Method and device for evaluating automatic driving vehicle controller

Abstract

The invention discloses a method and a device for evaluating an automatic driving vehicle controller, and relates to the technical field of computers. According to one specific embodiment, the method comprises the steps of: acquiring a planned track received by the controller, real-time driving parameters of a vehicle and a control instruction generated by the controller according to the planned track and the real-time driving parameters of the vehicle, wherein the control instruction is used for controlling an instruction execution unit to drive the vehicle to run; analyzing according to the planned track, the control instruction generated by the controller and the real-time driving parameters of the vehicle to obtain an evaluation index of the controller; and evaluating the control effect of the controller in a test scene according to the evaluation index. According to the method, the control effect of tracking the reference trajectory by the controllers on the upper layer and the lower layer can be evaluated, a set of standard evaluation system of the automatic driving controller is provided for the field of automatic driving vehicles, the defects in the related aspects of the market are made up, and the system can also serve as an efficient tool for debugging the controller or clear index requirements for the controller.

Description

technical field [0001] The invention relates to the field of computer technology, in particular to a method and device for evaluating an automatic driving vehicle controller. Background technique [0002] The controller of the self-driving vehicle is composed of upper and lower layers. The upper layer controller is used to track the trajectory and generate the front wheel angle and longitudinal commands (speed command, acceleration command, brake accelerator percentage), and the lower layer controller is used to respond to the output of the upper layer controller. The command information of the vehicle drives the vehicle, and then realizes the complete closed-loop control of the vehicle. [0003] In the process of realizing the present invention, the inventor found that there are at least the following problems in the prior art: at present, there is no standard evaluation system for the controller of the self-driving vehicle in the prior art. Therefore, in the implementation...

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Problems solved by technology

[0003] In the process of realizing the present invention, the inventor found that there are at least the following problems in the prior art: at present, there is no standard evaluation system for the controller of the self-driving vehicle in the prior art, therefore, in the implementation process of the controller , can not better combine the control effect to debug and optimize the controller, which reduces the efficiency of controller function development and debugging

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