A method for automatically detecting driverless cars

Abstract

The present invention proposes an automatic detection method for an unmanned vehicle. A first self-detection result is obtained by using the vehicle's own internal self-detection system, and a second detection result is obtained by using a detection field. If and only if both the first self-detection result and the second detection result meet the requirements of automatic driving, the automatic driving function is turned on; otherwise, the automatic driving function is turned off. The detection field can simulate the driving environment of an actual urban road to test whether the unmanned vehicle is operating normally.

Description

Technical Field

[0001] The present invention relates to the field of intelligent vehicle control technology, and in particular to an automatic detection method for an unmanned vehicle. Background Art

[0002] Compared with ordinary cars, driverless cars have added many intelligent devices and corresponding systems to collect data and control the automatic operation of the vehicle. Therefore, the safe and stable operation of the intelligent devices and systems of driverless vehicles is the most important link in driverless car technology. Without reaching the safety level, driverless cars cannot be on the road. For example, if the laser radar, camera, etc. fail during the use of driverless cars, it will cause traffic accidents. Therefore, how to detect whether the important equipment of driverless cars is working properly will be an indispensable technical link. In addition, the inspection of related equipment and systems of driverless vehicles cannot rely entirely on manual labor, especially during driving, so vehicle self-inspection is very necessary. Summary of the invention

[0003] The purpose of the present invention is to provide an automatic detection method for an unmanned vehicle, so as to solve the technical problem of testing whether the unmanned vehicle is operating normally and improving the driving safety of the unmanned vehicle.

[0004] An automatic detection method for an unmanned vehicle of the present invention is implemented as follows:

[0005] An automatic detection method for an unmanned vehicle, comprising:

[0006] (1) performing a self-test on at least one automatic driving device in the unmanned vehicle through an internal self-test system of the unmanned vehicle to obtain a first self-test result of the corresponding automatic driving device;

[0007] (2) testing at least one autonomous driving mode of the autonomous driving device at a professional testing site to obtain a second test result corresponding to the autonomous driving device;

[0008] (3) if the first self-test result and the second self-test result of the automatic driving device both meet the automatic driving requirements, it is determined that the automatic driving device can operate normally;

[0009] (4) When and only when all autonomous driving devices are judged to be able to operate normally, can the driverless car be judged to meet the autonomous driving requirements, continue to turn on the autonomous driving function, and drive on the road.

[0010] Wherein, the self-checking system comprises:

[0011] Automatically detect execution programs, vehicle communication programs, vehicle storage programs and related devices.

[0012] The automatic detection execution program of the self-checking system refers to the program statements of the controller that controls the detection of the automatic driving device of the unmanned vehicle and the corresponding program statements for collecting feedback information;

[0013] The vehicle communication program of the self-test system refers to the program used by the unmanned vehicle to exchange information with external equipment (such as a test site, etc.);

[0014] The on-board storage program of the self-checking system refers to the program for storing self-checking information in the on-board computer;

[0015] The related device refers to a controller used to control the detection of the automatic driving device of the unmanned vehicle.

[0016] The inspection site is a professional site built at a designated location for automatic inspection of driverless cars.

[0017] The unmanned driving inspection field includes: at least one server, a communication device, at least one controller, and a testing device; the server is electrically connected to the controller.

[0018] The server is installed with a control program, a communication program, an information judgment program, and an information storage program;

[0019] The control program of the server refers to a program used to control all controllers in the detection field.

[0020] The communication program of the server refers to a program used to communicate with the driverless car in the venue or with the driverless car that has made an appointment to enter the venue.

[0021] The information judgment program of the server refers to judging whether the driving of the unmanned vehicle in the field meets the requirements based on the collected information, and detecting and confirming whether the automatic driving of the vehicle is normal.

[0022] The server information storage program refers to storing all the information of the server in the detection field for query.

[0023] The communication device is a device used to realize information interaction between the server of the detection field and the driverless car.

[0024] The controller includes a traffic light controller and an obstacle controller.

[0025] The traffic signal light controller is used to control the changes of traffic signal lights in the detection field.

[0026] The obstacle controller is used to control the position and movement path of each obstacle in the detection field.

[0027] The testing device comprises a full-coverage camera, a traffic signal light, a traffic sign, a road surface indicator line and a dividing line, and an obstacle device.

[0028] The full coverage camera is installed at a corresponding position in the inspection field, and can collect real-time information of all roads in the inspection field, and is used to collect image information of unmanned vehicles driving in the field;

[0029] Obstacles in the detection field include fixed devices and mobile devices;

[0030] The fixed devices include road markings, traffic signs, traffic lights, isolation belts, street light poles, and small houses for placing servers.

[0031] The mobile devices include pedestrians, non-motorized vehicles, motorized vehicles and other test vehicles;

[0032] Furthermore, the obstacles may be arranged in front of, behind, and around the vehicle being tested.

[0033] Preferably, the pedestrians and non-motorized vehicles in the mobile device are replaced by objects whose movement can be controlled.

[0034] Wherein, the first self-test result and the second test result of the autonomous driving device both meet the autonomous driving requirements, including:

[0035] The first self-test result includes that each of the at least one automatic driving device passes the functional test and meets the automatic driving requirement;

[0036] The second detection result includes that each of the at least one autonomous driving driving mode passes the driving test and meets the requirements for autonomous driving of the unmanned vehicle.

[0037] Preferably, the self-checking step of the driverless car includes:

[0038] S1: Use the positioning system of the driverless car to search for the inspection site and determine the inspection site based on the self-selected priority principle;

[0039] S2: The driverless car exchanges information with the selected testing site and schedules a testing time;

[0040] S3: At the scheduled time, the driverless car enters the inspection site and starts driving along the indicated route;

[0041] S4: the self-checking system of the driverless car runs, obtains the first self-checking result, and stores it;

[0042] S5: The testing site interacts with the driverless car, collects driving information of each automatic driving device of the driverless car, obtains a second test result, stores it, and transmits it to the driverless car;

[0043] S6: judging whether the driverless car meets the requirements of autonomous driving according to the first self-test result and the second test result, and drawing a conclusion;

[0044] S7: If both the first self-test result and the second self-test result meet the autonomous driving requirement, the autonomous driving function is enabled;

[0045] S8: If either the first self-test result or the second self-test result does not meet the autonomous driving requirement, immediately shut down the autonomous driving function of the driverless car.

[0046] Furthermore, the priority principles include:

[0047] The principles of distance priority, time priority, and waiting time priority.

[0048] The distance priority principle refers to the principle of selecting the detection site that is closest to the real-time position of the driverless car;

[0049] The time priority principle mentioned above refers to the principle of selecting the driverless car that takes the least time to reach the inspection site;

[0050] The waiting time priority principle mentioned above refers to the principle of selecting a testing site where the unmanned vehicle can be tested most quickly.

[0051] Preferably, the automatic driving device includes at least any one of the following:

[0052] LiDAR, cameras, millimeter-wave radar, GPS or BeiDou navigation and positioning systems, ultrasonic sensors and other driving devices.

[0053] Furthermore, the other driving device includes at least one of the following:

[0054] Brakes, transmissions, temperature sensors, pressure sensors, position sensors, speed sensors, tire pressure detectors.

[0055] Compared with the prior art, the present invention has the following advantages:

[0056] By using a professional testing site such as a testing field, the actual use status of the driverless car can be detected and whether the vehicle is running normally. Compared with other self-testing methods, for example, giving a sensor an analog signal and the sensor returning a normal result only indicates that the device is working properly, but it cannot detect whether the data obtained by the sensor is accurate; for example, if there are stains or part of the camera lens is covered, the camera works normally, but the measured data will not be correct. The present invention overcomes this defect. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0058] Figure 1 is a flowchart of the self-checking method of an unmanned vehicle according to an embodiment of the present invention;

[0059] Figure 2 is a diagram of a detection field structure of an embodiment of the present invention;

[0060] Figure 3 is a block diagram of an exemplary computer device according to an embodiment of the present invention.

[0061] In the figure: cache memory 301, computer device 302, random access memory 303, external device 304, input / output (I / O) interface 305, processing unit 306, system memory 307, bus 308, storage system 309, network adapter 310, utility 311, program module 312. DETAILED DESCRIPTION

[0062] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0063] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0064] Embodiment 1:

[0065] The automatic detection method of the driverless car proposed in the present invention not only utilizes the self-checking system inside the vehicle, but also requires the use of a professional inspection field to confirm whether the vehicle can operate normally, and double confirms from the inside and outside that the automatic driving device of the driverless car is safe and reliable.

[0066] Reference Figure 1 As shown, the automatic detection method of the driverless car proposed by the present invention has the following specific operation steps:

[0067] Step 101: Using the positioning system of the driverless car, searching for the inspection site, and determining the inspection site according to the self-selected priority principle;

[0068] Step 102: The driverless car exchanges information with the selected testing site and schedules a testing time;

[0069] Step 103: According to the appointment time, the driverless car enters the inspection site and starts driving along the indicated path;

[0070] Step 104: the self-checking system of the driverless car runs, obtains a first self-checking result, and stores it;

[0071] Step 105: The testing site interacts with the driverless car, collects driving information of each automatic driving device of the driverless car, obtains a second test result, stores it, and transmits it to the driverless car;

[0072] Step 106: judging whether the driverless car meets the requirements of automatic driving according to the first self-check result, if it meets the requirements, executing step 107; if it does not meet the requirements, turning to executing step 109;

[0073] Step 107: judging whether the driverless car meets the requirements of automatic driving according to the second detection result, if it meets the requirements, executing step 108; if it does not meet the requirements, turning to executing step 109;

[0074] Step 108: Confirm that the driverless car meets the requirements of autonomous driving, and continue to enable the autonomous driving function;

[0075] Step 109: Confirm that the driverless car does not meet the autonomous driving requirements, and immediately shut down the autonomous driving function of the driverless car.

[0076] Imagine building multiple testing sites in the city, where driverless cars can drive to the testing sites regularly and conduct automatic testing.

[0077] Taking advantage of the centimeter-level precise positioning capability of driverless cars, they can automatically search for the nearest testing site, and make an appointment to enter the queue sequence by exchanging information with the testing site's server.

[0078] The unmanned vehicle inspection field includes one or more servers, a communication device, and one or more controllers. The server is electrically connected to the controller, the traffic light controller controls the changes of the traffic lights, and the obstacle controller controls the position and movement path of each obstacle.

[0079] Reference Figure 2 As shown in the structural diagram of the test site, the test site simulates real road conditions. Fixed devices include road markings, traffic signs, traffic lights, isolation belts, street light poles, and small houses for placing servers; mobile devices include pedestrians, non-motorized vehicles, motorized vehicles, and other test vehicles; these devices will be arranged in front of, behind, and around the vehicle being tested. For example, there is a car 100 meters ahead, driving forward at a speed of 70km / h; for another example, the traffic light is currently green, and there are no vehicles ahead, etc., simulating the driving conditions that unmanned vehicles may encounter on actual roads.

[0080] Among them, in order to ensure safety, pedestrians, non-motorized vehicles, etc. in mobile devices that may require the presence of real people are replaced by controllable movable objects, such as movable human-shaped standees instead of pedestrians.

[0081] The inspection site also needs to be equipped with full-coverage cameras to obtain all information at various locations in the site.

[0082] The following is a detailed description of the detection method for the partially automatic driving device of the driverless car.

[0083] Unmanned vehicle positioning system and equipment detection: The unmanned vehicle reaches the given coordinate position of the detection site on time and stops at the given coordinate position. The detection site can provide feedback to the unmanned vehicle. The unmanned vehicle center computer compares the coordinate position information given by its own positioning system. If the comparison result is within the allowable error, it means that the unmanned vehicle positioning system and equipment are working normally, and the position system detection is completed.

[0084] Detection of the camera of the driverless car: The server of the detection site communicates with the driverless car, and instructs the camera to start detecting the traffic light in the detection site, which changes from green to yellow, and then from yellow to red. The server sends the time series data of the traffic light changes to the driverless car. The computer at the center of the driverless car compares the camera's recognition results of the traffic light with the data given by the detection site. If they are consistent, it means that the system and equipment are working properly and the camera detection is completed.

[0085] Detection of LiDAR of driverless cars: The detection site server communicates with the driverless car and instructs it to start detecting LiDAR. The detection site sends the location and shape information of obstacles around the tested vehicle to the driverless car. The central computer of the driverless car compares the location and shape information of obstacles around the LiDAR scan. If the data comparison is within the allowable error, it means that the LiDAR system and equipment are normal and the detection is completed.

[0086] Detection of the front and rear millimeter-wave radars of the driverless car: The detection site server communicates with the driverless car and instructs it to start detecting the millimeter-wave radar. The detection site sends the obstacle position information in front and behind the tested vehicle to the driverless car. The central computer of the driverless car compares the position information of the front and rear obstacles measured by the millimeter-wave radar. If the data comparison is within the allowable error, it means that the millimeter-wave radar system and equipment are normal and the detection is completed.

[0087] Detection of cameras and ultrasonic sensors around the body of the driverless car: The detection site server communicates with the driverless car and instructs it to start detecting the cameras and ultrasonic sensors around the body. The detection site sends obstacle position information around the tested vehicle to the driverless car. The driverless car's central computer compares the position information of the surrounding obstacles measured by the camera and ultrasonic. If the data comparison is within the allowable error, it means that the cameras and ultrasonic systems and equipment around the body are normal and the detection is completed.

[0088] In order to implement the above embodiments, the present invention also proposes a computer device, including a processor and a memory; wherein the processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory, so as to implement the automatic detection method of the unmanned vehicle as described in any of the above embodiments.

[0089] In order to implement the above embodiments, the present invention further proposes a computer program product, which implements the automatic detection method of the driverless car as described in any of the above embodiments when the instructions in the computer program product are executed by a processor.

[0090] In order to implement the above embodiments, the present invention further proposes a non-temporary computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the automatic detection method of the driverless car as described in any of the above embodiments is implemented.

[0091] Figure 3 A block diagram of an exemplary computer device suitable for implementing embodiments of the present invention is shown. Figure 3 The computer device 302 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.

[0092] like Figure 3As shown, computer device 302 is in the form of a general-purpose computing device. Components of computer device 302 may include, but are not limited to: one or more processors or processing units 306, system memory 307, and bus 308 connecting different system components (including system memory 307 and processing unit 306).

[0093] Bus 308 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. For example, these architectures include but are not limited to the Industry Standard Architecture bus, the Micro Channel Architecture bus, the Enhanced ISA bus, the Video Electronics Standards Association local bus, and the Peripheral Component Interconnect bus.

[0094] The computer device 302 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the computer device 302, including volatile and non-volatile media, removable and non-removable media.

[0095] Memory 307 may include computer system readable media in the form of volatile memory, such as random access memory 303 and / or cache memory 301. Computer device 302 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 309 may be used to read and write non-removable, non-volatile magnetic media ( Figure 3 not shown, usually called a "hard drive"). Although Figure 3 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), a digital versatile read-only disk, or other optical media may be provided. In these cases, each drive may be connected to bus 308 via one or more data medium interfaces. Memory 307 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the various embodiments of the present application.

[0096] A program / utility 311 having a set (at least one) of program modules 312 may be stored, for example, in the memory 307, such program modules 312 including but not limited to an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment. The program modules 312 generally perform the functions and / or methods of the embodiments described herein.

[0097] The computer device 302 may also communicate with one or more external devices 304 (e.g., keyboards, pointing devices, displays, etc.), may communicate with one or more devices that enable a user to interact with the computer system / server, and / or may communicate with any device that enables the computer system / server to communicate with one or more other computing devices (e.g., network cards, modems, etc.). Such communication may be performed via an input / output (I / O) interface 305. Furthermore, the computer device 302 may also communicate with one or more networks (e.g., local area networks, wide area networks, and / or public networks, such as the Internet) via a network adapter 310. As shown, the network adapter 310 communicates with other modules of the computer device 302 via a bus 308. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the computer device 302, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0098] The processing unit 306 executes various functional applications and data processing by running the programs stored in the system memory 307, such as implementing the methods mentioned in the above embodiments.

[0099] Based on the above ideal embodiments of the present invention, the relevant staff can make various changes and modifications without departing from the technical concept of the present invention through the above description. The technical scope of the present invention is not limited to the contents of the specification, and its technical scope must be determined according to the scope of the claims.

[0100] In the description of the present invention, it is necessary to understand that the terms indicating orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0101] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0102] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the product of the invention is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0103] In addition, the terms "horizontal", "vertical", "overhanging" and the like do not mean that the components are required to be absolutely horizontal or overhanging, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0104] In the present invention, unless otherwise clearly specified and limited, a first feature being above or below a second feature may include the first and second features being in direct contact, or may include the first and second features not being in direct contact but being in contact through another feature between them. Moreover, a first feature being above, above, and above a second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being below, below, and below a second feature includes the first feature being directly below and obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

Claims

1. A method for automatically detecting an unmanned vehicle, characterized in that: include: (1) performing a self-test on at least one automatic driving device in the unmanned vehicle through an internal self-test system of the unmanned vehicle to obtain a first self-test result of the corresponding automatic driving device; (2) testing at least one autonomous driving mode of the autonomous driving device at a professional testing site to obtain a second test result corresponding to the autonomous driving device; (3) if the first self-test result and the second self-test result of the automatic driving device both meet the automatic driving requirements, it is determined that the automatic driving device can operate normally; (4) If and only if all the autonomous driving devices are judged to be able to operate normally, the unmanned vehicle can be judged to meet the autonomous driving requirements and the autonomous driving function can be turned on; The automatic detection method comprises the following steps: S1: Use the positioning system of the driverless car to search for the inspection site and determine the inspection site based on the self-selected priority principle; S2: The driverless car exchanges information with the selected testing site and schedules a testing time; S3: At the scheduled time, the driverless car enters the inspection site and starts driving along the indicated route; S4: the self-checking system of the driverless car runs, obtains the first self-checking result, and stores it; S5: The testing site interacts with the driverless car, collects driving information of each automatic driving device of the driverless car, obtains a second test result, stores it, and transmits it to the driverless car; S6: judging whether the driverless car meets the requirements of autonomous driving according to the first self-test result and the second test result, and drawing a conclusion; S7: If both the first self-test result and the second self-test result meet the autonomous driving requirement, the autonomous driving function is enabled; S8: If either the first self-test result or the second self-test result does not meet the autonomous driving requirement, immediately shut down the autonomous driving function of the driverless car.

2. The automatic detection method of an unmanned vehicle according to claim 1, characterized in that: The self-checking system inside the driverless car includes: An automatic detection execution program, wherein the automatic detection execution program of the self-detection system is a program statement of a controller for controlling the detection of the automatic driving device of the driverless car and a corresponding program statement for collecting feedback information; An in-vehicle communication program, wherein the in-vehicle communication program is a program used by the driverless car to exchange information with external devices; An on-board storage program, wherein the on-board storage program is a program for storing self-test information on an on-board computer; Related device, the related device is a controller used to control the detection of the automatic driving device of the unmanned vehicle.

3. The automatic detection method of an unmanned vehicle according to claim 1, characterized in that: The testing site refers to a professional site built at a designated location for automatic testing of driverless cars; including: at least one server, a communication device, at least one controller, and a testing device; The server is electrically connected to the controller.

4. The automatic detection method of an unmanned vehicle according to claim 3, characterized in that: The server is installed with a control program, a communication program, an information judgment program and an information storage program; wherein, The control program of the server is a program used to control all controllers in the detection field; The communication program of the server is a program for communicating with the driverless car in the venue or with the driverless car that has made an appointment to enter the venue; The information judgment program of the server is to judge whether the driving of the unmanned vehicle in the field meets the requirements based on the collected information, and to detect and confirm whether the automatic driving of the vehicle is normal; and The information storage program of the server is to store all the information of the server in the detection field for query.

5. The automatic detection method of an unmanned vehicle according to claim 3, characterized in that: The communication device is a device used to realize information interaction between the server of the detection field and the driverless car.

6. The automatic detection method of an unmanned vehicle according to claim 3, characterized in that: The controller includes a traffic light controller and an obstacle controller; wherein The traffic light controller is used to control the changes of traffic lights in the detection field; The obstacle controller is used to control the position and movement path of each obstacle in the detection field.

7. The automatic detection method of an unmanned vehicle according to claim 3, characterized in that: The test device includes a full-coverage camera, a traffic light, a traffic sign, road markings and dividing lines, and an obstacle device; The full coverage camera is installed at a corresponding position in the inspection field, and is used to collect real-time information of all roads in the inspection field, as well as image information of unmanned vehicles driving in the field; The obstacle device comprises a fixing device and a moving device.

8. The automatic detection method of an unmanned vehicle according to claim 7, characterized in that: The fixed devices include road markings, traffic signs, traffic lights, isolation belts, street light poles, and small houses for placing servers; The mobile devices include pedestrians, non-motorized vehicles, motorized vehicles and other test vehicles; in The mobile device and the fixed device are both related and are physical objects; The pedestrians and non-motorized vehicles in the mobile device are replaced by objects whose movement can be controlled.

9. The automatic detection method of an unmanned vehicle according to claim 1, characterized in that: The priority principles include: distance priority principle, time priority principle, and waiting time priority principle; The distance priority principle is the principle of selecting the detection site closest to the real-time position of the driverless car; The time priority principle is to select the driverless car that takes the least time to arrive at the inspection site; The waiting time priority principle is the principle for selecting a testing site where the unmanned vehicle can be tested the fastest.

10. The automatic detection method of an unmanned vehicle according to claim 1, characterized in that: The automatic driving device includes at least one of the following: LiDAR, camera, millimeter wave radar, GPS or BeiDou navigation and positioning system, ultrasonic sensor and other driving devices; The other driving device includes at least one of the following: Brakes, transmissions, temperature sensors, pressure sensors, position sensors, speed sensors, tire pressure detectors.

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