A test method, device, equipment and storage medium for unmanned equipment

Abstract

This specification discloses a method, device, equipment and storage medium for testing unmanned equipment. This method determines the supplementary data corresponding to the target event according to the state of the sample unmanned equipment at the start and end times of the specified time period, thereby determining the test data corresponding to the target event according to the actual driving data and the supplementary data, and controls the unmanned equipment under test to drive in a real environment according to the test data corresponding to the target event, thereby achieving the purpose of testing the unmanned equipment under test. This method determines the supplementary data based on the actual driving data, and determines the test data according to the supplementary data. By controlling the unmanned equipment under test to drive in a real environment according to the test data, the unmanned driving performance of the unmanned equipment under test in a real environment is tested. By using the real environment as the test scene and using the actual unmanned equipment under test for testing, the authenticity and reliability of the test results are improved.

Description

Technical Field

[0001] The present invention relates to the field of unmanned driving technology, and in particular to a testing method, device, equipment and storage medium for unmanned equipment. Background Art

[0002] Unmanned equipment has been widely used in many fields such as national defense and national economy. With the continuous improvement of science and technology, unmanned equipment will be further developed, bringing more convenience to people's lives. Unmanned equipment can sense the road environment through sensors and use unmanned driving algorithms to process the perceived road environment information, so as to automatically plan the route and reach the predetermined target. In order to ensure the safety of unmanned equipment, a large number of tests need to be carried out on unmanned equipment so as to verify the safety of unmanned driving technology based on the test results.

[0003] In the prior art, a virtual simulation scene is usually constructed artificially, and a simulation model of an unmanned device is used to perform simulation in the virtual scene to achieve the purpose of testing the unmanned driving technology.

[0004] However, due to the complexity of the actual scene, the artificially constructed virtual scene cannot fully reflect the situation of the real scene. Moreover, the simulation model of the unmanned equipment is too idealized and cannot fully simulate the real performance of the unmanned equipment. Therefore, using the simulated unmanned equipment model for simulation testing in the virtual scene will reduce the authenticity and reliability of the test results. Summary of the invention

[0005] This specification provides a test method, device, equipment and storage medium for unmanned equipment to partially solve the above-mentioned problems existing in the prior art.

[0006] This manual adopts the following technical solutions:

[0007] This manual provides a test method for unmanned equipment, including:

[0008] Acquire the actual driving data of the sample unmanned equipment within the specified time period when the target event occurs as the actual driving data corresponding to the target event;

[0009] Determining the state of the sample unmanned equipment at the start and end times of the specified time period according to the actual driving data;

[0010] Determining, according to the state, supplementary data corresponding to the target event;

[0011] Determining test data corresponding to the target event according to the actual driving data and the supplementary data;

[0012] According to the test data corresponding to the target event, the unmanned equipment under test is controlled to travel in a real environment to test the unmanned equipment under test.

[0013] Optionally, actual driving data of the sample unmanned equipment within a specified period of time when the target event occurs is obtained, specifically including:

[0014] Determine a time period including the start and end times of the target event as the designated time period for the target event to occur;

[0015] The actual driving data of the sample unmanned equipment within the specified time period is obtained.

[0016] Optionally, determining the supplementary data corresponding to the target event specifically includes:

[0017] Determine the state of the sample unmanned equipment at the start time of the specified time period as the starting state, and determine the first supplementary data corresponding to the target event in the time period from the preset specified state to the starting state of the unmanned equipment under test according to the starting state; and / or

[0018] Determine the state of the sample unmanned equipment at the end of the specified time period as the end state, and determine the second supplementary data corresponding to the target event in the time period from the end state to the preset specified state of the unmanned equipment under test based on the end state.

[0019] Optionally, when the supplementary data includes the first supplementary data, determining the test data corresponding to the target event according to the actual driving data and the supplementary data specifically includes:

[0020] According to the order of the first supplementary data corresponding to the target event and the actual driving data corresponding to the target event, the first supplementary data corresponding to the target event and the actual driving data corresponding to the target event are concatenated as the test data corresponding to the target event;

[0021] and / or

[0022] When the supplementary data includes the second supplementary data, determining the test data corresponding to the target event according to the actual driving data and the supplementary data specifically includes:

[0023] In the order of actual driving data corresponding to the target event and second supplementary data corresponding to the target event, the actual driving data corresponding to the target event and the second supplementary data corresponding to the target event are spliced ​​as test data corresponding to the target event.

[0024] Optionally, determining the test data corresponding to the target event according to the actual driving data and the supplementary data specifically includes:

[0025] If the states of the sample unmanned equipment at the start and end times of the specified time period are the same as the preset specified states, the actual driving data corresponding to the target event is determined as the test data corresponding to the target event;

[0026] If at least one of the states of the sample unmanned equipment at the start time and the end time of the specified time period is different from the specified state, the test data corresponding to the target event is determined according to the actual driving data and the supplementary data.

[0027] Optionally, according to the test data corresponding to the target event, controlling the unmanned equipment under test to travel in a real environment specifically includes:

[0028] Obtain test data corresponding to several target events;

[0029] According to the states of the start and end times of the test data corresponding to each target event, the time of the same state is determined as the target time; and the test data corresponding to each target event including the target time is spliced;

[0030] Based on the spliced ​​test data, the unmanned equipment under test is controlled to drive in a real environment.

[0031] Optionally, according to the spliced ​​test data, the unmanned equipment under test is controlled to travel in a real environment, specifically including:

[0032] Replay the spliced ​​test data to obtain the results output by each module to be tested of the unmanned equipment under test according to the replayed test data; each module to be tested includes at least one of a prediction module, a planning module, and a control module;

[0033] According to the output results of each module under test of the unmanned equipment under test, the unmanned equipment under test is controlled to travel in a real environment.

[0034] Optionally, the spliced ​​test data is replayed to obtain the results output by each module to be tested of the unmanned equipment under test according to the replayed test data, specifically including:

[0035] Using the result output by the upstream module of the module to be tested of the unmanned device under test according to the replayed test data as the designated data; changing the configuration file of the module to be tested of the unmanned device under test, wherein the data input to the module to be tested configured in the configuration file is changed to the designated data;

[0036] The spliced ​​test data is replayed to obtain the output result of the module to be tested according to the specified data after the configuration file is changed.

[0037] Optionally, after replaying the spliced ​​test data to obtain the results output by each module to be tested of the unmanned equipment under test according to the replayed test data, the method further includes:

[0038] Adjusting the parameters of each module to be tested according to the result of each module to be tested output according to the test data played back;

[0039] The modules to be tested of the unmanned equipment under test are updated to the modules to be tested after the parameters are adjusted.

[0040] Optionally, controlling the unmanned equipment under test to travel in a real environment includes:

[0041] When the spliced ​​test data includes the first supplementary data, the first supplementary data is played back to obtain a first control quantity sequence output by the control module of the unmanned equipment according to the played back first supplementary data;

[0042] According to the first control quantity sequence output by the control module of the unmanned device under test, the unmanned device under test is controlled from a preset designated state to the starting state;

[0043] When the spliced ​​test data includes second supplementary data, the second supplementary data is played back to obtain a second control quantity sequence output by the control module of the unmanned equipment according to the played back second supplementary data;

[0044] According to a second control quantity sequence output by a control module of the unmanned device under test, controlling the unmanned device under test from the termination state to a preset designated state;

[0045] The state of the unmanned equipment under test includes at least one of the position, speed and acceleration of the unmanned equipment under test at the moment when the unmanned equipment under test is in the state.

[0046] This specification provides a test device for unmanned equipment, including:

[0047] An acquisition module is used to acquire actual driving data of the sample unmanned equipment within a specified period of time when the target event occurs, as actual driving data corresponding to the target event;

[0048] A state determination module, used to determine the state of the sample unmanned equipment at the start and end times of the specified time period according to the actual driving data;

[0049] A supplementary data determination module, used to determine the supplementary data corresponding to the target event according to the state;

[0050] A test data determination module, used to determine the test data corresponding to the target event according to the actual driving data and the supplementary data;

[0051] The test module is used to control the unmanned equipment under test to travel in a real environment according to the test data corresponding to the target event, so as to test the unmanned equipment under test.

[0052] This specification provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the above-mentioned unmanned equipment testing method is implemented.

[0053] This specification provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-mentioned unmanned equipment testing method when executing the program.

[0054] At least one of the above technical solutions adopted in this specification can achieve the following beneficial effects:

[0055] This method determines the supplementary data corresponding to the target event based on the state of the sample unmanned equipment at the start and end times of the specified time period, thereby determining the test data corresponding to the target event based on the actual driving data and the supplementary data, and controls the unmanned equipment under test to drive in a real environment based on the test data corresponding to the target event, thereby achieving the purpose of testing the unmanned equipment under test. This method determines the supplementary data based on the actual driving data, and determines the test data based on the supplementary data, and controls the unmanned equipment under test to drive in a real environment based on the test data to test the unmanned driving performance of the unmanned equipment under test in a real environment. By using the real environment as the test scene and using the actual unmanned equipment under test for testing, the authenticity and reliability of the test results are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] The drawings described herein are used to provide a further understanding of this specification and constitute a part of this specification. The illustrative embodiments and descriptions of this specification are used to explain this specification and do not constitute an improper limitation on this specification. In the drawings:

[0057] Figure 1 A flowchart of an unmanned equipment testing method in this manual;

[0058] Figure 2 This is a schematic diagram of a test of an unmanned device under test in a real environment in this manual;

[0059] Figure 3 A schematic diagram of an unmanned equipment testing device provided for this specification;

[0060] Figure 4 The corresponding Figure 1 Schematic diagram of electronic equipment. DETAILED DESCRIPTION

[0061] In order to make the purpose, technical solutions and advantages of this specification more clear, the technical solutions of this specification will be clearly and completely described below in combination with the specific embodiments of this specification and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of this specification, not all of them. Based on the embodiments in this specification, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this specification.

[0062] In addition, it should be noted that all actions of acquiring signals, information or data in the present invention are performed in compliance with the corresponding data protection laws and policies of the country where they are located and with the authorization given by the owner of the corresponding device.

[0063] Unmanned equipment mainly relies on the sensors installed to perceive the environment, uses unmanned driving algorithms to process the perceived road environment information, automatically plans the route and controls the unmanned equipment to reach the predetermined target. Unmanned equipment is a highly developed product that integrates many technologies such as automatic control and visual computing, and has broad application prospects in many fields such as national defense and national economy.

[0064] With the rapid development and continuous improvement of unmanned driving technology, the testing of unmanned driving capabilities of unmanned equipment in complex environments is an important task in the development of unmanned driving technology, especially when unmanned equipment needs to deal with various types of events including dangerous accidents. Therefore, it is necessary to test the environmental cognition ability, unmanned driving ability and adaptability to road traffic environment of unmanned equipment when dealing with various events.

[0065] At present, the test environment of unmanned equipment is mainly divided into real environment testing and simulation environment testing. The test scene used in the simulation environment test is an artificially constructed virtual scene, and the simulation model of the unmanned equipment is used for simulation. However, since the artificially constructed virtual scene cannot fully reflect the situation of the real scene, and the simulation model of the unmanned equipment is too idealized and cannot fully simulate the real performance of the unmanned equipment, the test results of the simulation environment test are low in authenticity and reliability, and are not enough to fully reflect the unmanned driving capabilities of the unmanned equipment in the real environment.

[0066] Based on the above problems, the embodiments of this specification provide a testing method using actual unmanned equipment in a real environment for testing. By adopting a real environment as a test scenario and using the actual unmanned equipment under test for testing, the authenticity and reliability of the test results are improved.

[0067] The technical solutions provided by the embodiments of this specification are described in detail below in conjunction with the accompanying drawings.

[0068] Figure 1 The following is a flow chart of an unmanned equipment testing method in this specification, which specifically includes the following steps:

[0069] S100: Acquire actual driving data of a sample unmanned equipment within a specified period of time when a target event occurs, as actual driving data corresponding to the target event;

[0070] The unmanned equipment may be an unmanned vehicle or an unmanned equipment such as a drone. Generally, the data used for testing the unmanned equipment may come from data collected when the unmanned equipment is driving in a real environment, or may come from data of an unmanned driving simulator and simulation data. In the embodiments of this specification, in order to achieve the purpose of improving the authenticity and reliability of the test results, the specific scheme is described by taking the actual driving data collected by the unmanned equipment driving in a real environment as the test data as an example.

[0071] The unmanned equipment that collects actual driving data is used as the sample unmanned equipment, and the unmanned equipment used to test the unmanned driving capability is used as the unmanned equipment under test. The sample unmanned equipment must be equipped with the same sensors as the unmanned equipment under test, such as: lidar, image sensor, millimeter wave radar, global positioning system (GPS) and inertial measurement unit (IMU). The actual driving data collected by the sample unmanned equipment when driving in a real environment can be applied to the test of the unmanned equipment under test. The real driving data may include environmental data perceived by sensors, positioning data of the unmanned equipment, driving speed, driving acceleration, driving direction and other driving status data, etc.

[0072] Unmanned equipment needs to deal with various types of events in real environments, such as dangerous events such as bad weather and traffic accidents; boundary scene events such as temporary road construction; typical events such as avoiding obstacles and identifying traffic lights, etc. In order to ensure the driving safety of unmanned equipment, it is necessary to test the unmanned driving ability of unmanned equipment when dealing with various types of events. Therefore, the actual driving data of sample unmanned equipment when target events occur is used as the source of test data, which can test the unmanned driving ability of unmanned equipment when dealing with various types of target events. Among them, target events include various types of events such as the aforementioned dangerous events, boundary scene events, and typical events.

[0073] In practical applications, since the duration of the time period when the target event occurs in the sample unmanned equipment may be extremely short, in order to ensure stable driving of the unmanned equipment under test, the time period including the start and end times of the target event is usually used as the designated time period for the target event.

[0074] S102: Determine the state of the sample unmanned equipment at the start and end times of the specified time period according to the actual driving data;

[0075] The state of the sample unmanned equipment at the start and end times of the specified time period may include at least one of the location, driving speed, and acceleration of the sample unmanned equipment at the start and end times.

[0076] S104: Determine supplementary data corresponding to the target event according to the state;

[0077] Normally, it is necessary to test the unmanned driving capability of the unmanned equipment according to the actual driving data corresponding to the target event. However, since the unmanned equipment under test needs to be tested in a real environment, at least one of the states of the sample unmanned equipment at the start and end times of the specified time period may be different from the state of the unmanned equipment under test in the real environment, that is, when the unmanned equipment under test is tested according to the actual driving data corresponding to the target event, it is impossible to smoothly enter the specified time period and / or smoothly exit the specified time period. Therefore, it is necessary to determine the supplementary data corresponding to the target event according to the state of the sample unmanned equipment at the start and end times of the specified time period to ensure that the unmanned equipment under test can stably enter and exit the specified time period when tested in a real environment.

[0078] S106: Determine test data corresponding to the target event according to the actual driving data and the supplementary data;

[0079] Specifically, the supplementary data corresponding to the target event is used to enable the unmanned equipment under test to be tested smoothly in a real environment. If the states at the start and end times of the specified time period are the same as the preset specified states, it means that the unmanned equipment can directly and smoothly start the test, that is, the test data corresponding to the target event can be determined based on the actual driving data.

[0080] Therefore, it is necessary to first determine the relationship between the state of the start and end time of the specified time period and the preset specified state, and then determine the test data corresponding to the target event based on the determination result, the actual driving data and the supplementary data. Among them, the preset specified state may include a stop state where both the speed and acceleration are zero, a uniform speed driving state where the acceleration is zero but the speed is not zero, and other states. The preset specified state can be set according to the specific application scenario, and this specification does not limit it.

[0081] S108: According to the test data corresponding to the target event, the unmanned equipment under test is controlled to travel in a real environment to test the unmanned equipment under test.

[0082] In the embodiments of this specification, the real environment used for testing may be a closed test site or an actual open driving environment.

[0083] Specifically, the closed test site can be a test site with a closed site boundary, and the data of roads, intersections, traffic sign facilities, etc. in the high-precision map used when the sample unmanned equipment is driving in the real environment are mapped to the closed test site, and the real data collected by the sample unmanned equipment when driving in the real environment are played back for the unmanned equipment under test, so that the unmanned equipment under test can be tested in the closed test site. The real data collected by the sample unmanned equipment when driving in the real environment includes the data of dynamic obstacles and static obstacles perceived by the sample unmanned equipment when driving in the real environment. The actual open driving environment can be a test site without a closed site boundary, and other traffic participants may exist in the open driving environment, such as motor vehicles, non-motor vehicles and pedestrians.

[0084] The type and setting method of the actual environment used for testing are determined according to the specific application scenario and are not limited in this specification.

[0085] Since actual driving data is used to determine the test data and the unmanned equipment under test is used to conduct tests in a real environment, it not only solves the problem that the idealized simulation model cannot fully simulate the real performance of the unmanned equipment, but also solves the problem that the artificially constructed virtual scene cannot fully reflect the real scene, thereby improving the authenticity and reliability of the unmanned equipment test results.

[0086] This method determines the supplementary data corresponding to the target event based on the state of the sample unmanned equipment at the start and end times of the specified time period, thereby determining the test data corresponding to the target event based on the actual driving data and the supplementary data, and controls the unmanned equipment under test to drive in a real environment based on the test data corresponding to the target event, thereby achieving the purpose of testing the unmanned equipment under test. This method determines the supplementary data based on the actual driving data, and determines the test data based on the supplementary data, and controls the unmanned equipment under test to drive in a real environment based on the test data to test the unmanned driving performance of the unmanned equipment under test in a real environment. By using the real environment as the test scene and using the actual unmanned equipment under test for testing, the authenticity and reliability of the test results are improved.

[0087] In the embodiment of this specification, in order to make the unmanned equipment under test smoothly enter the specified time period from the preset specified state for testing, and at the same time, smoothly exit the test from the specified time period, a solution is adopted to determine the supplementary data corresponding to the target event according to the state at the start and end time of the specified time period. Figure 1 Determining the supplementary data corresponding to the target event shown in step S104 is specifically implemented by the following steps:

[0088] First, the state of the sample unmanned equipment at the start time of the specified time period is taken as the start state, and the state of the sample unmanned equipment at the end time of the specified time period is taken as the end state.

[0089] The state of the sample unmanned equipment at the start and end times of the specified time period may include at least one of the location, driving speed, and acceleration of the sample unmanned equipment at the start and end times.

[0090] Then, according to the starting state, determining first supplementary data corresponding to the target event within a period from a preset designated state to the starting state of the unmanned equipment under test;

[0091] And / or according to the termination state, determine the second supplementary data corresponding to the target event in the period from the state of the unmanned equipment under test at the termination moment of the specified time period to the preset specified state.

[0092] For example, Figure 2 As shown, according to the actual driving data of the sample unmanned equipment in the specified time period, the speed of the sample unmanned equipment at the starting time t1 of the specified time period is determined to be v1, and the speed at the end time t2 is v2, and v1 and v2 are not 0. When the preset specified state is set to the state where the unmanned equipment under test is in a stopped state (the speed and acceleration are both 0), the speed of the unmanned equipment A under test at t0 is set to v0, and the speed at t3 is set to v3, and v0 and v3 are both 0. At this time, the unmanned equipment A under test cannot directly change from the state with a speed of v0 to the state with a speed of v1 to perform the test, nor can it directly change from the state with a speed of v2 to the state with a speed of v3 to exit the test. Therefore, according to the state at t0 and the state at t1, the first supplementary data corresponding to the target event of the unmanned equipment under test from t0 to t1 is determined, and according to the state at t2 and the state at t3, the second supplementary data corresponding to the target event of the unmanned equipment under test from t2 to t3 is determined. Figure 2Where L0 is the first supplementary trajectory determined according to the first supplementary data, L2 is the second supplementary trajectory determined according to the second supplementary data, and L1 is the actual driving trajectory determined according to the actual driving data. The unmanned equipment A under test enters the test by moving from the state of speed v0 along L0 to the state of speed v1, and after the test along L1, it smoothly transitions from the state of speed v2 along L2 to the state of speed v3 to exit the test.

[0093] In the embodiments of this specification, Figure 1 Determining the test data corresponding to the target event shown in step S106 is specifically implemented by the following scheme:

[0094] Determine whether the state of the sample unmanned equipment at the start and end times of the specified time period is the same as the preset specified state.

[0095] If the states of the sample unmanned equipment at the start and end times of the specified time period are the same as the preset specified states, the actual driving data corresponding to the target event is determined as the test data corresponding to the target event.

[0096] If at least one of the states of the sample unmanned equipment at the start time and the end time of the specified time period is different from the specified state, the test data corresponding to the target event can be determined by the following three schemes:

[0097] The first option: when the supplementary data only includes the first supplementary data, the first supplementary data corresponding to the target event and the actual driving data corresponding to the target event are concatenated in the order of the first supplementary data corresponding to the target event and the actual driving data corresponding to the target event as the test data corresponding to the target event.

[0098] The second solution: when the supplementary data only includes the second supplementary data, the actual driving data corresponding to the target event and the second supplementary data corresponding to the target event are concatenated in the order of the actual driving data corresponding to the target event and the second supplementary data corresponding to the target event as the test data corresponding to the target event.

[0099] The third option: when the supplementary data includes the first supplementary data and the second supplementary data, the first supplementary data corresponding to the target event, the actual driving data corresponding to the target event, and the second supplementary data corresponding to the target event are concatenated in the order of the first supplementary data corresponding to the target event, the actual driving data corresponding to the target event, and the second supplementary data corresponding to the target event as test data corresponding to the target event.

[0100] In the embodiments of this specification, Figure 1The step S108 controls the unmanned equipment under test to travel in a real environment according to the test data corresponding to the target event, which is specifically implemented by the following steps:

[0101] In practical applications, when the unmanned equipment under test is tested in a real environment, the test data corresponding to the target event used may be test data corresponding to one target event or test data corresponding to several target events.

[0102] For test data corresponding to a target event, the driving of the unmanned equipment under test in a real environment can be controlled: the spliced ​​test data can be replayed to obtain the results output by each module under test of the unmanned equipment under test according to the replayed test data, and thereby the unmanned equipment under test can be controlled to drive in a real environment.

[0103] For the test data corresponding to several target events, the driving of the unmanned equipment under test in the real environment can be controlled: according to the state of the start and end time of the test data corresponding to each target event, the time of the same state can be determined as the target time, and the test data corresponding to each target event including the target time can be spliced. The spliced ​​test data is played back to each module to be tested of the unmanned equipment under test, and the output results of each module to be tested of the unmanned equipment under test are obtained, and the unmanned equipment under test is controlled to drive in the real environment, so as to achieve the purpose of continuous testing of the unmanned equipment under test in the real environment.

[0104] In addition, it should be noted that each module to be tested of the unmanned equipment under test may include at least one of a prediction module, a planning module, and a control module. Typically, the upstream module of the control module is a planning module, the upstream module of the planning module is a prediction module, and the upstream module of the prediction module may be an environmental data acquisition module.

[0105] In the embodiments of this specification, the prediction module is used to predict the movement trajectory of the perceived obstacle through a prediction algorithm based on the environmental data and map data collected by the sensor; the planning module is used to plan the driving trajectory of the unmanned device under test through a planning algorithm based on the movement trajectory of the obstacle predicted by the prediction module; the control module is used to control the unmanned device under test to drive according to the driving trajectory of the unmanned device under test in a real environment through a control algorithm based on the driving trajectory of the unmanned device under test obtained by the planning module. In actual testing, the number and type of modules to be tested are determined by the actual test requirements, and this specification does not limit this.

[0106] During actual testing, in the configuration files of each module under test of the unmanned equipment under test, the data configured as input to each module under test may be the replayed test data, or the result output by the upstream module of the module under test according to the replayed test data.

[0107] In the case where the data input to the module under test is the replayed test data: the input data of the module under test is the actual driving data of the upstream module in the replayed test data. According to the actual driving data of the upstream module, the algorithm corresponding to the module under test is used to calculate and obtain the output result for controlling the unmanned equipment under test.

[0108] For example, the module to be tested is only a control module, and its upstream module is a planning module. The control module obtains the output results of the control module, such as acceleration instructions, braking instructions, steering instructions, etc., through calculation based on the actual driving data of the planning module in the replayed test data, and controls the unmanned equipment under test to perform testing in a real environment based on the output results.

[0109] In the case where the data input to the module to be tested is the result output by the upstream module of the module to be tested according to the replayed test data: the result output by the upstream module of the module to be tested according to the replayed test data is used as the designated data; the configuration file of the module to be tested is changed, wherein the data input to the module to be tested configured in the configuration file is changed to the designated data. The spliced ​​test data is replayed to obtain the result output by the module to be tested according to the designated data after the configuration file is changed. According to the result output by the module to be tested, the unmanned equipment under test is controlled to be tested.

[0110] For example, only the data of the input control module configured in the configuration file of the control module is changed to the result output by the planning module according to the actual driving data of the prediction module in the replayed test data. The spliced ​​test data is replayed, and the specified data output by the planning module according to the replayed test data is sent to the control module with the changed configuration file, so that the control module with the changed configuration file obtains the output result through calculation according to the received specified data output by the planning module, and then controls the unmanned equipment under test to be tested in a real environment.

[0111] It should be noted that since the upstream module of the prediction module is the environmental data acquisition module, when the data configured as input to the prediction module in the configuration file of the prediction module is the replayed test data, the data input to the prediction module is specifically the real data collected when the sample unmanned equipment is driving in a real environment.

[0112] In practical applications, in order to ensure that the unmanned equipment under test enters and exits the test smoothly, the spliced ​​test data may include supplementary data. By playing back the supplementary data, the purpose of controlling the unmanned equipment to smoothly enter and exit the test can be achieved.

[0113] Specifically, when the spliced ​​test data includes first supplementary data, the first supplementary data is replayed to obtain a first control quantity sequence output by the control module of the unmanned equipment according to the replayed first supplementary data; according to the first control quantity sequence output by the control module of the unmanned equipment under test, the unmanned equipment under test is controlled from a preset specified state to the starting state.

[0114] When the spliced ​​test data includes second supplementary data, the second supplementary data is replayed to obtain a second control quantity sequence output by the control module of the unmanned equipment according to the replayed second supplementary data; according to the second control quantity sequence output by the control module of the unmanned equipment under test, the unmanned equipment under test is controlled from the termination state to a preset specified state.

[0115] The state of the unmanned equipment under test includes at least one of the position, speed and acceleration of the unmanned equipment under test at the moment when the unmanned equipment under test is in the state.

[0116] In another embodiment of the present specification, after replaying the spliced ​​test data to obtain the results output by each module to be tested of the unmanned equipment under test according to the replayed test data, the parameters of each module to be tested can be adjusted according to the results output by each module to be tested according to the replayed test data, and the modules to be tested of the unmanned equipment under test can be updated to the modules to be tested with adjusted parameters.

[0117] Optionally, according to the results output by each module to be tested based on the replayed test data, the parameters of each module to be tested are adjusted, and each module to be tested is updated according to the adjusted parameters, and then the test data is replayed so that the module to be tested with adjusted parameters outputs the result again according to the replayed test data, until the output result meets the expected conditions.

[0118] In another embodiment of the present specification, according to the output results of each module to be tested of the unmanned equipment under test, when the unmanned equipment under test is controlled to travel in a real environment, it is also necessary to detect abnormal situations during the test process.

[0119] Specifically, the test driving data of the unmanned equipment under test when it is driving in the real environment can be obtained in real time, and whether the unmanned equipment under test is driving normally in the real environment can be determined according to the test driving data;

[0120] If the unmanned equipment under test drives abnormally in the real environment, the unmanned equipment under test is controlled to stop testing and / or return to a safe environment; the abnormal driving of the unmanned equipment under test in the real environment may include that when the unmanned equipment under test performs testing according to the test data corresponding to the target event, the output results of each module to be tested are not within a preset threshold range, the unmanned equipment under test cannot be tested at its current location, etc.

[0121] For example, taking the case where the output results of each module to be tested are not within the preset threshold range: the current unmanned equipment under test is traveling on a road section with a speed limit of 80 km / h, and the test data corresponding to the target event is replayed into the control module. The output result of the control module is to control the unmanned equipment under test to accelerate to 85 km / h. It is judged that the output result of the control module is not within the preset threshold range. At this time, it is necessary to control the unmanned equipment under test to stop testing.

[0122] Take the case where the unmanned device under test cannot be tested at its current location as an example: the current location of the unmanned device under test may be a non-drivable area, such as a curb or green belt on a real road. At this time, the unmanned device under test cannot be tested, so it is necessary to control the unmanned device under test to first return to a safe testing environment and then conduct the test.

[0123] In another embodiment of the present specification, based on the output results of each module under test of the unmanned equipment under test, when controlling the unmanned equipment under test to travel in a real environment, it is also necessary to use a verifier corresponding to each module under test to verify the pass status of the output results of each module under test, and thereby evaluate the performance of the algorithm in each module under test.

[0124] Specifically, a threshold range of output results can be pre-set in the verifier corresponding to each module to be tested. By comparing the output result of each module to be tested with the threshold range of the output result, when the output result of the module to be tested is within the threshold range, the output result of the module to be tested is judged to be passed.

[0125] The prediction verifier corresponding to the prediction module may include a trajectory prediction verifier, a lane selection verifier, etc.; the planning verifier corresponding to the planning module may include a destination planning verifier, a lane planning verifier, etc.; the control verifier corresponding to the control module may include a trajectory tracking verifier, a speed verifier and an acceleration verifier.

[0126] For example, the unmanned equipment under test is currently traveling on a road section with a speed limit of 80 km / h. The test data corresponding to the target event is played back into the control module. The output result of the control module is to control the speed of the unmanned equipment under test to 70 km / h. It is judged that the output result of the control module is within the threshold range of the output result in the speed verifier corresponding to the control module, and therefore the output result of the control module is judged to be passed.

[0127] The above is a test method for unmanned equipment provided by one or more embodiments of this specification. Based on the same idea, this specification also provides a corresponding test device for unmanned equipment, such as Figure 3 shown.

[0128] Figure 3A schematic diagram of a test device for unmanned equipment provided in this specification specifically includes:

[0129] An acquisition module 200 is used to acquire actual driving data of a sample unmanned equipment within a specified period of time when a target event occurs, as actual driving data corresponding to the target event;

[0130] A state determination module 202, configured to determine the state of the sample unmanned equipment at the start and end times of the specified time period according to the actual driving data;

[0131] A supplementary data determination module 204, configured to determine the supplementary data corresponding to the target event according to the state;

[0132] A test data determination module 206, configured to determine the test data corresponding to the target event according to the actual driving data and the supplementary data;

[0133] The testing module 208 is used to control the unmanned equipment under test to travel in a real environment according to the test data corresponding to the target event, so as to test the unmanned equipment under test.

[0134] Optionally, the acquisition module 200 is specifically used to determine a time period including the start and end times of the occurrence of the target event as a designated time period for the occurrence of the target event; and obtain actual driving data of the sample unmanned equipment within the designated time period.

[0135] Optionally, the supplementary data determination module 204 is specifically used to determine the state of the sample unmanned device at the starting time of the specified time period as the starting state, and determine the first supplementary data corresponding to the target event of the unmanned device under test within the time period from a preset specified state to the starting state based on the starting state; and / or determine the state of the sample unmanned device at the ending time of the specified time period as the ending state, and determine the second supplementary data corresponding to the target event of the unmanned device under test within the time period from the state of the unmanned device under test at the ending time of the specified time period to the preset specified state based on the ending state.

[0136] Optionally, the supplementary data determination module 204 is specifically used to, when the supplementary data includes the first supplementary data, splice the first supplementary data corresponding to the target event and the actual driving data corresponding to the target event in the order of the first supplementary data corresponding to the target event and the actual driving data corresponding to the target event as test data corresponding to the target event; when the supplementary data includes the second supplementary data, splice the actual driving data corresponding to the target event and the second supplementary data corresponding to the target event in the order of the actual driving data corresponding to the target event and the second supplementary data corresponding to the target event as test data corresponding to the target event.

[0137] Optionally, the test data determination module 206 is specifically used to, if the state of the sample unmanned equipment at the start and end times of the specified time period is the same as the preset specified state, determine the actual driving data corresponding to the target event as the test data corresponding to the target event; if at least one of the states of the sample unmanned equipment at the start and end times of the specified time period is different from the specified state, determine the test data corresponding to the target event based on the actual driving data and the supplementary data.

[0138] Optionally, the test module 208 is specifically used to obtain test data corresponding to several target events; determine the moment of the same state as the target moment according to the state of the start and end moments of the test data corresponding to each target event; and splice the test data corresponding to each target event including the target moment; and control the unmanned equipment under test to drive in a real environment according to the spliced ​​test data.

[0139] Optionally, the test module 208 is specifically used to replay the spliced ​​test data to obtain the results output by each module to be tested of the unmanned equipment under test according to the replayed test data; each module to be tested includes at least one of a prediction module, a planning module, and a control module; and according to the output results of each module to be tested of the unmanned equipment under test, the unmanned equipment under test is controlled to travel in a real environment.

[0140] Optionally, the test module 208 is specifically used to use the result output by the upstream module of the module to be tested of the unmanned equipment under test according to the replayed test data as the designated data; change the configuration file of the module to be tested of the unmanned equipment under test, wherein the data input to the module to be tested configured in the configuration file is changed to the designated data; and replay the spliced ​​test data to obtain the result output by the module to be tested according to the designated data after the configuration file is changed.

[0141] Optionally, the test module 208 is also used to, after the test module 208 replays the spliced ​​test data to obtain the results output by each module to be tested of the unmanned equipment under test according to the replayed test data, adjust the parameters of each module to be tested according to the results output by each module to be tested according to the replayed test data; and update each module to be tested of the unmanned equipment under test to each module to be tested with adjusted parameters.

[0142] Optionally, the test module 208 is specifically used to, when the spliced ​​test data includes first supplementary data, replay the first supplementary data to obtain a first control quantity sequence output by the control module of the unmanned equipment according to the replayed first supplementary data; control the unmanned equipment under test from a preset designated state to the starting state according to the first control quantity sequence output by the control module of the unmanned equipment under test; when the spliced ​​test data includes second supplementary data, replay the second supplementary data to obtain a second control quantity sequence output by the control module of the unmanned equipment according to the replayed second supplementary data; control the unmanned equipment under test from the termination state to the preset designated state according to the second control quantity sequence output by the control module of the unmanned equipment under test; wherein the state of the unmanned equipment under test includes at least one of the position, speed, and acceleration of the unmanned equipment under test when the unmanned equipment under test is in the state.

[0143] This specification also provides a computer-readable storage medium, which stores a computer program, which can be used to execute the above Figure 1 Provides testing methods for unmanned equipment.

[0144] This manual also provides Figure 4 The schematic structure diagram of the electronic device shown in FIG. Figure 4 As mentioned above, at the hardware level, the electronic device includes a processor, an internal bus, a network interface, a memory, and a non-volatile memory, and may also include other hardware required for the business. The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs it to achieve the above Figure 1 Of course, in addition to the software implementation, this specification does not exclude other implementations, such as logic devices or a combination of software and hardware, etc., that is, the execution subject of the following processing flow is not limited to each logic unit, but can also be hardware or logic devices.

[0145] In the 1990s, improvements to a technology could be clearly distinguished as hardware improvements (for example, improvements to the circuit structure of diodes, transistors, switches, etc.) or software improvements (improvements to the method flow). However, with the development of technology, many improvements to the method flow today can be regarded as direct improvements to the hardware circuit structure. Designers almost always obtain the corresponding hardware circuit structure by programming the improved method flow into the hardware circuit. Therefore, it cannot be said that an improvement in a method flow cannot be implemented using a hardware entity module. For example, a programmable logic device (PLD) (such as a field programmable gate array (FPGA)) is such an integrated circuit whose logical function is determined by the user's programming of the device. Designers can "integrate" a digital system on a PLD by programming it themselves, without having to ask a chip manufacturer to design and produce a dedicated integrated circuit chip. Moreover, nowadays, instead of manually making integrated circuit chips, this kind of programming is mostly implemented by "logic compiler" software, which is similar to the software compiler used when developing and writing programs, and the original code before compilation must also be written in a specific programming language, which is called hardware description language (HDL). There is not only one HDL, but many kinds, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, RHDL (Ruby Hardware Description Language), etc. The most commonly used ones are VHDL (Very-High-Speed ​​Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art should also know that it is only necessary to program the method flow slightly in the above-mentioned hardware description languages ​​and program it into the integrated circuit, and then it is easy to obtain the hardware circuit that implements the logic method flow.

[0146] The controller can be implemented in any appropriate manner, for example, the controller can take the form of a microprocessor or processor and a computer-readable medium storing a computer-readable program code (such as software or firmware) that can be executed by the (micro)processor, a logic gate, a switch, an application-specific integrated circuit (ASIC), a programmable logic controller, and an embedded microcontroller. Examples of controllers include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320. The memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art also know that in addition to implementing the controller in a purely computer-readable program code manner, the controller can be implemented in the form of a logic gate, a switch, an application-specific integrated circuit, a programmable logic controller, and an embedded microcontroller by logically programming the method steps. Therefore, this controller can be considered as a hardware component, and the devices included therein for implementing various functions can also be regarded as structures within the hardware component. Or even, the devices for implementing various functions can be regarded as both software modules for implementing the method and structures within the hardware component.

[0147] The systems, devices, modules or units described in the above embodiments may be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, the computer may be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0148] For the convenience of description, the above device is described in various units according to their functions. Of course, when implementing this specification, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0149] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0150] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0151] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0152] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0153] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0154] The memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0155] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0156] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity 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, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0157] Those skilled in the art will appreciate that the embodiments of this specification may be provided as methods, systems or computer program products. Therefore, this specification may take the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware. Moreover, this specification may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0158] This specification may be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. This specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules may be located in local and remote computer storage media, including storage devices.

[0159] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0160] The above description is only an embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the scope of the claims of the present invention.

Claims

1. A method for testing unmanned equipment, characterized in that: include: Acquire the actual driving data of the sample unmanned equipment within the specified time period when the target event occurs as the actual driving data corresponding to the target event; Determining the state of the sample unmanned equipment at the start and end times of the specified time period according to the actual driving data; Determine, based on the state, supplementary data corresponding to the target event to ensure that the unmanned device under test stably enters and exits the specified time period when tested in a real environment; Determining test data corresponding to the target event according to the actual driving data and the supplementary data; According to the test data corresponding to the target event, controlling the unmanned equipment under test to travel in a real environment to test the unmanned equipment under test; The determining of the supplementary data corresponding to the target event specifically includes: Determine the state of the sample unmanned device at the start time of the specified time period as the start state, and determine the first supplementary data corresponding to the target event of the unmanned device under test within the time period from the preset specified state to the start state according to the start state; and / or determine the state of the sample unmanned device at the end time of the specified time period as the end state, and determine the second supplementary data corresponding to the target event of the unmanned device under test within the time period from the end state to the preset specified state according to the end state; When the supplementary data includes the first supplementary data, determining the test data corresponding to the target event according to the actual driving data and the supplementary data specifically includes: According to the order of the first supplementary data corresponding to the target event and the actual driving data corresponding to the target event, the first supplementary data corresponding to the target event and the actual driving data corresponding to the target event are concatenated as the test data corresponding to the target event; and / or when the supplementary data includes the second supplementary data, determining the test data corresponding to the target event according to the actual driving data and the supplementary data, specifically including: According to the order of the actual driving data corresponding to the target event and the second supplementary data corresponding to the target event, the actual driving data corresponding to the target event and the second supplementary data corresponding to the target event are concatenated as the test data corresponding to the target event; Determining the test data corresponding to the target event according to the actual driving data and the supplementary data, specifically comprising: if the state of the sample unmanned equipment at the start and end times of the specified time period is the same as the preset specified state, determining the actual driving data corresponding to the target event as the test data corresponding to the target event; If at least one of the states of the sample unmanned equipment at the start time and the end time of the specified time period is different from the specified state, the test data corresponding to the target event is determined according to the actual driving data and the supplementary data.

2. The method according to claim 1, characterized in that Obtain the actual driving data of the sample unmanned equipment within the specified period of time when the target event occurs, including: Determine a time period including the start and end times of the target event as the designated time period for the target event to occur; The actual driving data of the sample unmanned equipment within the specified time period is obtained.

3. The method according to claim 1, characterized in that According to the test data corresponding to the target event, the unmanned equipment under test is controlled to travel in a real environment, specifically including: Obtain test data corresponding to several target events; According to the states of the start and end times of the test data corresponding to each target event, the time of the same state is determined as the target time; and the test data corresponding to each target event including the target time is spliced; Based on the spliced ​​test data, the unmanned equipment under test is controlled to drive in a real environment.

4. The method according to claim 3, characterized in that According to the spliced ​​test data, the unmanned equipment under test is controlled to drive in the real environment, including: Replay the spliced ​​test data to obtain the results output by each module to be tested of the unmanned equipment under test according to the replayed test data; each module to be tested includes at least one of a prediction module, a planning module, and a control module; According to the output results of each module under test of the unmanned equipment under test, the unmanned equipment under test is controlled to travel in a real environment.

5. The method according to claim 4, characterized in that The spliced ​​test data is replayed to obtain the results output by each module to be tested of the unmanned equipment under test according to the replayed test data, specifically including: Using the result output by the upstream module of the module to be tested of the unmanned device under test according to the replayed test data as the designated data; changing the configuration file of the module to be tested of the unmanned device under test, wherein the data input to the module to be tested configured in the configuration file is changed to the designated data; The spliced ​​test data is replayed to obtain the output result of the module to be tested according to the specified data after the configuration file is changed.

6. The method according to claim 5, characterized in that After replaying the spliced ​​test data to obtain the results output by each module to be tested of the unmanned equipment under test according to the replayed test data, the method further includes: Adjusting the parameters of each module to be tested according to the result of each module to be tested output according to the test data played back; The modules to be tested of the unmanned equipment under test are updated to the modules to be tested after the parameters are adjusted.

7. The method according to claim 6, characterized in that Control the unmanned equipment under test to drive in a real environment, including: When the spliced ​​test data includes the first supplementary data, the first supplementary data is played back to obtain a first control quantity sequence output by the control module of the unmanned equipment according to the played back first supplementary data; Controlling the unmanned device under test from a preset designated state to a starting state according to a first control quantity sequence output by a control module of the unmanned device under test; When the spliced ​​test data includes second supplementary data, the second supplementary data is played back to obtain a second control quantity sequence output by the control module of the unmanned equipment according to the played back second supplementary data; According to the second control quantity sequence output by the control module of the unmanned device under test, the unmanned device under test is controlled from a termination state to a preset designated state; The state of the unmanned equipment under test includes at least one of the position, speed and acceleration of the unmanned equipment under test at the moment when the unmanned equipment under test is in the state.

8. A testing device for unmanned equipment, characterized in that: include: An acquisition module is used to acquire actual driving data of the sample unmanned equipment within a specified period of time when the target event occurs, as actual driving data corresponding to the target event; A state determination module, used to determine the state of the sample unmanned equipment at the start and end times of the specified time period according to the actual driving data; A supplementary data determination module is used to determine the supplementary data corresponding to the target event according to the state, so as to ensure that the unmanned equipment under test stably enters and exits the specified time period when being tested in a real environment; A test data determination module, used to determine the test data corresponding to the target event according to the actual driving data and the supplementary data; A testing module, used to control the unmanned equipment under test to travel in a real environment according to the test data corresponding to the target event, so as to test the unmanned equipment under test; The determining of the supplementary data corresponding to the target event specifically includes: Determine the state of the sample unmanned device at the start time of the specified time period as the start state, and determine the first supplementary data corresponding to the target event of the unmanned device under test within the time period from the preset specified state to the start state according to the start state; and / or determine the state of the sample unmanned device at the end time of the specified time period as the end state, and determine the second supplementary data corresponding to the target event of the unmanned device under test within the time period from the end state to the preset specified state according to the end state; When the supplementary data includes the first supplementary data, determining the test data corresponding to the target event according to the actual driving data and the supplementary data specifically includes: According to the order of the first supplementary data corresponding to the target event and the actual driving data corresponding to the target event, the first supplementary data corresponding to the target event and the actual driving data corresponding to the target event are concatenated as the test data corresponding to the target event; and / or when the supplementary data includes the second supplementary data, determining the test data corresponding to the target event according to the actual driving data and the supplementary data, specifically including: According to the order of the actual driving data corresponding to the target event and the second supplementary data corresponding to the target event, the actual driving data corresponding to the target event and the second supplementary data corresponding to the target event are concatenated as the test data corresponding to the target event; Determining the test data corresponding to the target event according to the actual driving data and the supplementary data, specifically comprising: if the state of the sample unmanned equipment at the start and end times of the specified time period is the same as the preset specified state, determining the actual driving data corresponding to the target event as the test data corresponding to the target event; If at least one of the states of the sample unmanned equipment at the start time and the end time of the specified time period is different from the specified state, the test data corresponding to the target event is determined according to the actual driving data and the supplementary data.

9. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the method according to any one of claims 1 to 7 is implemented.

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