Real vehicle testing method, device and system and storage medium
By using scene simulation platforms and electronic obstacles in the testing of intelligent driving system, the problem of testing safety and adequacy balance in the existing technology is solved, and the performance of intelligent driving system is fully verified and safety evaluation is achieved, thus reducing the testing risk and scene construction difficulty.
Patent Information
- Application Number
- CN202411172417.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-26
- Publication Date
- 2025-01-10
AI Technical Summary
The existing intelligent driving system testing methods cannot fully evaluate the system safety performance in closed scenarios, and it is difficult to find a balance between test safety and adequacy. At the same time, due to real physical characteristics, it is difficult to construct the test scenario.
High-precision maps are obtained through the scene simulation platform, digital modeling is generated, driving status data of the measured vehicle in real time, driving status data of the virtual vehicle is generated, and electronic obstacles are created in the platform to control the interaction between the electronic obstacles and the virtual vehicle. Send obstacle status data in real time to the vehicle under test to respond.
It has achieved full verification of the performance of intelligent driving systems, reduced testing risks, avoided the occurrence of safety accidents, and simplified the difficulty of scene construction.
Smart Images
Figure CN119292096A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of intelligent driving technology, and in particular to a real vehicle testing method, device, system and storage medium. Background Art
[0002] With the rapid development of artificial intelligence and autonomous driving technology, intelligent driving systems have received widespread attention and research around the world. Intelligent driving systems integrate data from multiple sensors (such as cameras, radars, lidars, etc.) and use advanced algorithms and machine learning technologies to achieve different levels of automated driving functions for vehicles. Before the intelligent driving system is actually used by consumers, the manufacturer will conduct sufficient testing and verification of its functional realization, safety and reliability to ensure driving safety.
[0003] In the related technology, a real scene can be constructed in a closed field environment to test and verify the intelligent driving system of the vehicle under test. The tested vehicle and background vehicles or pedestrians all use real objects with real physical properties, which are no different from the actual car use scenarios of consumers, so the scene authenticity is very high. However, when testing safety scenarios such as emergency braking of the front vehicle, lane change of the adjacent vehicle, and pedestrian collision, the safety officer of the tested vehicle will always reserve basic redundant time for emergency takeover operations to prevent casualties or property losses to the background vehicle or the tested vehicle. Therefore, the method test intensity is not sufficient, and it is impossible to accurately evaluate the safety performance of the intelligent driving system, and it is difficult to find a balance between test safety and test adequacy. In addition, since the tested vehicle and the background vehicle have real physical properties, there will be difficulties in constructing the test scene. Summary of the invention
[0004] In order to solve the above technical problems, the present application provides a real vehicle testing method, device, system and storage medium.
[0005] According to a first aspect of the present application, a real vehicle testing method is provided, which is applied to a scene simulation platform, and the method comprises:
[0006] Obtain a high-precision map of the closed scene area, and perform digital modeling in the scene simulation platform based on the high-precision map to obtain a test scene of the scene simulation platform;
[0007] Receiving driving status data of the tested vehicle sent by the tested vehicle in real time, wherein the tested vehicle controls the tested vehicle to travel in the closed scene area based on pre-built scene test content;
[0008] Based on the driving state data, generating driving state data of a virtual vehicle in a test scene of the scene simulation platform, the driving state data of the virtual vehicle being the same as the driving state data of the vehicle under test;
[0009] Generate an electronic obstacle in the test scene of the scene simulation platform, and obtain state data of the electronic obstacle when interacting with the virtual vehicle, wherein the state data of the electronic obstacle is generated by controlling the interaction between the electronic obstacle and the virtual vehicle based on the interaction requirements corresponding to the driving state data of the virtual vehicle in the scene test content by the tester;
[0010] The state data of the electronic obstacle is sent to the vehicle under test in real time, so that the vehicle under test responds based on the state data of the electronic obstacle.
[0011] According to a second aspect of the present application, a real vehicle testing method is provided, which is applied to a tested vehicle, and the method comprises:
[0012] Controlling the vehicle under test to drive in a closed scene area based on pre-built scene test content to obtain driving status data of the vehicle under test;
[0013] Sending the driving state data to the scenario simulation platform in real time, so that the scenario simulation platform generates the driving state data of the virtual vehicle in the test scenario of the scenario simulation platform, and the driving state data of the virtual vehicle is the same as the driving state data of the tested vehicle;
[0014] receiving in real time the state data of the electronic obstacle sent by the scenario simulation platform, wherein the state data of the electronic obstacle is generated by the tester controlling the interaction between the electronic obstacle and the virtual vehicle based on the interaction requirements corresponding to the driving state data of the virtual vehicle in the scenario test content;
[0015] Responding based on the status data of the electronic obstacle.
[0016] Optionally, the method further comprises:
[0017] The status data of the obstacle is displayed on the human-machine interface of the tested vehicle, so that the safety officer in the tested vehicle can judge whether the test result meets expectations based on the status data of the electronic obstacle and the actual response of the tested vehicle.
[0018] Optionally, the responding based on the status data of the electronic obstacle includes:
[0019] Based on the position information and speed information of the electronic obstacle, the driving trajectory and control speed are calculated in real time, and the driving of the tested vehicle is controlled according to the driving trajectory and control speed.
[0020] According to a third aspect of the present application, a real vehicle testing device is provided, which is applied to a scene simulation platform, and the device comprises:
[0021] A test scene construction module is used to obtain a high-precision map of a closed scene area, and perform digital modeling in a scene simulation platform based on the high-precision map to obtain a test scene of the scene simulation platform;
[0022] A driving status data receiving module, used for receiving driving status data of the tested vehicle sent by the tested vehicle in real time, wherein the tested vehicle controls the tested vehicle to travel in the closed scene area based on pre-built scene test content;
[0023] A virtual driving state data generating module, used to generate driving state data of a virtual vehicle in a test scene of the scene simulation platform based on the driving state data, wherein the driving state data of the virtual vehicle is the same as the driving state data of the tested vehicle;
[0024] An electronic obstacle state data acquisition module, used to generate an electronic obstacle in the test scene of the scene simulation platform, and acquire state data when the electronic obstacle interacts with the virtual vehicle, wherein the state data of the electronic obstacle is generated by controlling the interaction between the electronic obstacle and the virtual vehicle based on the interaction requirements corresponding to the driving state data of the virtual vehicle in the scene test content by the tester;
[0025] The electronic obstacle status data sending module is used to send the status data of the electronic obstacle to the vehicle under test in real time, so that the vehicle under test responds based on the status data of the electronic obstacle.
[0026] According to a fourth aspect of the present application, a real vehicle testing device is provided, which is applied to a tested vehicle, and the device comprises:
[0027] A driving state data generating module, used to control the vehicle under test to drive in a closed scene area based on pre-built scene test content, and obtain driving state data of the vehicle under test;
[0028] A driving state data sending module, used for sending the driving state data to the scenario simulation platform in real time, so that the scenario simulation platform generates driving state data of a virtual vehicle in a test scenario of the scenario simulation platform, and the driving state data of the virtual vehicle is the same as the driving state data of the tested vehicle;
[0029] An electronic obstacle state data receiving module, used for receiving in real time the state data of the electronic obstacle sent by the scenario simulation platform, wherein the state data of the electronic obstacle is generated by the tester controlling the interaction between the electronic obstacle and the virtual vehicle based on the interaction requirements corresponding to the driving state data of the virtual vehicle in the scenario test content;
[0030] A response module is used to respond based on the status data of the electronic obstacle.
[0031] Optionally, the device further comprises:
[0032] The electronic obstacle status data display module is used to display the status data of the obstacle on the human-machine interface of the tested vehicle, so that the safety officer in the tested vehicle can judge whether the test result meets the expectations based on the status data of the electronic obstacle and the actual response of the tested vehicle.
[0033] Optionally, the response module is specifically used to calculate the driving trajectory and control speed in real time based on the position information and speed information of the electronic obstacle, and control the driving of the tested vehicle according to the driving trajectory and control speed.
[0034] According to a fifth aspect of the present application, a real vehicle testing system is provided, comprising: a scene simulation platform and a vehicle under test;
[0035] The vehicle under test is used to control the vehicle under test to travel in a closed scene area based on pre-built scene test content, obtain driving status data of the vehicle under test, and send the driving status data to the scene simulation platform in real time;
[0036] The scene simulation platform is used to obtain a high-precision map of a closed scene area, and perform digital modeling in the scene simulation platform based on the high-precision map to obtain a test scene of the scene simulation platform; based on the driving status data, generate driving status data of a virtual vehicle in the test scene of the scene simulation platform, and the driving status data of the virtual vehicle is the same as the driving status data of the vehicle under test; generate an electronic obstacle in the test scene of the scene simulation platform, and obtain status data when the electronic obstacle interacts with the virtual vehicle, and send the status data of the electronic obstacle to the vehicle under test in real time, wherein the status data of the electronic obstacle is generated by the tester controlling the interaction between the electronic obstacle and the virtual vehicle based on the interaction requirements corresponding to the driving status data of the virtual vehicle in the scene test content;
[0037] The tested vehicle is further configured to respond based on the status data of the electronic obstacle.
[0038] Optionally, the vehicle under test is also used to display the status data of the obstacle on the human-machine interface of the vehicle under test, so that the safety officer in the vehicle under test can judge whether the test result meets expectations based on the status data of the electronic obstacle and the actual response of the vehicle under test.
[0039] Optionally, the vehicle under test is specifically configured to respond based on the status data of the electronic obstacle in the following manner:
[0040] Based on the position information and speed information of the electronic obstacle, the driving trajectory and control speed are calculated in real time, and the driving of the tested vehicle is controlled according to the driving trajectory and control speed.
[0041] According to a sixth aspect of the present application, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the method described in the first aspect or the second aspect is implemented.
[0042] According to a seventh aspect of the present application, a computer program product is provided. When the computer program product is run on a computer, the computer is enabled to execute the method described in the first aspect or the second aspect.
[0043] Compared with the prior art, the technical solution provided by the embodiments of the present application has the following advantages:
[0044] The driving status data of the tested vehicle itself is sent to the scene simulation platform in real time, and the driving status data of the virtual vehicle is generated on the scene simulation platform, and electronic obstacles (such as vehicles, pedestrians, etc.) are generated. The tester can control the electronic obstacles to interact with the virtual vehicle in the scene simulation platform to generate the status data of the electronic obstacles. The scene simulation platform sends the status data of the electronic obstacles to the tested vehicle carrying out the test task in the closed scene area in real time, and the tested vehicle responds according to the status data of the electronic obstacles. Using electronic obstacles to replace real background vehicles and pedestrians during the test execution can avoid the occurrence of safety accidents and reduce test risks. During the test execution, the safety officer of the tested vehicle no longer reserves time for emergency takeover operations, and the performance of the intelligent driving system can be fully verified. Electronic obstacles can be controlled by testers in real time, and due to their virtual characteristics, the difficulty of constructing scenes is reduced compared to the real environment. BRIEF DESCRIPTION OF THE DRAWINGS
[0045] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.
[0046] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.
[0047] Figure 1 A schematic diagram of a real vehicle testing method in an embodiment of the present application;
[0048] Figure 2 A flow chart of a real vehicle testing method in an embodiment of the present application;
[0049] Figure 3 This is another flow chart of the actual vehicle testing method in the embodiment of the present application;
[0050] Figure 4 It is an interactive flow chart of the real vehicle testing method in the embodiment of the present application;
[0051] Figure 5 A schematic diagram of the structure of a real vehicle testing device in an embodiment of the present application;
[0052] Figure 6 This is another structural schematic diagram of the real vehicle testing device in the embodiment of the present application;
[0053] Figure 7 It is a structural schematic diagram of a real vehicle testing system in an embodiment of the present application. DETAILED DESCRIPTION
[0054] In order to more clearly understand the above-mentioned purposes, features and advantages of the present application, the scheme of the present application will be further described below. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.
[0055] In the following description, many specific details are set forth to facilitate a full understanding of the present application, but the present application may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only part of the embodiments of the present application, rather than all of the embodiments.
[0056] See also Figure 1 , Figure 1It is a schematic diagram of the real vehicle testing method in the embodiment of the present application, involving two environments: the scene simulation platform of the laboratory and the closed scene area. The real vehicle testing method is specifically: using the scene simulation platform to generate electronic obstacles, so that the electronic obstacles can interact with the tested vehicle in real time like the background vehicles in the real environment. Therefore, the driving state data of the tested vehicle can be transmitted to the scene simulation platform in real time for trajectory restoration, and then the tester controls the driving simulator according to the real-time trajectory of the tested vehicle to control the electronic obstacles to interact with the scene, so as to achieve the purpose of scene construction. The state data of the electronic obstacle when interacting with the virtual vehicle is sent to the tested vehicle in real time through the network, replacing the perception data of the perception module in the tested vehicle, so that the prediction, planning and control modules of the intelligent driving system can respond according to the state data of the electronic obstacles. In the embodiment of the present application, the background vehicles or pedestrians controlled by the tester in real time are replaced by the electronic obstacles that the tester can also control in real time. Because the electronic obstacles do not have real physical properties, there will be no safety accidents in the entire test link, thereby reducing the test risk and the difficulty of scene construction, and improving the adequacy of verifying the safety performance of the intelligent driving system.
[0057] See also Figure 2 , Figure 2 This is a flow chart of a real vehicle testing method in an embodiment of the present application, which is applied to a scene simulation platform and may include the following steps:
[0058] Step S202, obtaining a high-precision map of the closed scene area, and performing digital modeling in the scene simulation platform based on the high-precision map to obtain a test scene of the scene simulation platform.
[0059] Based on the high-precision map of the closed scene area, the terrain of the closed scene area is digitally restored (modeled) to establish a virtual closed test scene on the scene simulation platform, providing a venue for real-time restoration of electronic obstacles and tested vehicles on the scene simulation platform. The scene simulation platform can be, for example, VTD (Virtual TestDrive).
[0060] Step S204, receiving driving status data of the tested vehicle sent by the tested vehicle in real time, wherein the tested vehicle is controlled to drive in a closed scene area based on pre-built scene test content.
[0061] The embodiment of the present application can pre-construct the scene test content, that is, the test items for the intelligent driving system, such as pedestrian crossing scenes, forward collision scenes, running speed, distance of obstacles from the tested vehicle, etc. The safety officer turns on the intelligent driving system and drives the tested vehicle to a closed scene area. The tested vehicle can automatically drive according to the scene test content, generate the driving status data (position and speed, etc.) of the tested vehicle, and send the driving status data to the scene simulation platform in real time.
[0062] Step S206, based on the driving state data, generating driving state data of a virtual vehicle in a test scene of the scene simulation platform, wherein the driving state data of the virtual vehicle is the same as the driving state data of the tested vehicle.
[0063] After the scenario simulation platform receives the driving status data sent by the vehicle under test, a virtual vehicle is generated in the scenario simulation platform, and the running status of the virtual vehicle is synchronized with the actual vehicle under test.
[0064] Step S208, generating an electronic obstacle in the test scene of the scene simulation platform, and obtaining state data of the electronic obstacle when interacting with the virtual vehicle, wherein the state data of the electronic obstacle is generated by the tester controlling the interaction between the electronic obstacle and the virtual vehicle based on the interaction requirements corresponding to the driving state data of the virtual vehicle in the scene test content.
[0065] The tester can use the driving simulator to control the background vehicles / pedestrians virtually generated by the scenario simulation platform, and simulate the interaction between the background vehicles / pedestrians and the tested vehicle during traditional road testing according to the requirements of the scenario test content, and interact with the virtual vehicles in the scenario simulation platform to obtain the status data (position and speed, etc.) of the electronic obstacles. The background vehicles / pedestrians controlled by the tester in real time are regarded as electronic obstacles.
[0066] Step S210, sending the status data of the electronic obstacle to the vehicle under test in real time, so that the vehicle under test responds based on the status data of the electronic obstacle.
[0067] The status data of the electronic obstacle is sent to the vehicle under test in real time, replacing the perception data of the perception module in the vehicle under test. The decision-making, control and other modules in the vehicle under test can respond according to the status data of the electronic obstacle. That is, there are no obstacles around the vehicle under test that interfere with its operation in the real world, but because the status data of the electronic obstacle replaces the output data of the perception module, the decision-making, control and other modules can still perform the same behavior when encountering real obstacles. For example, the vehicle under test calculates the driving trajectory and control speed in real time based on the location information and speed information of the electronic obstacle, and controls the driving of the vehicle under test according to the driving trajectory and control speed.
[0068] Optionally, the status data of the obstacle can also be displayed on the human-machine interface of the tested vehicle, so that the safety officer in the tested vehicle can judge whether the test result meets expectations based on the status data of the electronic obstacle and the actual response of the tested vehicle.
[0069] In the real vehicle testing method of the embodiment of the present application, the tested vehicle sends its own driving status data to the scene simulation platform in real time, generates the driving status data of the virtual vehicle on the scene simulation platform, and generates electronic obstacles (such as vehicles, pedestrians, etc.). The tester can control the electronic obstacles to interact with the virtual vehicle in the scene simulation platform to generate the status data of the electronic obstacles. The scene simulation platform sends the status data of the electronic obstacles to the tested vehicle that carries out the test task in the closed scene area in real time, and the tested vehicle responds according to the status data of the electronic obstacles. Using electronic obstacles to replace real background vehicles and pedestrians during the test execution process can avoid the occurrence of safety accidents and reduce the test risk. During the test execution process, the safety officer of the tested vehicle no longer reserves the emergency takeover operation time, and the performance of the intelligent driving system can be fully verified. The electronic obstacles can be controlled by the tester in real time, and because of their virtual characteristics, the difficulty of constructing the scene is reduced compared to the real environment.
[0070] See also Figure 3 , Figure 3 This is another flow chart of the real vehicle testing method in the embodiment of the present application, which is applied to the tested vehicle and may include the following steps:
[0071] Step S302: Based on the pre-built scenario test content, the vehicle under test is controlled to travel in a closed scenario area to obtain driving status data of the vehicle under test.
[0072] Step S304, sending the driving status data to the scenario simulation platform in real time, so that the scenario simulation platform generates the driving status data of the virtual vehicle in the test scenario of the scenario simulation platform, and the driving status data of the virtual vehicle is the same as the driving status data of the tested vehicle.
[0073] Step S306, receiving in real time the state data of the electronic obstacle sent by the scene simulation platform, wherein the state data of the electronic obstacle is generated by the tester controlling the interaction between the electronic obstacle and the virtual vehicle based on the interaction requirements corresponding to the driving state data of the virtual vehicle in the scene test content.
[0074] Step S308: respond based on the status data of the electronic obstacle.
[0075] Optionally, based on the position information and speed information of the electronic obstacle, the driving trajectory and control speed are calculated in real time, and the driving of the vehicle under test is controlled according to the driving trajectory and control speed.
[0076] Optionally, the status data of the obstacle is displayed on the human-machine interface of the tested vehicle, so that the safety officer in the tested vehicle can judge whether the test result meets expectations based on the status data of the electronic obstacle and the actual response of the tested vehicle.
[0077] See also Figure 4 , Figure 4 The interactive flow chart of the real vehicle testing method in the embodiment of the present application may include the following steps:
[0078] Step S402, obtaining a high-precision map of the closed scene area, and performing digital modeling in the scene simulation platform based on the high-precision map to obtain a test scene of the scene simulation platform.
[0079] Step S404, based on the pre-built scenario test content, the vehicle under test is controlled to travel in a closed scenario area to obtain driving status data of the vehicle under test.
[0080] Step S406, sending the driving status data to the scene simulation platform in real time.
[0081] Step S408, based on the driving state data, generating driving state data of a virtual vehicle in a test scene of the scene simulation platform, wherein the driving state data of the virtual vehicle is the same as the driving state data of the tested vehicle.
[0082] Step S410, generating an electronic obstacle in the test scene of the scene simulation platform, and obtaining state data of the electronic obstacle when interacting with the virtual vehicle, wherein the state data of the electronic obstacle is generated by the tester controlling the interaction between the electronic obstacle and the virtual vehicle based on the interaction requirements corresponding to the driving state data of the virtual vehicle in the scene test content.
[0083] Step S412, sending the status data of the electronic obstacle to the tested vehicle in real time.
[0084] Step S414: respond based on the status data of the electronic obstacle.
[0085] Figure 3 and Figure 4 They are Figure 2 The corresponding flow chart and interaction flow chart of the tested vehicle side are described in detail in Figure 2 The description in the embodiments is sufficient and will not be repeated here.
[0086] It should be noted that although the steps of the method in the present application are described in a specific order in the drawings, this does not require or imply that the steps must be performed in this specific order, or that all the steps shown must be performed to achieve the desired results. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step, and / or one step may be decomposed into multiple steps, etc.
[0087] Corresponding to the above method embodiment, the present application embodiment also provides a real vehicle testing device, which is applied to the scene simulation platform, see Figure 5 The real vehicle testing device 500 includes:
[0088] The test scene construction module 502 is used to obtain a high-precision map of the closed scene area, and perform digital modeling in the scene simulation platform based on the high-precision map to obtain a test scene of the scene simulation platform;
[0089] The driving state data receiving module 504 is used to receive the driving state data of the tested vehicle sent by the tested vehicle in real time, wherein the tested vehicle controls the tested vehicle to drive in a closed scene area based on the pre-built scene test content;
[0090] A virtual driving state data generating module 506 is used to generate driving state data of a virtual vehicle in a test scene of a scene simulation platform based on the driving state data, wherein the driving state data of the virtual vehicle is the same as the driving state data of the tested vehicle;
[0091] The electronic obstacle state data acquisition module 508 is used to generate an electronic obstacle in the test scene of the scene simulation platform and obtain the state data of the electronic obstacle when interacting with the virtual vehicle, wherein the state data of the electronic obstacle is generated by the tester controlling the interaction between the electronic obstacle and the virtual vehicle based on the interaction requirements corresponding to the driving state data of the virtual vehicle in the scene test content;
[0092] The electronic obstacle status data sending module 510 is used to send the status data of the electronic obstacle to the vehicle under test in real time, so that the vehicle under test responds based on the status data of the electronic obstacle.
[0093] The present application also provides a real vehicle testing device, which is applied to the vehicle under test. Figure 6 The real vehicle testing device 600 includes:
[0094] The driving state data generating module 602 is used to control the vehicle under test to drive in a closed scene area based on the pre-built scene test content to obtain the driving state data of the vehicle under test;
[0095] The driving state data sending module 604 is used to send the driving state data to the scene simulation platform in real time, so that the scene simulation platform generates the driving state data of the virtual vehicle in the test scene of the scene simulation platform, and the driving state data of the virtual vehicle is the same as the driving state data of the tested vehicle;
[0096] The electronic obstacle state data receiving module 606 is used to receive the state data of the electronic obstacle sent by the scene simulation platform in real time, wherein the state data of the electronic obstacle is generated by the tester controlling the interaction between the electronic obstacle and the virtual vehicle based on the interaction requirements corresponding to the driving state data of the virtual vehicle in the scene test content;
[0097] The response module 608 is used to respond based on the status data of the electronic obstacle.
[0098] Optionally, the real vehicle testing device 600 further includes:
[0099] The electronic obstacle status data display module is used to display the obstacle status data on the human-machine interface of the tested vehicle, so that the safety officer in the tested vehicle can judge whether the test result meets the expectations based on the electronic obstacle status data and the actual response of the tested vehicle.
[0100] Optionally, the response module 608 is specifically used to calculate the driving trajectory and control speed in real time based on the position information and speed information of the electronic obstacle, and control the driving of the vehicle under test according to the driving trajectory and control speed.
[0101] The specific details of each module or unit in the above device have been described in detail in the corresponding method, so they will not be repeated here.
[0102] The present application also provides a real vehicle testing system. Figure 7 , the real vehicle testing system 700 includes: a scene simulation platform 702 and a tested vehicle 704;
[0103] The tested vehicle 704 is used to control the tested vehicle to travel in a closed scene area based on the pre-built scene test content, obtain the driving state data of the tested vehicle, and send the driving state data to the scene simulation platform in real time;
[0104] The scene simulation platform 702 is used to obtain a high-precision map of the closed scene area, and perform digital modeling in the scene simulation platform based on the high-precision map to obtain a test scene of the scene simulation platform; based on the driving state data, generate driving state data of a virtual vehicle in the test scene of the scene simulation platform, and the driving state data of the virtual vehicle is the same as the driving state data of the vehicle under test; generate an electronic obstacle in the test scene of the scene simulation platform, and obtain the state data of the electronic obstacle when interacting with the virtual vehicle, and send the state data of the electronic obstacle to the vehicle under test in real time, wherein the state data of the electronic obstacle is generated by the tester controlling the interaction between the electronic obstacle and the virtual vehicle based on the interaction requirements corresponding to the driving state data of the virtual vehicle in the scene test content;
[0105] The tested vehicle 704 is also used to respond based on the status data of the electronic obstacle.
[0106] Optionally, the tested vehicle 704 is also used to display the status data of the obstacle on the human-machine interface of the tested vehicle, so that the safety officer in the tested vehicle can judge whether the test result meets expectations based on the status data of the electronic obstacle and the actual response of the tested vehicle.
[0107] Optionally, the tested vehicle 704 is specifically configured to respond based on the status data of the electronic obstacle in the following manner:
[0108] Based on the position information and speed information of the electronic obstacle, the driving trajectory and control speed are calculated in real time, and the driving of the tested vehicle is controlled according to the driving trajectory and control speed.
[0109] The specific details of each device in the above system have been described in detail in the corresponding method, so they will not be repeated here.
[0110] It should be noted that, although several modules or units of the equipment for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiments of the present application, the features and functions of two or more modules or units described above can be embodied in one module or unit. On the contrary, the features and functions of one module or unit described above can be further divided into being embodied by multiple modules or units.
[0111] An embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the above-mentioned real vehicle testing method is implemented.
[0112] It should be noted that the computer-readable storage medium shown in the present application may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory, a read-only memory, an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, optical cable, radio frequency, etc., or any suitable combination of the above.
[0113] In an embodiment of the present application, a computer program product is also provided. When the computer program product runs on a computer, the computer executes the above-mentioned real vehicle testing method.
[0114] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.
[0115] The above description is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments described herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.
Claims
1. A real vehicle testing method, characterized in that: Applied to a scene simulation platform, the method comprises: Obtain a high-precision map of the closed scene area, and perform digital modeling in the scene simulation platform based on the high-precision map to obtain a test scene of the scene simulation platform; Receiving driving status data of the tested vehicle sent by the tested vehicle in real time, wherein the tested vehicle controls the tested vehicle to travel in the closed scene area based on pre-built scene test content; Based on the driving state data, generating driving state data of a virtual vehicle in a test scene of the scene simulation platform, the driving state data of the virtual vehicle being the same as the driving state data of the vehicle under test; Generate an electronic obstacle in the test scene of the scene simulation platform, and obtain state data of the electronic obstacle when interacting with the virtual vehicle, wherein the state data of the electronic obstacle is generated by controlling the interaction between the electronic obstacle and the virtual vehicle based on the interaction requirements corresponding to the driving state data of the virtual vehicle in the scene test content by the tester; The state data of the electronic obstacle is sent to the vehicle under test in real time, so that the vehicle under test responds based on the state data of the electronic obstacle.
2. A real vehicle testing method, characterized in that: Applied to the vehicle under test, the method comprises: Controlling the vehicle under test to drive in a closed scene area based on pre-built scene test content to obtain driving status data of the vehicle under test; Sending the driving state data to the scenario simulation platform in real time, so that the scenario simulation platform generates the driving state data of the virtual vehicle in the test scenario of the scenario simulation platform, and the driving state data of the virtual vehicle is the same as the driving state data of the tested vehicle; receiving in real time the state data of the electronic obstacle sent by the scenario simulation platform, wherein the state data of the electronic obstacle is generated by the tester controlling the interaction between the electronic obstacle and the virtual vehicle based on the interaction requirements corresponding to the driving state data of the virtual vehicle in the scenario test content; Responding based on the status data of the electronic obstacle.
3. The method according to claim 2, characterized in that The method further comprises: The status data of the obstacle is displayed on the human-machine interface of the tested vehicle, so that the safety officer in the tested vehicle can judge whether the test result meets expectations based on the status data of the electronic obstacle and the actual response of the tested vehicle.
4. The method according to claim 2, characterized in that The responding based on the status data of the electronic obstacle includes: Based on the position information and speed information of the electronic obstacle, the driving trajectory and control speed are calculated in real time, and the driving of the tested vehicle is controlled according to the driving trajectory and control speed.
5. A real vehicle testing device, characterized in that: Applied to a scene simulation platform, the device comprises: A test scene construction module is used to obtain a high-precision map of a closed scene area, and perform digital modeling in a scene simulation platform based on the high-precision map to obtain a test scene of the scene simulation platform; A driving status data receiving module, used for receiving driving status data of the tested vehicle sent by the tested vehicle in real time, wherein the tested vehicle controls the tested vehicle to travel in the closed scene area based on pre-built scene test content; A virtual driving state data generating module, used to generate driving state data of a virtual vehicle in a test scene of the scene simulation platform based on the driving state data, wherein the driving state data of the virtual vehicle is the same as the driving state data of the tested vehicle; An electronic obstacle state data acquisition module, used to generate an electronic obstacle in the test scene of the scene simulation platform, and acquire state data when the electronic obstacle interacts with the virtual vehicle, wherein the state data of the electronic obstacle is generated by controlling the interaction between the electronic obstacle and the virtual vehicle based on the interaction requirements corresponding to the driving state data of the virtual vehicle in the scene test content by the tester; The electronic obstacle status data sending module is used to send the status data of the electronic obstacle to the vehicle under test in real time, so that the vehicle under test responds based on the status data of the electronic obstacle.
6. A real vehicle testing device, characterized in that: Applied to the vehicle under test, the device comprises: A driving state data generating module is used to control the vehicle under test to drive in a closed scene area based on pre-built scene test content to obtain driving state data of the vehicle under test; A driving state data sending module, used for sending the driving state data to the scenario simulation platform in real time, so that the scenario simulation platform generates driving state data of a virtual vehicle in a test scenario of the scenario simulation platform, and the driving state data of the virtual vehicle is the same as the driving state data of the tested vehicle; An electronic obstacle state data receiving module, used for receiving in real time the state data of the electronic obstacle sent by the scenario simulation platform, wherein the state data of the electronic obstacle is generated by the tester controlling the interaction between the electronic obstacle and the virtual vehicle based on the interaction requirements corresponding to the driving state data of the virtual vehicle in the scenario test content; A response module is used to respond based on the status data of the electronic obstacle.
7. The device according to claim 6, characterized in that The device also includes: The electronic obstacle status data display module is used to display the status data of the obstacle on the human-machine interface of the tested vehicle, so that the safety officer in the tested vehicle can judge whether the test result meets the expectations based on the status data of the electronic obstacle and the actual response of the tested vehicle.
8. The device according to claim 6, characterized in that The response module is specifically used to calculate the driving trajectory and control speed in real time based on the position information and speed information of the electronic obstacle, and control the driving of the tested vehicle according to the driving trajectory and control speed.
9. A real vehicle testing system, characterized in that: include: Scenario simulation platform and tested vehicle; The vehicle under test is used to control the vehicle under test to travel in a closed scene area based on pre-built scene test content, obtain driving status data of the vehicle under test, and send the driving status data to the scene simulation platform in real time; The scene simulation platform is used to obtain a high-precision map of a closed scene area, and perform digital modeling in the scene simulation platform based on the high-precision map to obtain a test scene of the scene simulation platform; based on the driving status data, generate driving status data of a virtual vehicle in the test scene of the scene simulation platform, and the driving status data of the virtual vehicle is the same as the driving status data of the vehicle under test; generate an electronic obstacle in the test scene of the scene simulation platform, and obtain status data when the electronic obstacle interacts with the virtual vehicle, and send the status data of the electronic obstacle to the vehicle under test in real time, wherein the status data of the electronic obstacle is generated by the tester controlling the interaction between the electronic obstacle and the virtual vehicle based on the interaction requirements corresponding to the driving status data of the virtual vehicle in the scene test content; The tested vehicle is further configured to respond based on the status data of the electronic obstacle.
10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to claim 1 or any one of claims 2 to 4 is implemented.