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Method and device for testing perception delay performance of self-driving vehicles

A technology for autonomous driving and test solutions, applied in the field of autonomous vehicle perception testing, can solve problems such as poor execution and insufficient precision, and achieve the effects of reducing impact, simplifying test models, and reducing background interference

Active Publication Date: 2022-01-04
北京智能车联产业创新中心有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Another object of the present invention is to provide a method for testing the perceived delay performance of an autonomous vehicle, accurately reflect the perceived delay performance of the autonomous vehicle, and solve the problems of time-consuming, poor execution, insufficient accuracy and testing problems in the traditional occlusion and shielding method. big error problem

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  • Method and device for testing perception delay performance of self-driving vehicles
  • Method and device for testing perception delay performance of self-driving vehicles

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0067] The scene A is a stationary state or relatively stationary vehicle to be tested, wherein the relative stationary state is the same running speed and operation direction of the object to be tested and the automatic driving vehicle;

[0068] For scene a, test automatic driving vehicle perceived delay performance, such as figure 2 As shown, including the following steps:

[0069] S0, the automatic driving vehicle includes a perceptual sensor for generating a perceived data, an automatic driving system for analyzing the perceived data and outputs a perceived result, wherein the sensor includes laser radar, millimeter wave radar, camera, laser radar, millimeters. The point cloud data for the object to be tested is obtained, the camera is used to obtain streaming data of the object to be tested; the sensor is connected to the automatic driving system of the automatic driving vehicle;

[0070] S1, the object to be tested, the automatic driving vehicle is provided in accordance wit...

Embodiment 2

[0075] The scene B is a moving direction of the object to be tested and the automatic driving vehicle, and when the inverting speed, the moving speed is different, and the above-described scene is divided into the direction of the object to be tested and the automatic driving vehicle. (Phase), two of which, when the same direction is further limited, the motion speed is different;

[0076] Specifically, in the present embodiment: the scene B is specifically disposed to be parallel to each other and the object to be tested, and the direction of travel of the automatic driving vehicle is a predetermined movement speed in the positive direction of the automatic driving vehicle. , N is a negative value of the predetermined motion speed, N is a negative value in the positive direction, and the distance between the object to be tested and the automatic driving vehicle is S. 1 ;

[0077] A method of testing the automatic driving vehicle to perceive delay performance, such as figure 2 As ...

Embodiment 3

[0086] The scene C is a motion direction of the object to be tested and the automatic driving vehicle, that is, the travel route of the object to be tested has a predetermined angle between the travel route between the automatic driving vehicle, which is not 0 ° or 180 °;

[0087] In this embodiment: the scene C is specifically set to the automatic driving vehicle and the predetermined angle between the object to be tested is 35 °;

[0088] A method for testing automatic driving vehicle perceived delay performance for specific settings, such as figure 2 As shown, including the following steps:

[0089] S0, the automatic driving vehicle includes a perceptual sensor for generating a perceived data, an automatic driving system for analyzing the perceived data and outputs a perceived result, wherein the sensor includes laser radar, millimeter wave radar, camera, laser radar, millimeters. The point cloud data for the object to be tested is obtained, the camera is used to obtain streami...

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Abstract

The invention discloses a method for testing the perception delay performance of an automatic driving vehicle. The automatic driving vehicle includes a sensing sensor for generating sensing data and an automatic driving system for analyzing the sensing data and outputting the sensing result. It is characterized in that it includes the following Steps: S1. Set the object to be tested and the self-driving vehicle according to the predetermined test plan; S2. Generate the sensory data of the object to be tested through the sensory sensor; S3. Select the reinjection sample from the sensory data, and make the reinjection sample according to the sensory sensor The frequency of generating perception data is injected into the autopilot system, and the recording start injection time t 1 , the time t when the automatic driving system generates the first frame of correct perception result data 2 ; S4, calculate △T=t 2 -t 1 The value of is used as the perception delay of the autonomous vehicle. A device for testing the perceived latency performance of autonomous vehicles. The present invention has the beneficial effect of accurately reflecting the perceived delay performance of the vehicle.

Description

Technical field [0001] The present invention relates to an autonomous vehicle perception test art. More particularly, the present invention relates to a method and apparatus for testing delay perceived vehicle automatic driving performance. Background technique [0002] Autonomous vehicles perception is a core vehicle autopilot, the autopilot is a key factor in the ability to decide, just like human studies, it has myopia, night blindness, glaucoma (see things vague) symptoms security risks must be better than the driver on the road normal NPC. Including distance perception, blind, particle size, type, accuracy, latency and other indicators perception. Among them, the perceived delay in the testing industry is currently the most difficult a test indicator, because the perception is millisecond delay, the general test equipment can not be met, for example, the current industry testing methods commonly perceived delay is blocking shield method, the principle is the perceived object...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G07C5/08G01S7/40G01S7/497
Inventor 党利冈
Owner 北京智能车联产业创新中心有限公司