WO2024093298A1

WO2024093298A1 - Test method and apparatus

Info

Publication number: WO2024093298A1
Application number: PCT/CN2023/103496
Authority: WO
Inventors: 孙冬; 张诗杰; 刘自源
Original assignee: 华为云计算技术有限公司
Priority date: 2022-10-31
Filing date: 2023-06-28
Publication date: 2024-05-10
Also published as: CN117992322A

Abstract

Provided in the present application are a test method and apparatus. The method is used for testing an algorithm to be tested of a first service, wherein said algorithm comprises a plurality of algorithm modules, and the plurality of algorithm modules in said algorithm correspond to a plurality of algorithm modules in a reference algorithm of the first service on a one-to-one basis. The method comprises: before testing, inputting first sample data into a reference algorithm of a first service, and determining reference input data and reference output data, which correspond to each algorithm module; and during testing, loading an algorithm to be tested of a first service; according to a test policy, determining a test module from a plurality of algorithm modules of said algorithm, and determining a reference input and a reference output, which correspond to the test module; inputting the reference input data into the test module, so as to obtain test output data output by the test module; and when the test output data is consistent with the reference output data, determining that the testing of the test module is passed. In this way, when a certain module has a test problem, the module having the problem can be accurately positioned, thus realizing the accurate positioning of the test problem.

Description

A testing method and device

This application claims priority to the Chinese patent application filed with the State Intellectual Property Office on October 31, 2022, with application number 202211344929.7 and invention name “A testing method and device”, the entire contents of which are incorporated by reference in this application.

Technical Field

The present application relates to the technical field of software testing, and more specifically, to a testing method and device.

Background technique

With the rapid development of science and technology, more attention is paid to user experience in the fields of augmented reality (AR), virtual reality (VR), robots, drones, and unmanned driving. In order to enhance user experience, various cutting-edge technologies have emerged, such as autonomous positioning and navigation technology (or autonomous positioning and navigation algorithm). Autonomous positioning and navigation algorithms can include synchronous positioning, real-time positioning and map construction or concurrent localization and mapping (SLAM) and navigation. Therefore, autonomous positioning and navigation algorithms can be divided into three modules: mapping module, positioning module, and navigation module.

In order to ensure the accuracy of the autonomous positioning and navigation algorithm, it is necessary to test the autonomous positioning and navigation algorithm. The testing method of the autonomous positioning and navigation algorithm is usually based on traditional software testing. Traditional software testing calculates the expected output based on the input use case, and compares the output result with the actual result to determine whether the test passes. In order to cope with the ever-changing real-world scenarios, massive amounts of data and continuous adjustment of parameters are required to iterate the autonomous positioning and navigation algorithm to cover as many scenarios as possible. Such a testing process is very complex and difficult to predict.

Therefore, for consistent input data, testers cannot calculate the accurate expected output of a module in the autonomous positioning and navigation algorithm based on the code. When problems occur during the testing of the autonomous positioning and navigation algorithm, testers need to locate them based on experience, which makes it difficult to locate the specific problem, resulting in inaccurate problem location.

Summary of the invention

The present application provides a testing method and device, which can directly and accurately locate the location of the problem when a test problem occurs, thereby achieving accurate positioning of the test problem.

In order to achieve the above-mentioned purpose, this application adopts the following technical solution.

In the first aspect, the present application provides a test method, the execution subject of the method can be a test device, or a component located in an electronic device (for example, a chip, a chip system or a processor, etc.), and the following description is taken as an example that the execution subject is a test device. The method may include: loading the algorithm to be tested of the first business, the algorithm to be tested of the first business includes multiple algorithm modules, and there is a correlation between the input and output of the multiple algorithm modules; according to the test strategy, determining a test module in the multiple algorithm modules of the algorithm to be tested, the test module includes some algorithm modules in the multiple algorithm modules of the algorithm to be tested; determining the benchmark input and benchmark output corresponding to the test module; inputting the benchmark input data into the test module to obtain the test output data output by the test module; when the test output data is consistent with the benchmark output data, determining that the test module test passes.

There is a correlation between the input and output of multiple algorithm modules, which can be understood as: the output data of one or part of the algorithm modules among the multiple algorithm modules is the input data of another part of the algorithm modules.

The test strategy is used to characterize the operation process of multiple algorithm modules of the algorithm to be tested of the first service.

Wherein, the test module includes some algorithm modules among the multiple algorithm modules of the algorithm to be tested, which can be understood as: the test module can be a part of the algorithm modules among the multiple algorithm modules. Of course, the test module can also include all the algorithm modules among the multiple algorithm modules of the algorithm to be tested. When each algorithm module among the multiple algorithm modules of the algorithm to be tested passes the test, the test module can be all the algorithm modules among the multiple algorithm modules.

The embodiment of the present application determines the test module by adopting a test strategy in multiple algorithm modules of the algorithm to be tested of the first business, and then determines the benchmark input and benchmark output corresponding to the test module, and compares the test output data of the test module output obtained by inputting the benchmark input data into the test module with the benchmark output data. When the test output data is consistent with the benchmark output data, it is determined that the test module test has passed. In this way, when a test problem occurs, the location of the problem can be directly and accurately located, and the test problem can be accurately located.

In some implementations, before determining a test module from a plurality of algorithm modules according to the test strategy, the method further includes: determining a test strategy according to operation processes of the plurality of algorithm modules.

In an embodiment of the present application, a test strategy is obtained through the operation process of multiple algorithm modules, providing an optional and efficient automated testing system for the testing of algorithms (such as autonomous positioning and navigation algorithms). Compared with testing based on the experience of testers, testing methods based on test strategies are more efficient and more accurate.

In a specific implementable manner, the test strategy may include at least one of the following: testing each algorithm module among multiple algorithm modules in parallel; after a target algorithm module among multiple algorithm modules passes the test, testing other algorithm modules among multiple algorithm modules in parallel; and performing combination testing on at least two algorithm modules among multiple algorithm modules.

Correspondingly, the test module may include at least one test module, and the at least one test module includes: any one algorithm module among the multiple algorithm modules, and at least two algorithm modules among the multiple algorithm modules.

In a specific implementation, the benchmark input and benchmark output corresponding to the test module are determined by: inputting sample data into the benchmark algorithm of the first business, and determining the benchmark input data and benchmark output data corresponding to the test module, wherein multiple algorithm modules in the benchmark algorithm correspond one-to-one to multiple algorithm modules in the algorithm to be tested.

In a specific implementation, the first service is autonomous positioning and navigation, and the multiple algorithm modules in the algorithm to be tested include a mapping module, a positioning module, and a navigation module. The output data of the mapping module is used as input data of the positioning module and the navigation module.

In the embodiment of the present application, for the autonomous positioning and navigation service, the multiple algorithm modules in the algorithm to be tested include a mapping module, a positioning module, and a navigation module. By testing one or more of the mapping module, the positioning module, and the navigation module, when a test problem occurs, the location of the problem can be directly and accurately located, so that the test problem can be accurately located.

In a specific implementable manner, the test strategy may include testing the positioning unit and the navigation unit in parallel after the mapping unit test passes; after the mapping unit test passes, determining the test nodes as the positioning unit and the navigation unit according to the test strategy.

In a specific implementable manner, the testing strategy includes testing a combination module of the mapping module and the navigation module after the mapping module and the navigation module are tested; after the mapping module and the navigation module are tested, determining the test module as the combination module of the mapping module and the navigation module according to the testing strategy.

In this way, the embodiment of the present application performs a combined test on at least two modules among the multiple modules, so that when a test problem occurs, the problem can be directly and accurately located, thereby achieving accurate location of the test problem.

In a specific implementable manner, the testing strategy includes testing a combination module of the mapping module, the positioning module and the navigation module after the mapping module, the positioning module and the navigation module have been tested; after the mapping module, the positioning module and the navigation module have been tested, determining the test module as a combination module of the mapping module, the positioning module and the navigation module according to the testing strategy.

In this way, the embodiment of the present application performs end-to-end (overall) testing on multiple modules after each module in the multiple modules has been tested. This ensures the accuracy of the algorithm test. When a test problem occurs, the tester can directly and accurately locate the problem, thereby accurately locating the test problem.

In a second aspect, the present application provides a testing device, which may include: a loading unit, used to load an algorithm to be tested for a first business, the algorithm to be tested for the first business includes multiple algorithm modules, and there is a correlation between the inputs and outputs of the multiple algorithm modules; a first determination unit, used to determine a test module from the multiple algorithm modules of the algorithm to be tested according to a test strategy, the test module including some of the multiple algorithm modules of the algorithm to be tested; a second determination unit, used to determine a benchmark input and a benchmark output corresponding to the test module; a first output unit, used to input the benchmark input data into the test module to obtain test output data output by the test module; and a third determination unit, used to determine that the test module test has passed when the test output data is consistent with the benchmark output data.

In some implementations, the device may further include: a fourth determination unit, configured to determine a test strategy according to the operation processes of the plurality of algorithm modules.

In a specific implementation, the second determination unit is used to: input sample data into a benchmark algorithm of the first business, determine benchmark input data and benchmark output data corresponding to the test module, wherein multiple algorithm modules in the benchmark algorithm correspond one-to-one to multiple algorithm modules in the algorithm to be tested.

In a specific implementable manner, the test strategy includes testing the positioning unit and the navigation unit in parallel after the mapping unit test passes; the first determination unit is used to determine the test nodes as the positioning unit and the navigation unit according to the test strategy after the mapping unit test passes.

In a specific implementable manner, the test strategy includes testing a combination module of the mapping module and the navigation module after the mapping module and the navigation module are tested; and the first determination unit is used to determine that the test module is a combination module of the mapping module and the navigation module according to the test strategy after the mapping module and the navigation module are tested.

In a third aspect, the present application provides a testing device, which may include: a memory for storing a computer program; and a processor for executing the computer program stored in the memory, so that the device performs the method described in the first aspect.

In a fourth aspect, the present application provides an electronic device, which may include: one or more processors; and a memory, in which codes are stored; when the codes are executed by the processor, the electronic device executes the method described in the first aspect.

In a fifth aspect, the present application provides a computer-readable storage medium, which may include computer instructions. When the computer instructions are executed on an electronic device, the electronic device executes the method described in the first aspect.

In a sixth aspect, the present application provides a computer program product, wherein the computer program product comprises computer instructions, and when the computer instructions are executed on a computer, the computer executes the method as described in the first aspect.

Among them, the specific implementation methods and corresponding technical effects of each of the second to sixth aspects mentioned above can refer to the specific implementation methods and technical effects of the first aspect mentioned above.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a software architecture diagram of an autonomous positioning and navigation algorithm in an embodiment of the present application;

FIG2 is a schematic diagram of the structure of a test device used in the test method provided in an embodiment of the present application;

FIG3 is a logic diagram of a test strategy provided in an embodiment of the present application;

FIG4 is a schematic flow chart of a testing method provided in an embodiment of the present application;

FIG5 is a schematic block diagram of a testing device provided in an embodiment of the present application.

Detailed ways

With the rapid development of technology, augmented reality (AR), virtual reality (VR), Robots, drones, unmanned driving and other fields pay more attention to user experience. In order to improve user experience, various cutting-edge technologies have emerged, such as autonomous positioning and navigation technology (or autonomous positioning and navigation algorithms). Autonomous positioning and navigation algorithms can include synchronous positioning, real-time positioning and map construction or concurrent mapping and positioning (SLAM) and navigation.

Among them, SLAM allows the robot to start from an unknown location with an unknown change of machine, locate its own position and posture through repeated observation of map features (such as corners, pillars, etc.) during the movement, and then build a map incrementally according to its own position, so as to achieve the purpose of simultaneous positioning and map construction. From the definition of this technology, it can be seen that this technology consists of two parts: map construction and positioning. Map construction is to project the sequential laser radar point cloud or visual features collected by the sensor from the local coordinate system of each frame to the global coordinate system, and then complete the map stitching and positioning, that is, to obtain the position and posture information of the mobile carrier in the constructed map. Navigation is a technology for determining position and direction. Navigation can guide mobile devices such as aircraft and cars to move from one point to another along a certain route. Therefore, Figure 1 shows a software architecture diagram of an autonomous positioning and navigation algorithm in an embodiment of the present application. As shown in Figure 1, the autonomous positioning and navigation algorithm can be subdivided into three modules: mapping module, positioning module and navigation module. Among them, the output data of the mapping module is used as the input data of the positioning module and the navigation module respectively, and the output data of the positioning module is used as the input data of the navigation module.

In order to ensure the accuracy of the autonomous positioning and navigation algorithm, it is necessary to test the autonomous positioning and navigation algorithm. The testing method of the autonomous positioning and navigation algorithm is usually based on traditional software testing. Traditional software testing calculates the expected output based on the input use case, and compares the output result with the actual result to determine whether the test passes. In order to cope with the ever-changing real-life scenarios, massive amounts of data and continuous adjustment of parameters are required to iterate the autonomous positioning and navigation algorithm to cover as many scenarios as possible. Such a testing process is very complex and difficult to predict.

In order to accurately locate the test problem, the embodiment of the present application provides a test method, which is applied to a test device. The method is used to test the algorithm to be tested of the first business, which includes multiple algorithm modules, and the multiple algorithm modules to be tested correspond to the multiple algorithm modules in the benchmark algorithm of the first business. Before the test, the first sample data is input into the benchmark algorithm of the first business to determine the benchmark input data and benchmark output data corresponding to each algorithm module. During the test, the algorithm to be tested of the first business is loaded; according to the test strategy, the test module is determined in the multiple algorithm modules of the algorithm to be tested, and the benchmark input and benchmark output corresponding to the test module are determined; the benchmark input data is input into the test module to obtain the test output data output by the test module; when the test output data is consistent with the benchmark output data, it is determined that the test module has passed the test; in this way, when a test problem occurs in a module, the module with the problem can be accurately located to achieve accurate positioning of the test problem.

In view of this, FIG. 2 is a schematic diagram of the structure of a test device for applying a test method provided in an embodiment of the present application. As shown in FIG. 2, the test device 200 may include multiple storage units 202, and the multiple storage units 202 may include a first storage unit 2021, a second storage unit 2022, a third storage unit 2023, and a fourth storage unit 2024, ... ... Specifically, before the test, the first sample data is input into the benchmark algorithm of the first business, and the benchmark input data and benchmark output data corresponding to each algorithm module are determined. In this way, these storage units 202 respectively store the first sample data, and the benchmark input data and benchmark output data corresponding to each algorithm module. Assuming that the multiple algorithm modules in the benchmark algorithm of the first business include the first algorithm module, the second algorithm module, and the third algorithm module, and the output data of the first algorithm module is the input data of the second algorithm module and the third algorithm module, then the first storage unit 2021 is used to store the first sample data, the second storage unit 2022 is used to store the benchmark output data of the first algorithm module, the third storage unit 2023 is used to store the benchmark output data of the second algorithm module, and the fourth storage unit 2024 is used to store the benchmark output data of the third algorithm module.

As shown in FIG. 2 , the test device 200 further includes a test strategy control unit 201, which is used to control the operation flow of each algorithm module in the algorithm to be tested of the first service. Specifically, the test strategy control unit 201 can determine the test strategy according to the operation flow of each algorithm module in the algorithm to be tested of the first service. Assume that the multiple algorithm modules in the algorithm to be tested of the first service include a first algorithm module, a second algorithm module and a third algorithm module, and the output data of the first algorithm module is the input data of the second algorithm module and the third algorithm module. Then, a test strategy can be to test the second algorithm module and the third algorithm module after the first algorithm module is tested. Of course, the test strategy can also include a test strategy for testing the first algorithm module, the second algorithm module and the third algorithm module in parallel; the test strategy can also include a test strategy for combining at least two algorithm modules in a plurality of algorithm modules, for example, a test strategy for combining the first algorithm module with the second algorithm module, combining the first algorithm module with the third algorithm module, combining the first algorithm module with the third algorithm module, combining the first algorithm module, the second algorithm module and the third algorithm module. The embodiments of the present application are not specifically limited.

As shown in FIG2 , the test device 200 may further include a test unit 203, which is used to test each algorithm module in the algorithm to be tested of the first service. The test unit 203 loads the algorithm to be tested of the first service. For example, the first service is autonomous positioning navigation. Accordingly, the algorithm to be tested is an autonomous positioning and navigation algorithm. The test unit 203 determines the algorithm module to be tested through the test strategy control unit, and obtains the input data of the algorithm module from the storage unit 202, and performs calculations to obtain output data. The test unit 203 compares the output data with the benchmark output data stored in the algorithm module in the storage unit 202. If the two data are consistent, the test unit 203 determines that the algorithm module has passed the test and outputs the test result of the test passing. If the two data are inconsistent, the test unit 203 determines that the algorithm module has failed the test and outputs the test result of the test failing.

According to different testing strategies, the above-mentioned testing device can perform module testing and/or integration testing. Among them, module testing can refer to checking and verifying with the smallest module. As for the meaning of the module in module testing, generally speaking, its specific meaning should be determined according to the actual situation. For example, in C language, a module can refer to a function, in Java, a module can refer to a class, and in graphical software, a module can refer to a window or a menu. Integration testing can refer to combining several modules to test a specific function. Different from the isolated modules in module testing, integration testing pays more attention to the interaction between different modules.

The following is a detailed introduction to the test device executing unit test, the test device executing unit test and integration test, and end-to-end test. The details are as follows:

1. The test fixture performs unit testing.

FIG3 is a logic diagram of a test strategy provided in an embodiment of the present application. As shown in FIG3, it is assumed that the first business is autonomous positioning and navigation, the algorithm to be tested includes an autonomous positioning and navigation algorithm, the first algorithm module includes a mapping module, multiple algorithm modules in the second algorithm module include a positioning module, and the third algorithm module includes a navigation module. Among them, the output data of the mapping module is used as the input data of the positioning module and the navigation module. The test strategy can be: after the mapping module test passes, the positioning module and the navigation module are tested separately. Then, after the test unit loads the autonomous positioning and navigation algorithm, the test unit determines that the test module to be tested is a mapping module through the test strategy control unit. At this time, the test unit obtains the first sample data from the first storage module and inputs the data into the mapping module. The test unit obtains the output data of the mapping module (such as the above-mentioned test output data), and compares the data with the benchmark output data of the mapping module stored in the second storage module (such as the point cloud map data). If the data is consistent with the point cloud map data, the test unit determines that the mapping module test passes. If the data is inconsistent with the point cloud map data, the test unit determines that the mapping module test fails. After the mapping module test passes, the test unit determines that the next test module to be tested is the positioning module through the test strategy control unit. The test unit inputs the point cloud map data in the second storage module into the positioning module. The test unit obtains the output data of the positioning module and compares the data with the benchmark output data (such as posture data) of the positioning module stored in the third storage module. If the data is consistent with the posture data, the test unit determines that the positioning module test passes; if the data is inconsistent with the posture data, the test unit determines that the positioning module test fails. Similarly, after the mapping module test passes, the test unit determines that the next test module to be tested is the navigation module through the test strategy control unit. The test unit inputs the grid map data in the second storage module into the navigation module. The test unit obtains the output data of the navigation module and compares the data with the benchmark output data (such as navigation data) of the navigation module stored in the fourth storage module. If the data is consistent with the navigation data, the test unit determines that the navigation module test passes; if the data is inconsistent with the navigation data, the test unit determines that the navigation module test fails.

Thus, in the embodiment of the present application, for the autonomous positioning and navigation service, the multiple algorithm modules in the algorithm to be tested include a mapping module, a positioning module, and a navigation module. By testing one or more of the mapping module, the positioning module, and the navigation module, when a test problem occurs, the location of the problem can be directly and accurately located, thereby achieving accurate positioning of the test problem.

2. The test device performs a combination test.

Assume that, as shown in FIG3, the test strategy can be: after the mapping module, the positioning module and the navigation module are all tested, the combination of the mapping module and the positioning module, the combination of the positioning module and the navigation module, and the combination of the mapping module and the navigation module are tested respectively. Then, after the test unit loads the autonomous positioning and navigation algorithm, the test unit uses the above-mentioned module test method to test the mapping module, the positioning module and the navigation module. After passing the test, the test unit determines that the test module to be tested is a combination of the mapping module and the positioning module through the test strategy control unit. At this time, the test unit obtains the first sample data from the first storage unit and inputs the data into the combination of the mapping module and the positioning module. The test unit obtains the output data of the positioning module and compares the data with the reference output data (such as posture data) of the positioning module stored in the third storage module. If the data is consistent with the posture data, the test unit determines that the combination test of the mapping module and the positioning module passes. If the data is inconsistent with the posture data, the test unit determines that the combination test of the mapping module and the positioning module fails. Similarly, the test unit determines that the test module to be tested is a combination of the positioning module and the navigation module through the test strategy control unit. The test unit inputs the point cloud map data in the second storage unit into the positioning module. The test module obtains the output data of the navigation module, and compares the data with the reference output data (such as navigation data) of the navigation module stored in the fourth storage module. If the data is consistent with the navigation data, the test unit determines that the combined test of the positioning module and the navigation module has passed; if the data is inconsistent with the navigation data, the test unit determines that the combined test of the positioning module and the navigation module has failed. Similarly, the test unit determines that the test modules to be tested are the mapping module and the navigation module through the test strategy control unit. The test unit inputs the map data in the first storage module into the combination of the mapping module and the navigation module. The test module obtains the output data of the navigation module and compares the data with the reference output data (such as navigation data) of the navigation module stored in the fourth storage module. If the data is consistent with the navigation data, the test unit determines that the navigation module test has passed; if the data is inconsistent with the navigation data, the test unit determines that the navigation module test has failed.

3. The test device performs end-to-end testing.

Assume that, as shown in FIG3, the test strategy can be: after the mapping module, the positioning module and the navigation module are all tested and passed, and the combination of the mapping module and the positioning module, the combination of the positioning module and the navigation module, and the combination of the mapping module and the navigation module are all tested and passed, the mapping module, the positioning module and the navigation module are tested. Then, after the test unit loads the autonomous positioning and navigation algorithm, the test unit uses the above-mentioned unit test method to test the mapping module, the positioning module and the navigation module, and the above-mentioned integrated test method to test the combination of the mapping module and the positioning module, the combination of the positioning module and the navigation module, and the combination of the mapping module and the navigation module. After passing the test, the test unit determines that the test module to be tested is the mapping module, the positioning module and the navigation module through the test strategy control unit. At this time, the test unit obtains the first sample data from the first storage unit and inputs the data into the mapping module, the positioning module and the navigation module. The test unit obtains the output data of the navigation module and compares the data with the reference output data (such as navigation data) of the navigation module stored in the fourth storage module. If the data is consistent with the navigation data, the test unit determines that the navigation module test has passed; if the data is inconsistent with the navigation data, the test unit determines that the navigation module test has failed.

In summary, according to different test strategies, the test module performs different tests, which will not be listed here one by one.

The above-mentioned test device may include different product forms, such as: chips, devices (such as: test platforms, test equipment, servers (virtual or physical)).

It should be understood that the device architecture shown in FIG. 2 is for exemplary purposes only. In a specific implementation, the device may include more or fewer modules or algorithm modules, and the modules or algorithm modules may be deleted or added based on actual conditions.

Fig. 4 shows a schematic flow chart of a test method provided in an embodiment of the present application, which can be performed by the test device shown in Fig. 2. The method 400 may include S401, S402, S403, S404, S405, S406 and S407 (some of which are optional), and please refer to the description of the following embodiment for details.

The test method provided in the embodiment of the present application is used to test the algorithm to be tested of the first business, and the algorithm includes multiple algorithm modules, and the multiple algorithm modules to be tested correspond one-to-one to the multiple algorithm modules in the benchmark algorithm of the first business. Before the test, the first sample data is input into the benchmark algorithm of the first business to determine the benchmark input data and benchmark output data corresponding to each algorithm module. Exemplarily, in the embodiment of the present application, the multiple algorithm modules include a first algorithm module, a second algorithm module, and a third algorithm module for illustration.

In a specific implementable manner, after the first sample data is input into the benchmark algorithm of the first business, the first algorithm module, the second algorithm module and the third algorithm module respectively output the first benchmark output data, the second benchmark output data and the third benchmark output data after the benchmark algorithm of the first business. After obtaining the benchmark output data output by each algorithm module, the test device stores the first sample data and the benchmark output data of each module. These data can be stored in one storage unit or in corresponding storage units respectively. Exemplarily, the test device may include a plurality of storage units, and the plurality of storage units may include a first storage unit, a second storage unit, a third storage unit and a fourth storage unit. The first storage unit is used to store the first sample data, the second storage unit is used to store the first benchmark output data, the third storage module is used to store the second benchmark output data, and the fourth storage module is used to store the third benchmark output data.

During the test process, in S401, the test device loads the algorithm to be tested of the first service, the algorithm to be tested of the first service includes multiple algorithm modules, and there is a correlation between the input and output of the multiple algorithm modules.

Exemplarily, as described above, the multiple algorithm modules include a first algorithm module, a second algorithm module and a third algorithm module.

After the test device loads the algorithm to be tested of the first service, the test device can output data of the algorithm to be tested of the first service. As an algorithm module. Exemplarily, after the sample data is input into the algorithm to be tested of the first service, the first data, the second data and the third data are output respectively after operation. Then, the test device can use the point that outputs the first data as the first algorithm module, the point that outputs the second data as the second algorithm module, and the point that outputs the third data as the third algorithm module.

Among them, the output data of one algorithm module among the first algorithm module, the second algorithm module and the third algorithm module is used as the input data of another or two algorithm modules. Exemplarily, the first data output by the first algorithm module can be used as the input data of the second algorithm module, the second data output by the second algorithm module can be used as the input data of the third algorithm module, and the third algorithm module outputs the third data. Exemplarily, the first data output by the first algorithm module can be used as the input data of the second algorithm module and the third algorithm module respectively, the second data output by the second algorithm module can also be used as the input data of the third algorithm module, and the third algorithm module outputs the third data. Of course, the data transmission between the algorithm modules is not limited to the above-mentioned ones, and the embodiments of the present application are not specifically limited.

The algorithm to be tested of the first service may include an autonomous positioning and navigation algorithm. Of course, the algorithm to be tested of the first service may also include other algorithms, such as a navigation algorithm, a positioning algorithm, an automatic driving algorithm, etc. This is not specifically limited in the embodiments of the present application. In the embodiments of the present application, the algorithm to be tested of the first service is an autonomous positioning and navigation algorithm as an example for explanation.

Exemplarily, the algorithm to be tested for the first business is an autonomous positioning and navigation algorithm, which can be divided into the following three modules: a mapping module, a positioning module, and a navigation module. Correspondingly, the algorithm module to be tested for the above-mentioned first business is a mapping module, the above-mentioned second algorithm module is a positioning module, and the above-mentioned third algorithm module is a navigation module. The output data of the mapping module is used as the input data of the positioning module and the navigation module. For example, sample data (such as location information) is input into the mapping module, and the first data (such as point cloud map data or raster map data) is output after the mapping module is calculated. The first data (such as point cloud map data) output by the mapping module is input into the positioning module, and the second data (such as posture data) is output after the positioning module is calculated. The first data (such as raster map data) output by the mapping module and the second data (such as posture data) output by the positioning module are input into the navigation module, and the third data (such as navigation data) is output after the navigation module is calculated.

S402: The testing device determines a testing strategy according to the operation processes of multiple algorithm modules.

The operation process can be understood as the operation process of multiple algorithm modules, exemplarily, the operation process of the first algorithm module, the second algorithm module and the third algorithm module, for example, the operation process may include: after the first algorithm module is operated, the second algorithm module and the third algorithm module are operated in parallel; or the first algorithm module, the second algorithm module and the third algorithm module are operated in sequence. In the embodiment of the present application, the operation process is not limited to the above enumeration.

The test device can determine different test strategies for the operation process. For example, if the operation process is that after the first algorithm module is operated, the second algorithm module and the third algorithm module are operated in parallel, the test strategy may include at least one of the following: the first algorithm module, the second algorithm module and the third algorithm module are tested in parallel; after the first algorithm module is tested and passed, the second algorithm module and the third algorithm module are tested in parallel; at least two of the first algorithm module, the second algorithm module and the third algorithm module are tested in combination; after at least one of the first algorithm module, the second algorithm module and the third algorithm module is tested and passed, at least two of the first algorithm module, the second algorithm module and the third algorithm module are tested in combination.

Among them, the combined test of at least two algorithm modules among the first algorithm module, the second algorithm module and the third algorithm module may include the following combinations: combined test of the first algorithm module and the second algorithm module, combined test of the first algorithm module and the third algorithm module, combined test of the second algorithm module and the third algorithm module, and combined test of the first algorithm module, the second algorithm module and the third algorithm module.

Among them, after at least one algorithm module among the first algorithm module, the second algorithm module and the third algorithm module passes the test, at least two algorithm modules among the first algorithm module, the second algorithm module and the third algorithm module are tested in combination, which may specifically include the following situations: after the first algorithm module passes the test, the first algorithm module is tested in combination with the second algorithm module; after the first algorithm module passes the test, the first algorithm module is tested in combination with the third algorithm module; after the first algorithm module and the second algorithm module pass the test, the first algorithm module is tested in combination with the second algorithm module; after the first algorithm module and the second algorithm module pass the test, the first algorithm module, the second algorithm module and the third algorithm module are tested in combination; after the first algorithm module, the second algorithm module and the third algorithm module pass the test, the first algorithm module and the third algorithm module are tested in combination; after the first algorithm module, the second algorithm module and the third algorithm module pass the test, the second algorithm module and the third algorithm module are tested in combination; after the first algorithm module, the second algorithm module and the third algorithm module pass the test, the second algorithm module and the third algorithm module are tested in combination; after the first algorithm module, the second algorithm module and the third algorithm module pass the test, the second algorithm module and the third algorithm module are tested in combination; Module combination test. After the first algorithm module, the second algorithm module and the third algorithm module have passed the test, and the first algorithm module and the second algorithm module combination test, the first algorithm module and the third algorithm module combination test, and the second algorithm module and the third algorithm module combination test have all passed, the first algorithm module, the second algorithm module and the third algorithm module combination test. There may be other situations in the embodiments of the present application, which are not listed here one by one.

Exemplarily, following the above example, the testing strategy may include testing the positioning module and the navigation module in parallel after the mapping module has been tested; the testing strategy may also include testing the mapping module and the navigation module in combination after the mapping module and the navigation module have been tested; the testing strategy may also include testing the mapping module, the positioning module, and the navigation module in combination after the mapping module, the positioning module, and the navigation module have been tested.

In an embodiment of the present application, a test strategy is obtained through the operation process of the first algorithm module, the second algorithm module and the third algorithm module, providing an optional and efficient automated testing system for the testing of algorithms (such as autonomous positioning and navigation algorithms). Compared with testing based on the experience of testers, testing methods based on test strategies are more efficient and more accurate.

S403: The testing device determines a test module from among the multiple algorithm modules of the algorithm to be tested according to the test strategy, where the test module includes some of the multiple algorithm modules of the algorithm to be tested.

That is, the test module may include at least one algorithm module, and the at least one algorithm module includes: a first algorithm module, a second algorithm module, a third algorithm module, a combination of the first algorithm module and the second algorithm module, a combination of the first algorithm module and the third algorithm module, a combination of the second algorithm module and the third algorithm module, and a combination of the first algorithm module, the second algorithm module and the third algorithm module.

Exemplarily, following the above example, the test strategy may include testing the positioning module and the navigation module in parallel after the mapping module test passes; S403 may specifically be: after the mapping module test passes, according to the test strategy, determining that the test modules are the positioning module and the navigation module.

Exemplarily, following the above example, the test strategy includes performing a combined test on the mapping module and the navigation module after the mapping module and the navigation module are tested. S403 may specifically be: after the mapping module and the navigation module are tested, determining, according to the test strategy, that the test module is a combination of the mapping module and the navigation module.

Exemplarily, following the above example, the test strategy includes performing combined testing on the mapping module, the positioning module and the navigation module after the mapping module, the positioning module and the navigation module have been tested; S403 may specifically be: after the mapping module, the positioning module and the navigation module have been tested, determining, according to the test strategy, that the test module is a combination of the mapping module, the positioning module and the navigation module.

S404: The testing device determines a reference input and a reference output corresponding to the testing module.

In this step, the test device determines the test module, and then the test device can determine the benchmark input data and benchmark output data corresponding to the test module based on the benchmark input data and benchmark output data of each algorithm module determined before the test.

S405 . The testing device inputs the reference input data into the testing module to obtain the test output data output by the testing module.

Exemplarily, following the above example, when the test strategy determines that the test module is a positioning module, the test device inputs the benchmark output data of the mapping module (such as point cloud map data) into the positioning module to obtain the test output data of the positioning module.

Exemplarily, following the above example, when the test strategy determines that the test module is a navigation module, the test device inputs the reference output data (such as raster map data) of the mapping module into the navigation module to obtain the test output data of the navigation module.

Exemplarily, following the above example, when the test strategy determines that the test algorithm module is a combination of a mapping module and a navigation module, the test device inputs the first sample data (such as map data) into the combination of the mapping module and the navigation module to obtain the test output data of the navigation module.

Exemplarily, following the above example, when the test strategy determines that the test module is a combination of a mapping module, a positioning module and a navigation module, the test device inputs the first sample data (such as map data) into the combination of the mapping module, the positioning module and the navigation module, and obtains the test output data of the navigation module.

S406: When the test output data is consistent with the reference output data, the test device determines that the test module has passed the test.

After obtaining the test output data, the test device compares the test output data with the pre-stored reference output data of the test module. When the test output data is consistent with the pre-stored reference output data of the test module, the test device determines that the test module is Block test passed.

S407: When the test output data is inconsistent with the reference output data, the test device determines that the test module fails the test.

After obtaining the test output data, the test device compares the test output data with the pre-stored benchmark output data of the test module. When the test output data is inconsistent with the pre-stored benchmark output data of the test module, the test device determines that the test module fails the test.

Exemplarily, following the above example, the test module is the first algorithm module, and the test device compares the test output data of the first algorithm module with the pre-stored reference output data of the first algorithm module. When the test output data is consistent with the reference output data, the test device determines that the test of the first algorithm module has passed. When the test output data is inconsistent with the reference output data, the test device determines that the test of the first algorithm module has failed.

For example, the test module is a mapping module, and the test output data of the mapping module is the point cloud map data or raster map data output by the mapping module. The test device compares the data with the pre-stored benchmark output data of the mapping module. When the test output data of the mapping module is consistent with the pre-stored benchmark output data of the mapping module, the test device determines that the mapping module test has passed; when the test output data of the mapping module is inconsistent with the pre-stored benchmark output data of the mapping module, the test device determines that the mapping module test has failed.

For example, the test module is a positioning module, and the test output data of the positioning module is the posture data output by the positioning module. The test device compares the data with the pre-stored benchmark output data of the positioning module. When the test output data of the positioning module is consistent with the pre-stored benchmark output data of the positioning module, the test device determines that the positioning module test has passed; when the test output data of the mapping module is inconsistent with the pre-stored benchmark output data of the positioning module, the test device determines that the positioning module test has failed.

Unless otherwise specified or there is no logical conflict, the terms and/or descriptions between the various embodiments of the present application are consistent and can be referenced to each other. The technical features in different embodiments can be combined to form new embodiments based on their internal logical relationships.

The test method provided by the embodiment of the present application is described in detail above in conjunction with Figures 1 to 4. The test device provided by the embodiment of the present application will be described in detail below in conjunction with Figure 5. It should be understood that the description of the device embodiment corresponds to the description of the method embodiment. Therefore, the content not described in detail can be referred to the method embodiment above, and for the sake of brevity, it will not be repeated here.

FIG5 shows a schematic block diagram of a test device 500 provided in an embodiment of the present application, wherein the device 500 includes: a loading unit 501, a first determining unit 502, a second determining unit 503, a first output unit 504 and a third determining unit 505; wherein,

The loading unit 501 is used to load the algorithm to be tested of the first service, the algorithm to be tested of the first service includes multiple algorithm modules, and there is a correlation between the input and output of the multiple algorithm modules; illustratively, the loading unit 501 can perform the above step S401. The loading unit 501 can be the test unit 203 shown in Figure 2.

The first determination unit 502 is used to: determine a test module from among the multiple algorithm modules of the algorithm to be tested according to the test strategy, wherein the test module includes some of the multiple algorithm modules of the algorithm to be tested; illustratively, the first determination unit 502 may perform the above step S403. The first determination unit 502 may be the test strategy control unit 201 as shown in FIG2.

The second determination unit 503 is used to determine the reference input and reference output corresponding to the test module. Exemplarily, the second determination unit 503 may execute the above step S404. The second determination unit 503 may be the test unit 203 shown in FIG2.

The first output unit 504 is used to input the reference input data into the test module to obtain the test output data output by the test module; illustratively, the first output unit 504 can execute the above step S405. The first output unit 504 can be the test unit 203 shown in FIG2.

The third determination unit 505 is used to: when the test output data is consistent with the reference output data, determine that the test module has passed the test. Exemplarily, the third determination unit 505 can execute the above step S406. The third determination unit 505 can be the test unit 203 shown in FIG2.

In some implementations, the device 500 may further include: a fourth determination unit 506, configured to determine a test strategy according to the operation flow of the plurality of algorithm modules. Exemplarily, the fourth determination unit 506 may execute the above step S402. The fourth determination unit 506 may be the test unit 203 shown in FIG2.

In a specific implementation, the second determination unit is used to: input the sample data into the benchmark algorithm of the first business, determine the benchmark input data and benchmark output data corresponding to the test module, wherein the multiple algorithm modules in the benchmark algorithm are consistent with the to-be-tested The multiple algorithm modules in the algorithm correspond one to one.

In this way, the embodiment of the present application determines the test module by adopting the test strategy in the multiple algorithm modules of the algorithm to be tested of the first business, and then determines the benchmark input and benchmark output corresponding to the test module, and compares the test output data of the test module output obtained by inputting the benchmark input data into the test module with the benchmark output data. When the test output data is consistent with the benchmark output data, it is determined that the test module test has passed. In this way, when a test problem occurs, the location of the problem can be directly and accurately located, and the test problem can be accurately located.

An embodiment of the present application also provides a device, which includes a processing unit and a storage module, wherein the storage module is used to store instructions, and the processing unit executes the instructions stored in the storage module so that the device executes the method or steps executed by the above embodiment.

It should be understood that the division of the units in the above device is only a division of logical functions. In actual implementation, they can be fully or partially integrated into one physical entity, or they can be physically separated. In addition, the units in the device can be implemented in the form of a processor calling software; for example, the device includes a processor, the processor is connected to a memory, and instructions are stored in the memory. The processor calls the instructions stored in the memory to implement any of the above methods or realize the functions of the units of the device, wherein the processor is, for example, a general-purpose processor, such as a CPU or a microprocessor, and the memory is a memory in the device or a memory outside the device. Alternatively, the units in the device can be implemented in the form of hardware circuits, and the functions of some or all of the units can be realized by designing the hardware circuits. The hardware circuit can be understood as one or more processors; for example, in one implementation, the hardware circuit is an ASIC, and the functions of some or all of the above units are realized by designing the logical relationship of the components in the circuit; for example, in another implementation, the hardware circuit can be implemented by PLD. Taking FPGA as an example, it can include a large number of logic gate circuits, and the connection relationship between the logic gate circuits is configured through the configuration file, so as to realize the functions of some or all of the above units. All units of the above device may be implemented entirely in the form of a processor calling software, or entirely in the form of a hardware circuit, or partially in the form of a processor calling software and the rest in the form of a hardware circuit.

In an embodiment of the present application, a processor is a circuit with the ability to process signals. In one implementation, the processor may be a circuit with the ability to read and run instructions, such as a CPU, a microprocessor, a GPU, or a DSP; in another implementation, the processor may implement certain functions through the logical relationship of a hardware circuit, and the logical relationship of the hardware circuit is fixed or reconfigurable, such as a hardware circuit implemented by an ASIC or PLD, such as an FPGA. In a reconfigurable hardware circuit, the process of the processor loading a configuration document to implement the hardware circuit configuration can be understood as the process of the processor loading instructions to implement the functions of some or all of the above units. In addition, it can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as an NPU, TPU, DPU, and the like.

It can be seen that each unit in the above device can be one or more processors (or processing circuits) configured to implement the above method, such as: CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA, or a combination of at least two of these processor forms.

In addition, the units in the above device can be fully or partially integrated together, or can be implemented independently. In one implementation, these units are integrated together and implemented in the form of a system-on-a-chip (SOC). The SOC may include at least one processor for implementing any of the above methods or implementing the functions of each unit of the device. The type of the at least one processor may be different, for example, including a CPU and an FPGA, a CPU and an artificial intelligence processor, a CPU and a GPU, etc.

Optionally, in this possible design, all relevant contents of each step of the intelligent driving system in the method embodiment shown in Figures 1 to 4 above can be referred to the functional description of the corresponding functional module, and will not be repeated here. The intelligent driving system described in this possible design is used to perform the functions of the intelligent driving system in the test method shown in Figures 1 to 4, so it can achieve the same as the above test method. Same effect.

A testing device provided in an embodiment of the present application includes: a processor and a memory, the memory is coupled to the processor, the memory is used to store computer program code, the computer program code includes computer instructions, when the processor reads the computer instructions from the memory, the testing device executes the testing method shown in Figures 1 to 4.

An embodiment of the present application provides a computer program product. When the computer program product runs on a computer, the computer executes the test method shown in Figures 1 to 4.

A computer-readable storage medium provided in an embodiment of the present application includes computer instructions. When the computer instructions are executed on a terminal, a network device executes the test method shown in FIGS. 1 to 4 .

A chip system provided in an embodiment of the present application includes one or more processors. When the one or more processors execute instructions, the one or more processors execute the test method shown in Figures 1 to 4.

The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

In the description of the embodiments of the present application, unless otherwise specified, “/” means or. For example, A/B can mean A or B. The “and/or” in this article is merely a way to describe the association relationship of associated objects, indicating that three relationships may exist. For example, A and/or B can mean: A exists alone, A and B exist at the same time, and B exists alone.

In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present application, unless otherwise specified, "multiple" means two or more.

In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

It is understandable that, in order to realize the above functions, the above-mentioned communication equipment and the like include hardware structures and/or software modules corresponding to the execution of each function. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of each example described in the embodiments disclosed herein, the embodiments of the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the embodiments of the present application.

The embodiment of the present application can divide the functional modules of the above-mentioned communication equipment etc. according to the above-mentioned method example. For example, each functional module can be divided corresponding to each function, or two or more functions can be integrated into one processing module. The above-mentioned integrated module can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the division of modules in the embodiment of the present application is schematic and is only a logical function division. There may be other division methods in actual implementation.

Through the description of the above implementation methods, technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

Claims

A testing method, characterized in that the method comprises:

Loading a to-be-tested algorithm of a first service, where the to-be-tested algorithm of the first service includes a plurality of algorithm modules, and inputs and outputs of the plurality of algorithm modules are associated with each other;

According to the test strategy, determining a test module from among the multiple algorithm modules of the algorithm to be tested, wherein the test module includes some of the multiple algorithm modules of the algorithm to be tested;

Determining a reference input and a reference output corresponding to the test module;

Inputting the reference input data into the test module to obtain test output data output by the test module;

When the test output data is consistent with the reference output data, it is determined that the test module has passed the test.
The method according to claim 1, characterized in that before determining the test module from the plurality of algorithm modules according to the test strategy, it further comprises:

The test strategy is determined according to the operation processes of the multiple algorithm modules.
The method according to claim 1 or 2, characterized in that the test strategy includes at least one of the following:

Each algorithm module in the multiple algorithm modules is tested in parallel;

After a target algorithm module among the multiple algorithm modules passes the test, other algorithm modules among the multiple algorithm modules are tested in parallel;

At least two algorithm modules among the multiple algorithm modules are tested in combination.
The method according to any one of claims 1 to 3, characterized in that determining the reference input and reference output corresponding to the test module comprises:

Input sample data into a benchmark algorithm of the first business to determine benchmark input data and benchmark output data corresponding to the test module, wherein multiple algorithm modules in the benchmark algorithm correspond one-to-one to multiple algorithm modules in the algorithm to be tested.
The method according to any one of claims 1-4 is characterized in that the first business is autonomous positioning and navigation, the multiple algorithm modules in the algorithm to be tested include a mapping module, a positioning module, and a navigation module, and the output data of the mapping module is used as input data of the positioning module and the navigation module.
The method according to claim 5, characterized in that the test strategy includes testing the positioning module and the navigation module in parallel after the mapping module is tested;

After the mapping module test passes, according to the test strategy, the test modules are determined to be the positioning module and the navigation module.
The method according to claim 5, characterized in that the test strategy includes testing a combination module of the mapping module and the navigation module after the mapping module and the navigation module are tested;

After the mapping module and the navigation module pass the test, according to the test strategy, the test module is determined to be a combination module of the mapping module and the navigation module.
The method according to claim 5, characterized in that the test strategy includes testing a combination module of the mapping module, the positioning module and the navigation module after the mapping module, the positioning module and the navigation module are tested;

After the mapping module, the positioning module and the navigation module are tested and passed, according to the test strategy, the test module is determined to be a combination module of the mapping module, the positioning module and the navigation module.
A testing device, characterized in that the device comprises:

A loading unit, used to load an algorithm to be tested of a first service, wherein the algorithm to be tested of the first service includes a plurality of algorithm modules, and inputs and outputs of the plurality of algorithm modules are associated with each other;

A first determining unit, configured to determine a test module from among the multiple algorithm modules of the algorithm to be tested according to a test strategy, wherein the test module includes some of the multiple algorithm modules of the algorithm to be tested;

A second determining unit, determining a reference input and a reference output corresponding to the test module;

A first output unit, used for inputting the reference input data into the test module to obtain test output data output by the test module;

The third determining unit is used to determine that the test module test data is consistent with the reference output data. Try to pass.
The device according to claim 9, further comprising:

The fourth determining unit is used to determine the test strategy according to the operation process of the multiple algorithm modules.
The device according to claim 9 or 10, characterized in that the test strategy includes at least one of the following:

Each algorithm module in the multiple algorithm modules is tested in parallel;

After a target algorithm module among the multiple algorithm modules passes the test, other algorithm modules among the multiple algorithm modules are tested in parallel;

At least two algorithm modules among the multiple algorithm modules are tested in combination.
The device according to any one of claims 9 to 11, wherein the second determining unit is used to:

Input sample data into a benchmark algorithm of the first business to determine benchmark input data and benchmark output data corresponding to the test module, wherein multiple algorithm modules in the benchmark algorithm correspond one-to-one to multiple algorithm modules in the algorithm to be tested.
The device according to any one of claims 9 to 12 is characterized in that the first service is autonomous positioning and navigation, the multiple algorithm modules in the algorithm to be tested include a mapping module, a positioning module, and a navigation module, and the output data of the mapping module is used as input data of the positioning module and the navigation module.
The device according to claim 12, characterized in that the test strategy includes testing the positioning unit and the navigation unit in parallel after the mapping unit is tested;

The first determination unit is used to determine the test nodes as the positioning unit and the navigation unit according to the test strategy after the mapping unit test passes.
The device according to claim 12, characterized in that the test strategy includes testing a combination module of the mapping module and the navigation module after the mapping module and the navigation module are tested;

The first determining unit is used to determine, after the mapping module and the navigation module are tested and passed, according to the test strategy, that the test module is a combination module of the mapping module and the navigation module.
The device according to claim 12, characterized in that the test strategy includes testing a combination module of the mapping module, the positioning module and the navigation module after the mapping module, the positioning module and the navigation module are tested;

After the mapping module, the positioning module and the navigation module are tested and passed, according to the test strategy, the test module is determined to be a combination module of the mapping module, the positioning module and the navigation module.
A testing device, characterized by comprising:

Memory for storing computer programs;

A processor, configured to execute the computer program stored in the memory, so that the apparatus performs the method according to any one of claims 1 to 8.
An electronic device, characterized in that the electronic device comprises: one or more processors; and a memory, wherein the memory stores codes; when the codes are executed by the processor, the electronic device executes the method as described in any one of claims 1-8.
A computer-readable storage medium, characterized in that it includes computer instructions, and when the computer instructions are executed on an electronic device, the electronic device executes the method according to any one of claims 1 to 8.