或者是一个专用设备。在具体实现中，测试装置20可以是台式机、便携式电脑、网络服务器、嵌入式设备或有图2中类似结构的设备。本申请实施例不限定测试装置20的类型。
下面以图1A所示的系统架构为例对本申请实施例提供的自动驾驶车辆的测试方法进行具体阐述。
需要说明的是，本申请下述实施例中模块与模块之间，模块与运动平台之间的信息名字或信息中各参数的名字等只是一个示例，具体实现中也可以是其他的名字，本申请实施例对此不作具体限定。
需要说明的是，在本申请实施例中，“/”可以表示前后关联的对象是一种“或”的关系，例如，A/B可以表示A或B；“和/或”可以用于描述关联对象存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况，其中A，B可以是单数或者复数。
为了便于描述本申请实施例的技术方案，在本申请实施例中，可以采用“第一”、“第二”等字样对功能相同或相似的技术特征进行区分。该“第一”、“第二”等字样并不对数量和执行次序进行限定，并且“第一”、“第二”等字样也并不限定一定不同。在本申请 实施例中，“示例性的”或者“例如”等词用于表示例子、例证或说明，被描述为“示例性的”或者“例如”的任何实施例或设计方案不应被解释为比其它实施例或设计方案更优选或更具优势。使用“示例性的”或者“例如”等词旨在以具体方式呈现相关概念，便于理解。
需要说明的是，在本申请实施例中，对于一种技术特征，通过“第一”、“第二”、“第三”、“A”、“B”、“C”和“D”等区分该种技术特征中的技术特征，该“第一”、“第二”、“第三”、“A”、“B”、“C”和“D”描述的技术特征间无先后顺序或者大小顺序。
可以理解的，本申请实施例中同一个步骤或者具有相同功能的步骤或者技术特征在不同实施例之间可以互相参考借鉴。
可以理解的，本申请实施例中，软件控制模块，和/或，运动控制模块，和/或，运动平台，和/或，感知模块，和/或，定位模块可以执行本申请实施例中的部分或全部步骤，这些步骤仅是示例，本申请实施例还可以执行其它步骤或者各种步骤的变形。此外，各个步骤可以按照本申请实施例呈现的不同的顺序来执行，并且有可能并非要执行本申请实施例中的全部步骤。
在本申请实施例中，自动驾驶车辆的测试方法的执行主体的具体结构，本申请实施例并未特别限定，只要能够实现本申请实施例的提供的方法即可。例如，本申请实施例提供的自动驾驶车辆的测试方法的执行主体可以是软件控制模块，或者为应用于软件控制模块中的部件，例如，芯片，本申请对此不进行限定。或者，本申请实施例提供的自动驾驶车辆的测试方法的执行主体可以是运动控制模块，或者为应用于运动控制模块中的部件，例如，芯片，本申请对此不进行限定。或者，本申请实施例提供的自动驾驶车辆的测试方法的执行主体可以是运动平台，或者为应用于运动平台中的部件，例如，芯片，本申请对此不进行限定。下述实施例以自动驾驶车辆的测试方法的执行主体分别为软件控制模块、运动控制模块和运动平台为例进行描述。
如图3所示，为本申请实施例提供的一种自动驾驶车辆的测试方法，该自动驾驶车辆的测试方法包括步骤301-步骤305。
步骤301：软件控制模块获取第一测试场景的信息。
其中，软件控制模块可以是图1A中的软件控制模块101。
一种可能的实现方式，第一测试场景的信息用于指示第一测试场景中，测试运动平台的数量，目标运动平台的数量，和每个运动平台的参数信息。
其中，第一测试场景包括以下场景中的至少一个：交通灯识别及响应场景、交通标志和标线识别及响应场景、前方车辆行驶状态识别及响应场景、障碍物识别及响应场景、行人和非机动车识别及避让场景、跟车行驶场景、靠路边停车场景、超车场景、并道场景、交叉路口通信场景、环形路口通信场景和紧急制动场景。上述各种场景的介绍可以参考常规技术中的解释说明，不予赘述。可以理解的，第一测试场景还可以包括其他可以测试的场景，不予限制。
可以理解的，本申请实施例中的运动平台可以是假人、假车、障碍物、自行车、电动车、三轮车和自动驾驶车辆等。假人、假车的介绍可以参考前文的描述，不予赘述。
测试运动平台为被测试的运动平台，例如，需要被测试的自动驾驶车辆。目标运 动平台为在测试场景中辅助测试的运动平台，例如，假人、障碍物、辅助测试的假车或辅助测试的自动驾驶车辆等。
运动平台的参数信息可以用于指示运动平台在第一测试场景中的运动情况。例如，运动平台的参数信息可以指示运动平台的起始位置、起始速度等。
一种可能的实现方式，运动平台的参数信息包括以下参数中的至少一项：运动平台在第一测试场景的初始位置的信息，运动平台对应的第一测试场景的触发条件，运动平台对应的第一测试场景的结束条件，运动平台的运动速度，运动平台的运动轨迹的信息，和所述运动平台在运动过程中的参数配置信息。
其中，运动平台在第一测试场景的初始位置的信息可以用于指示运动平台在第一测试场景的初始位置，例如运动平台在第一测试场景的初始位置的坐标。运动平台在第一测试场景的初始位置也可以称为运动平台在第一测试场景的起始位置。
运动平台对应的第一测试场景的触发条件可以用于指示运动平台对应的触发第一测试场景的条件。示例性的，以第一测试场景为交通灯识别及响应场景为例，运动平台对应的第一测试场景的触发条件可以指示该运动平台在距离十字路口10米的情况下，开始识别十字路口的交通灯。示例性的，以第一测试场景为超车场景为例，运动平台对应的第一测试场景的触发条件可以指示该运动平台在前面的运动平台的时速小于60km/h的情况下，开始超车。
运动平台对应的第一测试场景的结束条件可以用于指示运动平台对应的结束测试的条件。示例性的，以第一测试场景为跟车行驶场景为例，运动平台对应的第一测试场景的结束条件可以指示运动平台在跟着前面的运动平台行驶距离大于2km的情况下结束测试。
运动平台的运动速度可以包括运动平台的起始速度，和/或，运动平台行驶中的速度，和/或，结束测试时运动平台的速度等。其中，运动平台的起始速度为运动平台启动后，在预设时间段内要达到的速度。
运动平台的运动轨迹的信息可以用于指示运动平台在第一测试场景中的行驶路线。示例性的，以并道场景为例，运动平台的运动轨迹的信息可以指示运动平台变道的起始位置，以及运动平台从变道开始到变道结束所用的时间等。
运动平台在运动过程中的参数配置信息可以用于指示运动平台在运动过程中的参数配置。例如，运动平台打转向灯的时刻，运动平台加速的时刻，运动平台制动的时刻等。
可选的，第一测试场景的信息还包括第一测试场景中，测试运动平台的配置信息。测试运动平台的配置信息用于指示测试运动平台的配置，例如，测试运动平台的型号等。
一种可能的实现方式，软件控制模块响应于测试人员的操作，获取第一测试场景的信息；或者，软件控制模块根据预先存储的程序，获取第一测试场景的信息。例如，若预先存储的程序指示在晚上9点开始测试，软件控制模块在晚上9点获取第一测试场景的信息。
一种可能的实现方式，软件控制模块获取第一测试场景的信息，包括：软件控制模块确定第一测试场景的配置信息，根据第一测试场景的配置信息获取第一测试场景 的信息。进一步的，软件控制模块可以确定并识别第一测试场景的配置信息，从第一测试场景的配置信息中提取第一测试场景的信息。
示例性的，以第一场景的配置信息如前文所述的格式为XML的信息为例，第一测试场景的信息包括：测试运动平台的数量1，目标运动平台的数量1，测试运动平台1行驶中的速度，测试运动平台1在第一测试场景的初始位置，目标运动平台2行驶中的速度，以及目标运动平台2在第一测试场景的初始位置。
步骤302：软件控制模块向运动控制模块发送第一测试场景的信息。
其中，运动控制模块可以是图1A中的运动控制模块102。
对应的，运动控制模块接收来自软件控制模块的第一测试场景的信息。
步骤303：运动控制模块根据第一测试场景的信息在多个运动平台中确定测试运动平台和目标运动平台。
其中，该多个运动平台可以包括图1A中的运动平台103、运动平台104和运动平台105。
一种可能的实现方式，运动控制模块根据第一测试场景的信息指示的测试运动平台的数量和目标运动平台的数量，在多个运动平台中处于空闲状态的运动平台中确定测试运动平台和目标运动平台。
步骤304：运动控制模块向每个确定的测试运动平台发送测试运动平台的参数信息。
对应的，确定的测试运动平台接收来自运动控制模块的测试运动平台的参数信息。
一种可能的实现方式，确定的测试运动平台接收到来自运动控制模块的测试运动平台的参数信息，根据测试运动平台的参数信息执行第一操作。
示例性的，以第一测试场景为障碍物识别及影响场景，测试运动平台的参数信息包括测试运动平台在第一测试场景的初始位置的信息，测试运动平台对应的第一测试场景的触发条件，测试运动平台的起始速度为例进行介绍。若测试运动平台在第一测试场景的初始位置的信息指示测试运动平台在第一测试场景的初始位置为距离障碍物100米的位置，测试运动平台对应的第一测试场景的触发条件指示测试运动平台在距离障碍物20米的情况下，开始识别障碍物，测试运动平台的起始速度为测试运动平台启动后，在10s内达到40km/h，则该测试运动平台接收到上述测试运动平台的参数信息后，驶入第一测试场景对应的测试场地中，在预留障碍物100米的位置停下，测试开始后，该测试运动平台启动，向障碍物的方向驶去，在10s内达到40km/h，在距离障碍物20米的情况下，开始识别该障碍物。
可以理解的，确定的测试运动平台接收来到自运动控制模块的测试运动平台的参数信息，可以先驶入第一测试场景对应的测试场地中，测试运动平台在第一测试场景的初始位置处停下，向运动控制模块确定的其他运动平台发送准备完毕的指示信息，并在接收到其他运动平台准备完毕的指示信息后，执行第一操作。
步骤305：运动控制模块向每个确定的目标运动平台发送目标运动平台的参数信息。
对应的，确定的目标运动平台接收来自运动控制模块的目标运动平台的参数信息。
一种可能的实现方式，确定的目标运动平台接收到来自运动控制模块的目标运动 平台的参数信息，根据目标运动平台的参数信息执行第二操作。
示例性的，以第一测试场景为前方车辆行驶状态识别及响应场景，目标运动平台的参数信息包括目标运动平台在第一测试场景的初始位置的信息，和目标运动平台在运动过程中的参数配置信息为例进行介绍。若目标运动平台在第一测试场景的初始位置的信息包括(X 1，Y 1，Z 1)，目标运动平台在运动过程中的参数配置信息指示目标运动平台在启动后1分钟打左转向灯，并左转弯，在启动后3分钟将行驶速度提升至80km/h，则该目标运动平台接收到上述目标运动平台的参数信息后，驶入第一测试场景对应的测试场地中，在坐标为(X 1，Y 1，Z 1)的位置停下，测试开始后，该目标运动平台启动，在启动后1分钟打左转向灯，并左转弯，在启动后3分钟将行驶速度提升至80km/h。
可以理解的，确定的目标运动平台接收来到自运动控制模块的目标运动平台的参数信息，可以先驶入第一测试场景对应的测试场地中，目标运动平台在第一测试场景的初始位置处停下，向运动控制模块确定的其他运动平台发送准备完毕的指示信息，并在接收到其他运动平台准备完毕的指示信息后，执行第二操作。
可以理解的，本申请实施例不限制步骤304和步骤305的执行顺序。例如，图3所示的方法可以先执行步骤304再执行步骤305，也可以先执行步骤305再执行步骤304，还可以步骤304和步骤305同时执行。
基于图3所示的方法，软件控制模块可以获取第一测试场景的信息，将第一测试场景的信息发送给运动控制模块。运动控制模块接收到第一测试场景的信息，可以根据第一测试场景的信息在多个运动平台中确定测试运动平台和目标运动平台，向每个确定的运动平台发送该运动平台的参数信息，以便该运动平台根据该运动平台的参数信息执行对应的操作，而且在测试过程中，运动控制模块和运动平台之间，运动平台和运动平台之间可以相互通信，随时协调参数，共同完成测试。如此，不需要测试人员的参与即可对自动驾驶车辆进行测试，可以提高测试效率，降低人力成本。另外，测试过程为闭环控制(没有测试人员的参与)，可以消减测试过程中的累计误差，使得测试结果更为准确。可以理解的，常规技术中，在测试场景中的车辆数量较多的情况下，测试人员需要配置每辆车的参数，将每辆车的参数导入车辆中，工作量较大，耗时较长。若采用本申请实施例提供的方法，可以大幅提高效率。
应理解，在本申请实施例提供的测试系统中，可以同时对多个测试场景进行测试。也就是说，软件控制模块可以同时获取多个测试场景的信息，将多个测试场景的信息发送给运动控制模块。运动控制模块接收到该多个测试场景的信息后，可以为每个测试场景确定运动平台，并向每个运动平台发送该运动平台的参数信息，以便每个运动平台执行对应的操作。如此，可以实现多个测试场景并行测试，可以提高测试效率。
可选的，在图3所示方法的一种可能的实现方式中，定位模块可以获取确定测试运动平台的位置信息和确定的目标运动平台的位置信息，并将确定测试运动平台的位置信息和确定的目标运动平台的位置信息发送给软件控制模块，以便软件控制模块在地图上显示确定的测试运动平台和确定的目标运动平台的位置。示例性的，如图4所示，图3所示的方法还包括步骤401-步骤403。
步骤401：定位模块获取确定的测试运动平台的位置信息和确定的目标运动平台 的位置信息。
其中，定位模块的介绍可以参考前文所述，不予赘述。确定的测试运动平台的位置信息可以用于指示确定的测试运动平台的位置，例如，确定的测试运动平台的坐标。确定的目标运动平台的位置信息可以用于指示确定的目标运动平台的位置，例如，确定的目标运动平台的坐标。
可以理解的，定位模块可以实时获取确定的测试运动平台的位置信息和确定的目标运动平台的位置信息。
可以理解的，确定的测试运动平台也可以获取自己的位置信息，通过定位模块向软件控制模块发送自己的位置信息；或者，确定的测试运动平台也可以获取自己的位置信息，直接向软件控制模块发送自己的位置信息。类似的，确定的目标运动平台也可以获取自己的位置信息，通过定位模块向软件控制模块发送自己的位置信息；或者，确定的目标运动平台也可以获取自己的位置信息，直接向软件控制模块发送自己的位置信息。
步骤402：定位模块向软件控制模块发送确定的测试运动平台的位置信息和确定的目标运动平台的位置信息。
对应的，软件控制模块接收来自定位模块的确定的测试运动平台的位置信息和确定的目标运动平台的位置信息。
步骤403：软件控制模块根据确定的测试运动平台的位置信息和确定的目标运动平台的位置信息在地图上显示确定的测试运动平台和确定的目标运动平台的位置。
示例性的，以确定的测试运动平台的位置信息指示确定的测试运动平台的坐标，确定的目标运动平台的位置信息指示确定的目标运动平台的坐标为例，软件控制模块根据确定的测试运动平台的位置信息在确定的测试运动平台的坐标上显示确定的测试运动平台。软件控制模块根据确定的目标运动平台的位置信息在确定的目标运动平台的坐标上显示确定的目标运动平台。
基于图4所示的方法，软件控制模块可以在地图上显示确定的测试运动平台和确定的目标运动平台的位置。如此，测试人员可以实时观察到第一测试场景中运动平台的运动状态。
可选的，在图3所示方法的一种可能的实现方式中，感知模块可以获取第一测试场景的图像信息，并向软件控制模块发送该图像信息，以便软件控制模块显示该图像信息对应的图像。示例性的，如图5所示，图3所示的方法还包括步骤501-步骤503。
步骤501：感知模块获取第一测试场景的图像信息。
其中，感知模块的介绍可以参考前文所述，不予赘述。第一测试场景的图像信息包括图像或视频流。
示例性的，感知模块中的摄像机可以拍摄第一测试场景中运动平台的图像或视频。
步骤502：感知模块向软件控制模块发送第一测试场景的图像信息。
对应的，软件控制模块接收来自感知模块的第一测试场景的图像信息。
步骤503：软件控制模块显示第一测试场景的图像信息对应的图像。
示例性的，软件控制模块可以显示第一测试场景中运动平台的图像或视频。
基于图5所示的方法，软件控制模块可以显示第一测试场景的图像信息对应的图 像，以便测试人员观察第一测试场景中运动平台的情况。
可以理解的，上述步骤501-步骤503也可以应用在图4所示的方法中，不予限制。
可选的，在图3所示方法的一种可能的实现方式中，软件控制模块可以获取确定的测试运动平台的测试数据，根据测试数据确定该确定的测试运动平台的测试结果。示例性的，如图6所示，图3所示的方法还包括步骤601-步骤602。
步骤601：软件控制模块获取确定的测试运动平台的测试数据。
其中，确定的测试运动平台的测试数据包括确定的测试运动平台在测试过程中的各种数据，例如，确定的测试运动平台的加速度，确定的测试运动平台从第一速度加速到第二速度的时间，或确定的测试运动平台中的各个设备(发动机、制动系统等)在测试过程中的数据等。
可以理解的，确定的测试运动平台的测试数据可以是确定的测试运动平台发送给软件控制模块的，也可以是定位模块、运动控制模块等发送给软件控制模块的，不予限制。
可以理解的，软件控制模块也可以获取确定的目标运动平台的测试数据，以辅助确定该确定的测试运动平台的测试结果。确定的目标运动平台的测试数据的介绍可以参考确定的测试运动平台的测试数据的介绍。
步骤602：软件控制模块根据确定的测试运动平台的测试数据确定该确定的测试运动平台的测试结果。
一种可能的实现方式，软件控制模块中可以预存储有多种测试指标，软件控制模块根据测试指标和确定的测试运动平台的测试数据确定该确定的测试运动平台的测试结果。
示例性的，以第一测试场景为跟车行驶场景，软件控制模块中存储的指标指示与前面的运动平台的距离大于5米为例，则若在测试过程中确定的测试运动平台与前面的运动平台的距离一直大于5米，则确定的测试运动平台通过测试，若在测试过程中确定的测试运动平台与前面的运动平台的距离有一段时间小于5米，则确定的测试运动平台没有通过测试。
另一种可能的实现方式，软件控制模块将确定的目标运动平台的测试数据显示在人机交互界面上，通过测试人员确定测试结果。
可以理解的，若软件控制模块获取到确定的目标运动平台的测试数据，则软件控制模块根据确定的目标运动平台的测试数据和确定的测试运动平台的测试数据确定该确定的测试运动平台的测试结果。
可以理解的，上述步骤601-步骤602也可以应用在图4所示的方法中，和/或，图5所示的方法中，不予限制。
基于图6所示方法，软件控制模块可以获取确定的测试运动平台的测试数据，根据测试数据确定该确定的测试运动平台的测试结果，以便测试人员确定该确定的测试运动平台是否合格。
上述主要从各个模块之间交互的角度对本申请实施例提供的方案进行了介绍。可以理解的是，上述软件控制模块、运动控制模块或运动平台等为了实现上述功能，其包含了执行各个功能相应的硬件结构和/或软件模块。本领域技术人员应该很容易意识 到，结合本文中所公开的实施例描述的各示例的单元及算法操作，本申请能够以硬件或硬件和计算机软件的结合形式来实现。某个功能究竟以硬件还是计算机软件驱动硬件的方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。
本申请实施例可以根据上述方法示例对软件控制模块、运动控制模块或运动平台进行功能模块的划分，例如，可以对应各个功能划分各个功能模块，也可以将两个或两个以上的功能集成在一个处理模块中。上述集成的模块既可以采用硬件的形式实现，也可以采用软件功能模块的形式实现。需要说明的是，本申请实施例中对模块的划分是示意性的，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式。
比如，以采用集成的方式划分各个功能模块的情况下，图7示出了一种测试装置的结构示意图。该测试装置可以为软件控制模块或者软件控制模块中的芯片或者片上系统，或其他可实现上述终端功能的组合器件、部件等，该测试装置可以用于执行上述实施例中涉及的软件控制模块的功能。
作为一种可能的实现方式，图7所示的测试装置包括：处理单元701和收发单元702。
处理单元701，用于获取第一测试场景的信息。第一测试场景的信息用于指示第一测试场景中，测试运动平台的数量，目标运动平台的数量，和每个运动平台的参数信息。测试运动平台为被测试的运动平台，目标运动平台为在测试场景中辅助测试的运动平台，运动平台的参数信息用于指示运动平台在第一测试场景中的运动情况。例如，结合图3，处理单元701可以用于执行步骤301。
收发单元702，用于向运动控制模块发送第一测试场景的信息。例如，结合图3，收发单元702可以用于执行步骤302。
一种可能的实现方式，收发单元702，还用于接收来自定位模块的确定的测试运动平台的位置信息和确定的目标运动平台的位置信息，确定的测试运动平台和确定的目标运动平台为运动控制模块根据第一测试场景的信息确定的运动平台；处理单元701，还用于根据确定的测试运动平台的位置信息和确定的目标运动平台的位置信息在地图上显示确定的测试运动平台和确定的目标运动平台位置。
一种可能的实现方式，收发单元702，还用于接收来自感知模块的第一测试场景的图像信息；处理单元701，还用于显示第一测试场景的图像信息对应的图像。
一种可能的实现方式，处理单元701，还用于获取确定的测试运动平台的测试数据，确定的测试运动平台为运动控制模块根据第一测试场景的信息确定的运动平台；处理单元701，还用于根据测试数据确定确定的测试运动平台的测试结果。
一种可能的实现方式，运动平台的参数信息包括以下参数中的至少一项：运动平台在第一测试场景的初始位置的信息，运动平台对应的第一测试场景的触发条件，运动平台对应的第一测试场景的结束条件，运动平台的运动速度，运动平台的运动轨迹的信息，和运动平台在运动过程中的参数配置信息。
一种可能的实现方式，第一测试场景包括以下场景中的至少一个：交通灯识别及响应场景、交通标志和标线识别及响应场景、前方车辆行驶状态识别及响应场景、障 碍物识别及响应场景、行人和非机动车识别及避让场景、跟车行驶场景、靠路边停车场景、超车场景、并道场景、交叉路口通信场景、环形路口通信场景和紧急制动场景。
一种可能的实现方式，第一测试场景的信息还包括第一测试场景中，测试运动平台的配置信息。
其中，上述方法实施例涉及的各操作的所有相关内容均可以援引到对应功能模块的功能描述，在此不再赘述。
在本实施例中，该测试装置以采用集成的方式划分各个功能模块的形式来呈现。这里的“模块”可以指特定ASIC，电路，执行一个或多个软件或固件程序的处理器和存储器，集成逻辑电路，和/或其他可以提供上述功能的器件。在一个简单的实施例中，本领域的技术人员可以想到该测试装置可以采用图2所示的形式。
比如，图2中的处理器201可以通过调用存储器203中存储的计算机执行指令，使得测试装置执行上述方法实施例中的方法。
示例性的，图7中的处理单元701和收发单元702的功能/实现过程可以通过图2中的处理器201调用存储器203中存储的计算机执行指令来实现。或者，图7中的处理单元701的功能/实现过程可以通过图2中的处理器201调用存储器203中存储的计算机执行指令来实现，图7中的收发单元702的功能/实现过程可以通过图2中的通信接口204来实现。
由于本实施例提供的测试装置可执行上述的自动驾驶车辆的测试方法，因此其所能获得的技术效果可参考上述方法实施例，在此不再赘述。
比如，以采用集成的方式划分各个功能模块的情况下，图8示出了一种测试装置的结构示意图。该测试装置可以为运动控制模块或者运动控制模块中的芯片或者片上系统，或其他可实现上述运动控制模块功能的组合器件、部件等，该测试装置可以用于执行上述实施例中涉及的运动控制模块的功能。
作为一种可能的实现方式，图8所示的测试装置包括：收发单元801和处理单元802。
收发单元801，用于接收来自软件控制模块的第一测试场景的信息，第一测试场景的信息用于指示第一测试场景中，测试运动平台的数量，目标运动平台的数量，和每个运动平台的参数信息，测试运动平台为被测试的运动平台，目标运动平台为在测试场景中辅助测试的运动平台，运动平台的参数信息用于指示运动平台在第一测试场景中的运动情况。例如，结合图3，收发单元801可以用于执行步骤302。
处理单元802，用于根据第一测试场景的信息在多个运动平台中确定测试运动平台和目标运动平台。例如，结合图3，处理单元802可以用于执行步骤303。
收发单元801，还用于向每个确定的测试运动平台发送测试运动平台的参数信息。例如，结合图3，收发单元801还可以用于执行步骤304。
收发单元801，还用于向每个确定的目标运动平台发送目标运动平台的参数信息。例如，结合图3，收发单元801还可以用于执行步骤305。
一种可能的实现方式，运动平台的参数信息包括以下参数中的至少一项：运动平台在该第一测试场景的初始位置的信息，运动平台对应的该第一测试场景的触发条件，运动平台对应的该第一测试场景的结束条件，运动平台的运动速度，运动平台的运动 轨迹的信息，和运动平台在运动过程中的参数配置信息。
一种可能的实现方式，第一测试场景包括以下场景中的至少一个：交通灯识别及响应场景、交通标志和标线识别及响应场景、前方车辆行驶状态识别及响应场景、障碍物识别及响应场景、行人和非机动车识别及避让场景、跟车行驶场景、靠路边停车场景、超车场景、并道场景、交叉路口通信场景、环形路口通信场景和紧急制动场景。
一种可能的实现方式，第一测试场景的信息还包括第一测试场景中，测试运动平台的配置信息。
其中，上述方法实施例涉及的各操作的所有相关内容均可以援引到对应功能模块的功能描述，在此不再赘述。
在本实施例中，该测试装置以采用集成的方式划分各个功能模块的形式来呈现。这里的“模块”可以指特定ASIC，电路，执行一个或多个软件或固件程序的处理器和存储器，集成逻辑电路，和/或其他可以提供上述功能的器件。在一个简单的实施例中，本领域的技术人员可以想到该测试装置可以采用图2所示的形式。
比如，图2中的处理器201可以通过调用存储器203中存储的计算机执行指令，使得测试装置执行上述方法实施例中的方法。
示例性的，图2中的收发单元801和处理单元802的功能/实现过程可以通过图2中的处理器201调用存储器203中存储的计算机执行指令来实现。或者，图8中的处理单元802的功能/实现过程可以通过图2中的处理器201调用存储器203中存储的计算机执行指令来实现，图8中的收发单元801的功能/实现过程可以通过图2中的通信接口204来实现。
由于本实施例提供的测试装置可执行上述的自动驾驶车辆的测试方法，因此其所能获得的技术效果可参考上述方法实施例，在此不再赘述。
比如，以采用集成的方式划分各个功能模块的情况下，图9示出了一种测试装置的结构示意图。该测试装置可以为第一运动平台或者第一运动平台中的芯片或者片上系统，或其他可实现上述第一运动平台功能的组合器件、部件等，该测试装置可以用于执行上述实施例中涉及的第一运动平台的功能。
作为一种可能的实现方式，图9所示的测试装置包括：收发单元901和处理单元902。
收发单元901，用于接收来自运动控制模块的测试装置的参数信息，测试装置的参数信息用于指示测试装置在第一测试场景中的运动情况，测试装置为测试运动平台或目标运动平台。例如，结合图3，收发单元901可以用于执行步骤304或步骤305。
处理单元902，用于根据测试装置的参数信息执行第一操作。
一种可能的实现方式，收发单元901，还用于向软件控制模块发送测试装置的测试数据，测试装置的测试数据包括测试装置在第一测试场景中测试的过程中获取的数据。
一种可能的实现方式，测试运动平台为被测试的运动平台，目标运动平台为在测试场景中辅助测试的运动平台。
一种可能的实现方式，测试装置的参数信息包括以下参数中的至少一项：测试装置在该第一测试场景的初始位置的信息，测试装置对应的该第一测试场景的触发条件， 测试装置对应的该第一测试场景的结束条件，测试装置的运动速度，测试装置的运动轨迹的信息，和测试装置在运动过程中的参数配置信息。
其中，上述方法实施例涉及的各操作的所有相关内容均可以援引到对应功能模块的功能描述，在此不再赘述。
在本实施例中，该测试装置以采用集成的方式划分各个功能模块的形式来呈现。这里的“模块”可以指特定ASIC，电路，执行一个或多个软件或固件程序的处理器和存储器，集成逻辑电路，和/或其他可以提供上述功能的器件。在一个简单的实施例中，本领域的技术人员可以想到该测试装置可以采用图2所示的形式。
比如，图2中的处理器201可以通过调用存储器203中存储的计算机执行指令，使得测试装置执行上述方法实施例中的方法。
示例性的，图2中的收发单元901和处理单元902的功能/实现过程可以通过图2中的处理器201调用存储器203中存储的计算机执行指令来实现。或者，图9中的处理单元902的功能/实现过程可以通过图2中的处理器201调用存储器203中存储的计算机执行指令来实现，图9中的收发单元901的功能/实现过程可以通过图2中的通信接口204来实现。
由于本实施例提供的测试装置可执行上述的自动驾驶车辆的测试方法，因此其所能获得的技术效果可参考上述方法实施例，在此不再赘述。
图10示出了的一种测试系统的组成示意图，如图10所示，该测试系统100中可以包括：软件控制模块1001、运动控制模块1002和运动平台1003。需要说明的是，图10仅为示例性附图，本申请实施例不限定图10所示测试系统100包括的软件控制模块、运动控制模块或运动平台的个数。
其中，软件控制模块1001具有上述图7所示测试装置的功能，可以用于获取第一测试场景的信息。向运动控制模块1002发送第一测试场景的信息。
运动控制模块1002具有上述图8所示测试装置的功能，可以用于接收来自软件控制模块1001的第一测试场景的信息，根据第一测试场景的信息在多个运动平台中确定测试运动平台和目标运动平台，向运动平台1003发送运动平台1003的参数信息。
运动平台1003具有上述图9所示测试装置的功能，用于接收来自运动控制模块1002的运动平台1003的参数信息，根据运动平台1003的参数信息执行第一操作。
需要说明的是，上述方法实施例涉及的各步骤的所有相关内容均可以援引到该测试系统100对应网元的功能描述，在此不再赘述。
通过以上的实施方式的描述，所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，仅以上述各功能模块的划分进行举例说明，具体应用中，可以根据需要而将上述功能分配由不同的功能模块完成，即将装置的内部结构划分成不同的功能模块，以完成以上描述的全部或者部分功能。
在本申请所提供的几个实施例中，应该理解到，所揭露的装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述模块或单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个装置，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些 接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是一个物理单元或多个物理单元，即可以位于一个地方，或者也可以分布到多个不同地方。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本申请各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。
所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个可读取存储介质中。基于这样的理解，本申请实施例的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该软件产品存储在一个存储介质中，包括若干指令用以使得一个设备(可以是单片机，芯片等)或处理器(processor)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、ROM、RAM、磁碟或者光盘等各种可以存储程序代码的介质。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何在本申请揭露的技术范围内的变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以所述权利要求的保护范围为准。

Claims (27)

  1. 一种自动驾驶车辆的测试系统，其特征在于，所述系统包括：软件控制模块、运动控制模块和多个运动平台，所述软件控制模块与所述运动控制模块通信连接，所述运动控制模块和所述多个运动平台通信连接，所述多个运动平台之间通信连接；所述多个运动平台包括测试运动平台和目标运动平台，所述测试运动平台为被测试的运动平台，所述目标运动平台为在测试场景中辅助测试的运动平台；
    所述软件控制模块，用于获取第一测试场景的信息，并向所述运动控制模块发送所述第一测试场景的信息；其中，所述第一测试场景的信息用于指示所述第一测试场景中，测试运动平台的数量，目标运动平台的数量，和每个运动平台的参数信息，所述运动平台的参数信息用于指示所述运动平台在所述第一测试场景中的运动情况；
    所述运动控制模块，用于接收来自所述软件控制模块的所述第一测试场景的信息，根据所述第一测试场景的信息在所述多个运动平台中确定测试运动平台和目标运动平台，并向每个确定的测试运动平台发送所述测试运动平台的参数信息，向每个确定的目标运动平台发送所述目标运动平台的参数信息；
    所述确定的测试运动平台，用于接收来自所述运动控制模块的所述测试运动平台的参数信息，根据所述测试运动平台的参数信息执行第一操作；
    所述确定的目标运动平台，用于接收来自所述运动控制模块的所述目标运动平台的参数信息，根据所述目标运动平台的参数信息执行第二操作。
  2. 根据权利要求1所述的系统，其特征在于，所述系统还包括定位模块，所述定位模块与所述软件控制模块通信连接，所述定位模块与所述多个运动平台通信连接；
    所述定位模块，用于获取所述确定的测试运动平台的位置信息和所述确定的目标运动平台的位置信息，并向所述软件控制模块发送所述确定的测试运动平台的位置信息和所述确定的目标运动平台的位置信息；
    所述软件控制模块，还用于接收来自所述定位模块的所述确定的测试运动平台的位置信息和所述确定的目标运动平台的位置信息，根据所述确定的测试运动平台的位置信息和所述确定的目标运动平台的位置信息在地图上显示所述确定的测试运动平台和所述确定的目标运动平台的位置。
  3. 根据权利要求1或2所述的系统，其特征在于，所述系统还包括感知模块，所述感知模块与所述软件控制模块通信连接；
    所述感知模块用于获取所述第一测试场景的图像信息，向所述软件控制模块发送所述第一测试场景的图像信息；
    所述软件控制模块，还用于接收来自所述感知模块的所述第一测试场景的图像信息，并显示所述第一测试场景的图像信息对应的图像。
  4. 根据权利要求1-3中任一项所述的系统，其特征在于，
    所述软件控制模块，还用于获取所述确定的测试运动平台的测试数据，根据所述测试数据确定所述确定的测试运动平台的测试结果。
  5. 根据权利要求1-4中任一项所述的系统，其特征在于，所述运动平台的参数信息包括以下参数中的至少一项：所述运动平台在所述第一测试场景的初始位置的信息，所述运动平台对应的所述第一测试场景的触发条件，所述运动平台对应的所述第一测 试场景的结束条件，所述运动平台的运动速度，所述运动平台的运动轨迹的信息，和所述运动平台在运动过程中的参数配置信息。
  6. 根据权利要求1-5中任一项所述的系统，其特征在于，所述第一测试场景包括以下场景中的至少一个：交通灯识别及响应场景、交通标志和标线识别及响应场景、前方车辆行驶状态识别及响应场景、障碍物识别及响应场景、行人和非机动车识别及避让场景、跟车行驶场景、靠路边停车场景、超车场景、并道场景、交叉路口通信场景、环形路口通信场景和紧急制动场景。
  7. 根据权利要求1-6中任一项所述的系统，其特征在于，所述第一测试场景的信息还包括所述第一测试场景中，测试运动平台的配置信息。
  8. 一种自动驾驶车辆的测试方法，其特征在于，所述方法包括：
    软件控制模块获取第一测试场景的信息，所述第一测试场景的信息用于指示所述第一测试场景中，测试运动平台的数量，目标运动平台的数量，和每个运动平台的参数信息，所述测试运动平台为被测试的运动平台，所述目标运动平台为在测试场景中辅助测试的运动平台，所述运动平台的参数信息用于指示所述运动平台在所述第一测试场景中的运动情况；
    所述软件控制模块向运动控制模块发送所述第一测试场景的信息。
  9. 根据权利要求8所述的方法，其特征在于，所述方法还包括：
    所述软件控制模块接收来自定位模块的确定的测试运动平台的位置信息和确定的目标运动平台的位置信息，所述确定的测试运动平台和所述确定的目标运动平台为所述运动控制模块根据所述第一测试场景的信息确定的运动平台；
    所述软件控制模块根据所述确定的测试运动平台的位置信息和所述确定的目标运动平台的位置信息在地图上显示所述确定的测试运动平台和所述确定的目标运动平台位置。
  10. 根据权利要求8或9所述的方法，其特征在于，所述方法还包括：
    所述软件控制模块接收来自感知模块的第一测试场景的图像信息；
    所述软件控制模块显示所述第一测试场景的图像信息对应的图像。
  11. 根据权利要求8-10中任一项所述的方法，其特征在于，
    所述软件控制模块获取确定的测试运动平台的测试数据，所述确定的测试运动平台为所述运动控制模块根据所述第一测试场景的信息确定的运动平台；
    所述软件控制模块根据所述测试数据确定所述确定的测试运动平台的测试结果。
  12. 根据权利要求8-11中任一项所述的方法，其特征在于，所述运动平台的参数信息包括以下参数中的至少一项：所述运动平台在所述第一测试场景的初始位置的信息，所述运动平台对应的所述第一测试场景的触发条件，所述运动平台对应的所述第一测试场景的结束条件，所述运动平台的运动速度，和所述运动平台的运动轨迹的信息，和所述运动平台在运动过程中的参数配置信息。
  13. 根据权利要求8-12中任一项所述的方法，其特征在于，所述第一测试场景包括以下场景中的至少一个：交通灯识别及响应场景、交通标志和标线识别及响应场景、前方车辆行驶状态识别及响应场景、障碍物识别及响应场景、行人和非机动车识别及避让场景、跟车行驶场景、靠路边停车场景、超车场景、并道场景、交叉路口通信场 景、环形路口通信场景和紧急制动场景。
  14. 根据权利要求8-13中任一项所述的方法，其特征在于，所述第一测试场景的信息还包括所述第一测试场景中，测试运动平台的配置信息。
  15. 一种自动驾驶车辆的测试方法，其特征在于，所述方法包括：
    运动控制模块接收来自软件控制模块的第一测试场景的信息，所述第一测试场景的信息用于指示所述第一测试场景中，测试运动平台的数量，目标运动平台的数量，和每个运动平台的参数信息，所述测试运动平台为被测试的运动平台，所述目标运动平台为在测试场景中辅助测试的运动平台，所述运动平台的参数信息用于指示所述运动平台在所述第一测试场景中的运动情况；
    所述运动控制模块根据所述第一测试场景的信息在多个运动平台中确定测试运动平台和目标运动平台；
    所述运动控制模块向每个确定的测试运动平台发送所述测试运动平台的参数信息；
    所述运动控制模块向每个确定的目标运动平台发送所述目标运动平台的参数信息。
  16. 一种自动驾驶车辆的测试方法，其特征在于，所述方法包括：
    第一运动平台接收来自运动控制模块的所述第一运动平台的参数信息，所述第一运动平台的参数信息用于指示所述第一运动平台在第一测试场景中的运动情况，所述第一运动平台为测试运动平台或目标运动平台；
    所述第一运动平台根据所述第一运动平台的参数信息执行第一操作。
  17. 根据权利要求16所述的方法，其特征在于，所述方法还包括：
    所述第一运动平台向软件控制模块发送所述第一运动平台的测试数据，所述第一运动平台的测试数据包括所述第一运动平台在所述第一测试场景中测试的过程中获取的数据。
  18. 根据权利要求16或17所述的方法，其特征在于，所述测试运动平台为被测试的运动平台，所述目标运动平台为在测试场景中辅助测试的运动平台。
  19. 一种测试装置，其特征在于，所述测试装置包括：处理单元和收发单元；
    所述处理单元，用于获取第一测试场景的信息，所述第一测试场景的信息用于指示所述第一测试场景中，测试运动平台的数量，目标运动平台的数量，和每个运动平台的参数信息，所述测试运动平台为被测试的运动平台，所述目标运动平台为在测试场景中辅助测试的运动平台，所述运动平台的参数信息用于指示所述运动平台在所述第一测试场景中的运动情况；
    所述收发单元，用于向运动控制模块发送所述第一测试场景的信息。
  20. 根据权利要求19所述的测试装置，其特征在于，
    所述收发单元，还用于接收来自定位模块的确定的测试运动平台的位置信息和确定的目标运动平台的位置信息，所述确定的测试运动平台和所述确定的目标运动平台为所述运动控制模块根据所述第一测试场景的信息确定的运动平台；
    所述处理单元，还用于根据所述确定的测试运动平台的位置信息和所述确定的目标运动平台的位置信息在地图上显示所述确定的测试运动平台和所述确定的目标运动平台位置。
  21. 根据权利要求19或20所述的测试装置，其特征在于，
    所述收发单元，还用于接收来自感知模块的第一测试场景的图像信息；
    所述处理单元，还用于显示所述第一测试场景的图像信息对应的图像。
  22. 根据权利要求19-20中任一项所述的测试装置，其特征在于，
    所述处理单元，还用于获取确定的测试运动平台的测试数据，所述确定的测试运动平台为所述运动控制模块根据所述第一测试场景的信息确定的运动平台；
    所述处理单元，还用于根据所述测试数据确定所述确定的测试运动平台的测试结果。
  23. 一种测试装置，其特征在于，所述测试装置包括：收发单元和处理单元；
    所述收发单元，用于接收来自软件控制模块的第一测试场景的信息，所述第一测试场景的信息用于指示所述第一测试场景中，测试运动平台的数量，目标运动平台的数量，和每个运动平台的参数信息，所述测试运动平台为被测试的运动平台，所述目标运动平台为在测试场景中辅助测试的运动平台，所述运动平台的参数信息用于指示所述运动平台在所述第一测试场景中的运动情况；
    所述处理单元，用于根据所述第一测试场景的信息在多个运动平台中确定测试运动平台和目标运动平台；
    所述收发单元，还用于向每个确定的测试运动平台发送所述测试运动平台的参数信息；
    所述收发单元，还用于向每个确定的目标运动平台发送所述目标运动平台的参数信息。
  24. 一种测试装置，其特征在于，所述测试装置包括：收发单元和处理单元；
    所述收发单元，用于接收来自运动控制模块的所述测试装置的参数信息，所述测试装置的参数信息用于指示所述测试装置在第一测试场景中的运动情况，所述测试装置为测试运动平台或目标运动平台；
    所述处理单元，用于根据所述测试装置的参数信息执行第一操作。
  25. 根据权利要求24所述的测试装置，其特征在于，
    所述收发单元，还用于向软件控制模块发送所述测试装置的测试数据，所述测试装置的测试数据包括所述测试装置在所述第一测试场景中测试的过程中获取的数据。
  26. 一种测试装置，其特征在于，包括：处理器，所述处理器与存储器耦合，所述存储器用于存储程序或指令，当所述程序或指令被所述处理器执行时，使得所述装置执行如权利要求8至14中任一项所述的方法，或者执行如权利要求15所述的方法，或者执行如权利要求16至18中任一项所述的方法。
  27. 一种计算机可读介质，其上存储有计算机程序或指令，其特征在于，所述计算机程序或指令被执行时使得计算机执行如权利要求8至14中任一项所述的方法，或者执行如权利要求15所述的方法，或者执行如权利要求16至18中任一项所述的方法。
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