Debugging method, device, equipment and storage medium

Abstract

The present invention discloses a debugging method, apparatus, device, and storage medium, belonging to the field of autonomous driving technology. The method comprises: obtaining recorded information of a target vehicle, wherein the recorded information is obtained by recording debugging information during the debugging process of the target vehicle; wherein the debugging information includes vehicle chassis information, and interaction information between the lateral and longitudinal control modules and other modules in the vehicle's autonomous driving system; and performing parameter debugging on the lateral and longitudinal control modules based on the recorded information. Through the above technical solution, real-time data related to the lateral and longitudinal control modules can be recorded for subsequent development and cause analysis, thereby improving test efficiency and providing a new approach to vehicle testing.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of autonomous driving technology, and in particular to a debugging method, apparatus, device, and storage medium. Background Art

[0002] With the comprehensive upgrade of the automotive industry ecosystem, intelligent connected vehicles have become a cross-industry and cross-domain industry. Integrating multiple key technologies, its development will promote the research and development, innovation, application, and industrialization of related technologies, promote deep cross-industry integration, and promote the construction of a new industrial ecosystem. Control module debugging involves interaction with the vehicle's drive-by-wire chassis. The debugging environment is volatile, and there are situations where problems encountered during testing cannot be reproduced. Accurately recording real-time data from other modules that interact with the lateral and longitudinal control modules (vehicle steering control and drive and braking control modules), as well as the vehicle's operating environment, and maintaining stable and uniform operating conditions during the parameter adjustment process are important challenges that need to be solved. Summary of the Invention

[0003] The present invention provides a debugging method, device, equipment and storage medium to record real-time data during the debugging process and ensure uniform working conditions during the parameter adjustment process.

[0004] In a first aspect, an embodiment of the present invention provides a debugging method, the method comprising:

[0005] Obtaining recorded information of a target vehicle, the recorded information being obtained by recording debugging information during the debugging process of the target vehicle; wherein the debugging information includes vehicle chassis information and interaction information between a lateral and longitudinal control module and other modules in the vehicle's automatic driving system;

[0006] Parameter debugging is performed on the horizontal and vertical control modules according to the recording information.

[0007] In a second aspect, an embodiment of the present invention further provides a debugging device, the device comprising:

[0008] A recording information acquisition module is used to obtain recording information of the target vehicle, wherein the recording information is obtained by recording debugging information during the debugging process of the target vehicle; wherein the debugging information includes vehicle chassis information and interaction information between the lateral and longitudinal control modules and other modules in the vehicle's automatic driving system;

[0009] The debugging module is used to debug the parameters of the horizontal and vertical control modules according to the recording information.

[0010] In a third aspect, an embodiment of the present invention further provides an electronic device, the electronic device comprising:

[0011] one or more processors;

[0012] a memory for storing one or more programs;

[0013] When the one or more programs are executed by the one or more processors, the one or more processors implement the debugging method provided by any embodiment of the present invention.

[0014] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the debugging method provided by any embodiment of the present invention.

[0015] The technical solution of an embodiment of the present invention obtains recorded information from a target vehicle, obtained by recording debugging information during the target vehicle's debugging process. This debugging information includes vehicle chassis information and interaction information between the lateral and longitudinal control modules and other modules in the vehicle's autonomous driving system. Parameters of the lateral and longitudinal control modules are then debugged based on the recorded information. This technical solution can record real-time data related to the lateral and longitudinal control modules for subsequent development and analysis, improving testing efficiency and providing a new approach to vehicle testing. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a flowchart of a debugging method provided by Example 1 of the present invention;

[0017] Figure 2 This is a flowchart of a debugging method provided by Embodiment 2 of the present invention;

[0018] Figure 3 This is a schematic diagram of the structure of a debugging device provided in Embodiment 3 of the present invention;

[0019] Figure 4 This is a structural diagram of an electronic device provided in Example 4 of the present invention. DETAILED DESCRIPTION

[0020] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It will be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all structures.

[0021] Example 1

[0022] Figure 1This is a flowchart of a debugging method provided in Example 1 of the present invention. This embodiment is applicable to vehicle debugging, particularly debugging control modules in autonomous driving systems. The method can be performed by a debugging device, which can be implemented in software and / or hardware and integrated into an electronic device that carries debugging functionality, such as a debugging system in a mobile terminal (tablet).

[0023] First of all, it should be noted that the autonomous driving system and the vehicle exchange information through the Controller Area Network (CAN) communication device; the mobile terminal can control the CAN communication device, for example, it can cut off the communication between the vehicle and the autonomous driving system; the mobile terminal can interact with the video acquisition device, where the video acquisition device is used to collect information about the scene in which the vehicle is located.

[0024] like Figure 1 As shown, the method may specifically include:

[0025] S110 , obtaining recorded information of the target vehicle, where the recorded information is obtained by recording debugging information during the debugging process of the target vehicle.

[0026] In this embodiment, the debugging information includes vehicle chassis information and information about interactions between the lateral and longitudinal control modules and other modules in the vehicle's autonomous driving system. The vehicle chassis information may include transmission system information, such as the clutch, transmission, universal joint, drive shaft, and drive axle; running system information, such as the frame, axle, suspension, and wheels; steering system information, such as the steering wheel, steering gear, knuckle, knuckle arm, tie rod, and pull rod; and braking system information, such as hydraulic or pneumatic braking information.

[0027] The so-called interactive information refers to the information of interaction between the lateral and longitudinal control modules and other modules (such as the path planning module, positioning module and CAN drive module, etc.) in the vehicle's automatic driving system.

[0028] The so-called target vehicle refers to the vehicle that needs to be debugged for the control module parameters.

[0029] In this embodiment, the debugging information of the target vehicle during the debugging process is first recorded to obtain the recorded information, and then the recorded information can be stored locally. Furthermore, the recorded information can be uploaded to the cloud for storage.

[0030] Accordingly, the recorded information can include vehicle chassis information and information about interactions between the lateral and longitudinal control modules and other modules within the vehicle's autonomous driving system. Furthermore, to ensure the accuracy of control module parameter debugging, the recorded information can also include the vehicle's current scene information; this scene information is captured via video capture equipment. Recording the target vehicle's external operating conditions, i.e., the scene information, provides a scene marker for subsequent parameter debugging of the lateral and longitudinal control modules.

[0031] In this embodiment, when it is necessary to debug the parameters of the horizontal and vertical control modules, the recording information can be obtained locally or from the cloud.

[0032] S120: Debug parameters of the horizontal and vertical control modules according to the recorded information.

[0033] In this embodiment, the lateral and longitudinal control modules refer to the control modules within the autonomous driving system, primarily including the vehicle steering (lateral) control and the drive and braking (longitudinal) control modules. Lateral control refers to vehicle steering control, which aims to achieve trajectory tracking. Longitudinal control primarily coordinates the throttle and brakes to achieve acceleration and deceleration control during driving, thereby accurately tracking the desired speed. The control modules include corresponding control algorithms, such as the PID proportional-integral-derivative control algorithm and the MPC model predictive control algorithm, which are used to estimate the vehicle's trajectory and desired speed.

[0034] In this embodiment, the recorded information is sent to the lateral and longitudinal control modules, simulating the vehicle sending vehicle chassis information to the lateral and longitudinal control modules, and simulating other modules in the automatic driving system sending interactive information to the lateral and longitudinal control modules; accordingly, the lateral and longitudinal control modules receive the recorded information and reproduce the actual debugging process to debug the relevant parameters in the lateral and longitudinal control modules.

[0035] The technical solution of an embodiment of the present invention obtains recorded information from a target vehicle, obtained by recording debugging information during the target vehicle's debugging process. This debugging information includes vehicle chassis information and interaction information between the lateral and longitudinal control modules and other modules in the vehicle's autonomous driving system. Parameters of the lateral and longitudinal control modules are then debugged based on the recorded information. This technical solution can record real-time data related to the lateral and longitudinal control modules for subsequent development and analysis, improving testing efficiency and providing a new approach to vehicle testing.

[0036] Based on the above embodiments, since the formats of the interactive information between the lateral and longitudinal control modules and other modules in the autonomous vehicle system vary, as an optional approach in the embodiments of the present invention, the formats of the interactive information between the lateral and longitudinal control modules and other modules in the autonomous vehicle system can also be standardized. Specifically, the interactive information between the lateral and longitudinal control modules and other modules in the autonomous vehicle system is processed using the same format to obtain a unified format.

[0037] It is understandable that by standardizing the format of the interaction, the storage of the recorded information can be facilitated.

[0038] Example 2

[0039] Figure 2 This is a flowchart of a debugging method provided in Example 2 of the present invention. Based on the above embodiment, "adjusting parameters of the horizontal and vertical control modules according to recording information" is further optimized to provide an optional implementation plan.

[0040] like Figure 2 As shown, the method may specifically include:

[0041] S210: Acquire recorded information of the target vehicle, where the recorded information is obtained by recording debugging information during the debugging process of the target vehicle.

[0042] In this embodiment, a timestamp can be set when recording debugging information. For example, if a start recording instruction is recognized, a start timestamp is generated, and the debugging information during the debugging process is recorded; if a stop recording instruction is recognized, an end timestamp is generated, the recording of the debugging information is stopped, and the recorded information is saved to obtain the recorded information.

[0043] S220 , controlling the horizontal and vertical control modules to generate virtual control results according to the recorded information.

[0044] Among them, the virtual control result refers to the virtual control result generated by the lateral and longitudinal control modules during the parameter adjustment process, which at least includes the expected vehicle speed and trajectory.

[0045] Optionally, communication between the target vehicle and the autonomous driving system is disconnected, and the lateral and longitudinal control modules are controlled to generate virtual control results based on the recorded information. Specifically, a communication interruption command is sent to a CAN communication device to disconnect communication between the target vehicle and the autonomous driving system, that is, to disconnect the vehicle chassis information sent by the target vehicle to the autonomous driving system; and then the lateral and longitudinal control modules are controlled to generate virtual control results based on the recorded information.

[0046] Optionally, the recording information may be sent to the horizontal and vertical control modules based on the start and end timestamps; the horizontal and vertical control modules may be controlled to generate virtual control results based on the recording information. Specifically, the recording information may be sent to the horizontal and vertical control modules along the same time axis based on the start and end timestamps; the horizontal and vertical control modules may then be controlled to generate virtual control results based on the recording information.

[0047] S230 : Adjust parameters of the transverse and longitudinal control modules according to the virtual control results.

[0048] In this embodiment, dynamic parameter adjustments of the transverse and longitudinal control modules may be performed multiple times according to the trajectory to obtain adapted transverse and longitudinal control module parameters.

[0049] For example, the dynamic parameters of the lateral and longitudinal control modules may be adjusted multiple times according to the expected vehicle speed to obtain adapted lateral and longitudinal control module parameters.

[0050] The technical solution of the embodiments of the present invention obtains recorded information from the target vehicle during the debugging process. This recorded information is then used to control the lateral and longitudinal control modules to generate virtual control results based on the recorded information. Based on the virtual control results, the parameters of the lateral and longitudinal control modules are adjusted. This technical solution can record real-time data related to the lateral and longitudinal control modules for subsequent development and analysis, improving testing efficiency and providing a new approach to vehicle testing.

[0051] Example 3

[0052] Figure 3 This is a schematic diagram of the structure of a debugging device provided in Example 3 of the present invention. This embodiment is applicable to vehicle debugging, particularly debugging control modules in autonomous driving systems. The device can be implemented using software and / or hardware and can be integrated into electronic devices that carry debugging functions, such as mobile terminals (tablets).

[0053] like Figure 3 As shown, the device may specifically include:

[0054] The recording information acquisition module 310 is used to obtain the recording information of the target vehicle. The recording information is obtained by recording the debugging information during the debugging process of the target vehicle; wherein the debugging information includes vehicle chassis information, and the interaction information between the lateral and longitudinal control modules and other modules in the vehicle automatic driving system.

[0055] The debugging module 320 is used to debug parameters of the horizontal and vertical control modules according to the recording information.

[0056] The technical solution of an embodiment of the present invention obtains recorded information from a target vehicle, obtained by recording debugging information during the target vehicle's debugging process. This debugging information includes vehicle chassis information and interaction information between the lateral and longitudinal control modules and other modules in the vehicle's autonomous driving system. Parameters of the lateral and longitudinal control modules are then debugged based on the recorded information. This technical solution can record real-time data related to the lateral and longitudinal control modules for subsequent development and analysis, improving testing efficiency and providing a new approach to vehicle testing.

[0057] Furthermore, the debugging module 320 includes:

[0058] A control unit, used to control the horizontal and vertical control modules to generate virtual control results according to the recorded information;

[0059] The debugging unit is used to adjust the parameters of the transverse and longitudinal control modules according to the virtual control results.

[0060] Furthermore, the control unit is specifically configured to:

[0061] Disconnecting communications between the target vehicle and the vehicle's autonomous driving system;

[0062] The horizontal and vertical control modules generate virtual control results according to the recorded information.

[0063] Furthermore, the control unit is further specifically configured to:

[0064] According to the start timestamp and end timestamp, the recording information is sent to the horizontal and vertical control module;

[0065] The horizontal and vertical control modules generate virtual control results according to the recorded information.

[0066] Furthermore, the virtual control result includes at least a desired vehicle speed and trajectory.

[0067] Furthermore, the recording information also includes scene information of the vehicle; wherein, the scene information of the vehicle is obtained through a video acquisition device.

[0068] Furthermore, the device also includes:

[0069] The standardization module is used to standardize the format of the interaction information between the lateral and longitudinal control modules and other modules in the vehicle's automatic driving system.

[0070] The above-mentioned debugging device can execute the debugging method provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0071] Example 4

[0072] Figure 4is a structural diagram of an electronic device provided by a fourth embodiment of the present invention. Figure 4 A block diagram is shown of an exemplary apparatus suitable for implementing exemplary embodiments of the present invention. Figure 4 The device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0073] like Figure 4 As shown, electronic device 12 is implemented as a general-purpose computing device. Components of electronic device 12 may include, but are not limited to, one or more processors or processing units 16, system memory 28, and a bus 18 that connects various system components (including system memory 28 and processing unit 16).

[0074] Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures. Examples of these architectures include, but are not limited to, an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MAC) bus, an Enhanced ISA bus, a Video Electronics Standards Association (VESA) local bus, and a Peripheral Component Interconnect (PCI) bus.

[0075] The electronic device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the electronic device 12, including volatile and non-volatile media, removable and non-removable media.

[0076] The system memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory (cache 32). The electronic device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system 34 may be configured to read and write non-removable, non-volatile magnetic media ( Figure 4 Not shown, often called a "hard drive"). Although Figure 4 Not shown, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk"), and an optical drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to the bus 18 via one or more data media interfaces. The system memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of various embodiments of the present invention.

[0077] A program / utility 40 having a set (at least one) of program modules 42 may be stored, for example, in system memory 28. Such program modules 42 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data, each of which, or some combination thereof, may include an implementation of a network environment. Program modules 42 generally perform the functions and / or methods described in the embodiments of the present invention.

[0078] The electronic device 12 can also communicate with one or more external devices 14 (e.g., a keyboard, pointing device, display 24, etc.), one or more devices that enable a user to interact with the electronic device 12, and / or any device that enables the electronic device 12 to communicate with one or more other computing devices (e.g., a network card, a modem, etc.). Such communication can occur via an input / output (I / O) interface 22. Furthermore, the electronic device 12 can communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network such as the Internet) via a network adapter 20. As shown, the network adapter 20 communicates with other modules of the electronic device 12 via a bus 18. It should be understood that, although not shown, other hardware and / or software modules can be used in conjunction with the electronic device 12, including but not limited to microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0079] The processing unit 16 executes various functional applications and data processing by running programs stored in the system memory 28, such as implementing the debugging method provided in the embodiment of the present invention.

[0080] Example 5

[0081] Embodiment 5 of the present invention further provides a computer-readable storage medium having a computer program (or computer-executable instructions) stored thereon. When the program is executed by a processor, the debugging method provided in the embodiment of the present invention is executed. The method includes:

[0082] Obtaining recorded information of the target vehicle, where the recorded information is obtained by recording debugging information during the debugging process of the target vehicle; wherein the debugging information includes vehicle chassis information and interaction information between the lateral and longitudinal control modules and other modules in the vehicle's automatic driving system;

[0083] According to the recorded information, the parameters of the horizontal and vertical control modules are debugged.

[0084] The computer storage medium of the embodiment of the present invention can adopt any combination of one or more computer-readable media. Computer-readable media can be computer-readable signal media or computer-readable storage media. Computer-readable storage media can be, for example, but not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or components, or any combination thereof. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), 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 thereof. In this document, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by an instruction execution system, device or device or used in combination with it.

[0085] A computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0086] Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0087] The computer program code for performing the operations of the embodiments of the present invention can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (e.g., using an Internet service provider to connect via the Internet).

[0088] Note that the above are only preferred embodiments of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the embodiments of the present invention have been described in more detail through the above embodiments, the embodiments of the present invention are not limited to the above embodiments. Without departing from the concept of the present invention, more other equivalent embodiments may be included, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A debugging method, characterized in that: include: Obtaining recorded information of a target vehicle, the recorded information being obtained by recording debugging information during the debugging process of the target vehicle; wherein the debugging information includes vehicle chassis information and interaction information between a lateral and longitudinal control module and other modules in the vehicle's automatic driving system; Controlling the horizontal and vertical control modules to generate virtual control results according to the recording information includes: disconnecting communication between the target vehicle and the vehicle's autonomous driving system; Controlling the horizontal and vertical control modules to generate virtual control results according to the recording information; According to the virtual control result, parameters of the transverse and longitudinal control modules are adjusted.

2. The method according to claim 1, characterized in that The controlling the horizontal and vertical control module to generate a virtual control result according to the recording information includes: Sending the recording information to the horizontal and vertical control module according to the start timestamp and the end timestamp; The horizontal and vertical control modules are controlled to generate virtual control results according to the recording information.

3. The method according to claim 1 or 2, characterized in that The virtual control result includes at least the expected vehicle speed and trajectory.

4. The method according to any one of claims 1 to 3, characterized in that The recorded information also includes scene information of the vehicle; wherein, the scene information of the vehicle is obtained through a video acquisition device.

5. The method according to claim 1, wherein Also includes: The format of the interactive information between the lateral and longitudinal control modules and other modules in the vehicle automatic driving system is standardized.

6. A debugging device, characterized in that: include: A recording information acquisition module is used to obtain recording information of the target vehicle, wherein the recording information is obtained by recording debugging information during the debugging process of the target vehicle; wherein the debugging information includes vehicle chassis information and interaction information between the lateral and longitudinal control modules and other modules in the vehicle's automatic driving system; Debug modules, including: A control unit, configured to control the horizontal and vertical control modules to generate virtual control results according to the recording information, comprising: disconnecting communication between the target vehicle and the vehicle's autonomous driving system; Controlling the horizontal and vertical control modules to generate virtual control results according to the recording information; A debugging unit is used to adjust parameters of the transverse and longitudinal control modules according to the virtual control results.

7. An electronic device, characterized in that: include: one or more processors; a memory for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the debugging method according to any one of claims 1 to 5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the debugging method according to any one of claims 1 to 5 is implemented.

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