Automatic parking test methods and apparatus, electronic equipment and storage media

Abstract

This application relates to the field of automatic parking, and provides an automatic parking testing method and apparatus, electronic device, and storage medium. The automatic parking testing method includes: acquiring a stage indicator for indicating an automatic parking testing stage; controlling entry into the automatic parking testing stage indicated by the stage indicator; determining whether the automatic parking testing stage is completed; if the automatic parking testing stage is completed, updating the stage indicator to control entry into another automatic parking testing stage indicated by the updated stage indicator; if the automatic parking testing stage is not completed, continuing the testing process of the automatic parking testing stage. The automatic parking testing method, apparatus, electronic device, and storage medium of this application solve the problems of low parking testing efficiency, wasted testing resources, and increased testing costs. It allows for repeated testing of automatic parking testing stages, improving testing efficiency and reducing testing resource waste and testing costs.

Description

Technical Field

[0001] This application relates to the field of automatic parking, and in particular to an automatic parking testing method and apparatus, electronic equipment and storage medium. Background Technology

[0002] An automatic parking system is a system that enables vehicles to automatically park in the correct parking space. It can automatically identify available parking spaces and automatically and correctly complete the parking maneuver. Before an automatic parking system is put into official use, it needs to be tested to ensure the stability and accuracy of its operation.

[0003] In the automatic parking test process, in order to ensure the accuracy of the test, repeated tests are required under different working conditions such as different vehicle speeds, different search distances, and different weather conditions. The test process includes multiple test stages, and each test stage needs to be tested multiple times to ensure the reliability of the test results.

[0004] However, in existing automated parking tests, if any one of the test stages in a single test process fails or malfunctions, the current test must be stopped and a new test must be started. This results in low testing efficiency and an excessive number of tests due to the need to restart the test every time a failure occurs, which unnecessarily wastes testing resources and increases testing costs. Summary of the Invention

[0005] In view of the problems of low testing efficiency, wasted testing resources, and increased testing costs of existing parking testing schemes, this application provides an automatic parking testing method, apparatus, electronic device, and storage medium. The automatic parking testing method, apparatus, electronic device, and storage medium of this application set a stage indicator for each automatic parking testing stage and updated the stage indicator according to whether the automatic parking testing stage is completed. This allows for repeated testing of a single automatic parking testing stage without having to start a new test from scratch, improving testing efficiency and reducing testing resource waste and testing costs.

[0006] According to a first aspect of this application, an automatic parking test method is provided, the automatic parking test method comprising: acquiring a stage indicator for indicating an automatic parking test stage; controlling entry into an automatic parking test stage indicated by the stage indicator according to the stage indicator; determining whether the automatic parking test stage is completed; if the automatic parking test stage is completed, updating the stage indicator to control entry into another automatic parking test stage indicated by the updated stage indicator; if the automatic parking test stage is not completed, continuing to execute the test process of the automatic parking test stage.

[0007] In some embodiments, updating the stage indicator includes one of the following operations: replacing the stage indicator with a new stage indicator, wherein different stage indicators indicate different automatic parking test stages; or updating the assignment of the stage indicator, wherein different assignments indicate different automatic parking test stages.

[0008] In some embodiments, the new stage indicator is determined by: determining the next stage indicator that is in the next order of the stage indicators in the update order according to the preset update order of different stage indicators; and determining the next stage indicator as the new stage indicator.

[0009] In some embodiments, the automatic parking test phase includes a first test phase, which includes: setting an automatic parking test environment; and starting an automatic parking test process based on the automatic parking test environment. The step of determining whether the automatic parking test phase is complete includes: determining whether the first test phase is complete based on whether a parking prompt signal and / or parking request signal from the automatic parking system is received; determining that the first test phase is complete if the parking prompt signal and / or the parking request signal is received; and determining that the first test phase is not complete if the parking prompt signal and / or the parking request signal is not received.

[0010] In some embodiments, the automatic parking test phase includes a second test phase, which includes: acquiring an environmental map of the vehicle's location; determining a valid parking space based on the environmental map; and determining whether the automatic parking test phase is completed. The steps of determining whether the automatic parking test phase is completed include: determining whether the second test phase is completed based on whether a valid parking space has been acquired; if a valid parking space has been acquired, the second test phase is determined to be completed; if no valid parking space has been acquired, the second test phase is determined to be incomplete.

[0011] In some embodiments, the automatic parking test phase further includes a third test phase, which includes: determining a parking path based on the vehicle's current location and the available parking space; and determining whether the automatic parking test phase is completed includes: determining whether the third test phase is completed based on whether path point data of the parking path is received; if the path point data is received, determining that the third test phase is completed; if the path point data is not received, determining that the third test phase is not completed.

[0012] In some embodiments, the automatic parking test phase further includes a fourth test phase, which includes: requesting to obtain vehicle control; in response to obtaining vehicle control, performing automatic parking according to the parking path; and determining whether the automatic parking test phase is completed includes: determining whether the fourth test phase is completed based on whether parking is completed; if parking is completed, determining that the fourth test phase is completed; if parking is not completed, determining that the fourth test phase is not completed.

[0013] According to a second aspect of this application, an automatic parking testing apparatus is provided, comprising: an acquisition unit for acquiring a stage indicator for indicating an automatic parking testing phase; a control unit for controlling entry into an automatic parking testing phase indicated by the stage indicator; a determination unit for determining whether the automatic parking testing phase is completed; and an execution unit for updating the stage indicator if the determination unit determines that the automatic parking testing phase is completed, thereby controlling entry into another automatic parking testing phase indicated by the updated stage indicator; and for continuing the testing process of the automatic parking testing phase if the determination unit determines that the automatic parking testing phase is not completed.

[0014] According to a third aspect of this application, an electronic device is provided, the electronic device comprising: a processor; and a memory storing a computer program, which, when executed by the processor, implements the automatic parking test method according to the first aspect.

[0015] According to a fourth aspect of this application, a computer-readable storage medium storing a computer program is provided, which, when executed by a processor, implements the automatic parking test method according to the first aspect.

[0016] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A schematic flowchart of an automatic parking test method according to an embodiment of this application is shown;

[0019] Figure 2 A schematic diagram illustrating an exemplary test flow of an automatic parking test method according to an embodiment of this application is shown;

[0020] Figure 3 A schematic block diagram of an automatic parking test apparatus according to an embodiment of this application is shown. Detailed Implementation

[0021] The technical solutions of this application will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0022] It should be noted that the term "comprising" will be used in the embodiments of this application to indicate the presence of the features declared thereafter, but does not exclude the addition of other features.

[0023] Prior to this application, existing automated parking tests required repeated testing under different operating conditions, resulting in a high number of tests. Furthermore, real-vehicle testing has specific requirements regarding the size of the test track, the placement of obstacles, and the marking of parking spaces, necessitating significant time investment in both setting up the test track and conducting the parking tests themselves. Under these circumstances, in existing automated parking testing solutions, a failure at any stage of the testing process necessitates stopping the test and restarting from the beginning, leading to low testing efficiency. Consequently, the high number of tests results in low reuse rates of the tape used to mark parking spaces, resulting in resource waste during real-vehicle testing.

[0024] In view of this, one aspect of this application provides an automatic parking test method. The following will refer to... Figure 1 and Figure 2 A detailed description of an automatic parking test method according to an embodiment of this application.

[0025] like Figure 1 As shown, the automatic parking test method according to an embodiment of this application may include the following steps:

[0026] S1. Obtain the phase indicator used to indicate the automatic parking test phase.

[0027] In step S1, the automatic parking test process may include one or more automatic parking test stages. Different automatic parking test stages can be used to test different functions of the automatic parking system. Stage indicators can represent automatic parking test stages, and different automatic parking test stages have different stage indicators. Here, different stage indicators can refer to different symbols or different values.

[0028] During the initialization of the automatic parking test process, an initial stage indicator can be set. This initial stage indicator can be a stage indicator representing an automatic parking test stage in the automatic parking test process, or it can be a meaningless indicator unrelated to an automatic parking test stage in the automatic parking test process. When it is a meaningless indicator, it can be assigned a value when entering the automatic parking test process.

[0029] S2. Based on the stage indicator, control the vehicle to enter the automatic parking test stage indicated by the stage indicator.

[0030] In step S2, the corresponding automatic parking test phase can be entered according to the phase indicator. The automatic parking test phase can be divided according to the test functions to realize a modular testing process. Each test phase can be a unit module in the entire test process, and multiple test phases form a complete test process. In this way, it is not only convenient to perform modular and repeated testing for different test phases, but also to clearly identify the functions that have test faults or failures, reduce the workload and time of troubleshooting, and improve testing efficiency.

[0031] As an example, the functions tested may include one or more of the following: activating the automatic parking system, obtaining a valid parking space, planning a parking path, and gaining control of the vehicle after parking.

[0032] As an example, the steps for controlling entry into the automatic parking test phase indicated by the phase indicator may include:

[0033] Based on whether the stage indicator meets the execution conditions, if the stage indicator does not meet the execution conditions, the control enters the automatic parking test stage indicated by the stage indicator.

[0034] When the stage indicator meets the execution conditions, update the execution conditions to determine whether the stage indicator meets the updated execution conditions.

[0035] Here, the execution conditions can be pre-defined decision conditions for the stage indicator, which can be used to determine whether to enter the automatic parking test stage specified by the stage indicator. The update order of the execution conditions can correspond to the update order of the stage indicator as described below.

[0036] S3. Determine whether the automatic parking test phase has been completed.

[0037] In step S3, the next step can be determined based on whether the automatic parking test phase has been completed.

[0038] If the automatic parking test phase has been completed, proceed to step S4: update the phase indicator to control entry into another automatic parking test phase indicated by the updated phase indicator.

[0039] In step S4, updating the stage indicator may include one of the following operations:

[0040] (1) Replace the stage indicator with a new stage indicator. Here, different stage indicators indicate different automatic parking test stages.

[0041] As an example, a new stage indicator can be determined as follows: based on the pre-defined update order among different stage indicators, determine the next stage indicator that is in the next order of stage indicators in the update order; and determine the next stage indicator as the new stage indicator.

[0042] For example, stage indicators can be in symbolic form, and multiple stage indicators can be arranged in a pre-set order. After completing the automatic parking test stage indicated by any stage indicator, the current stage indicator can be replaced by the next stage indicator in the sequence, thus entering the automatic parking test stage indicated by that next stage indicator. In this way, the execution order of the automatic parking test stages can be arranged by pre-setting the update order of the stage indicators. After the current automatic parking test stage is completed, the next automatic parking test stage can be entered automatically. After the automatic parking test process starts, all test stages are performed sequentially.

[0043] Furthermore, in the example where the decision to control entry into the automatic parking test phase indicated by the phase indicator is based on whether the execution conditions are met, the step of controlling entry into another automatic parking test phase indicated by the updated phase indicator may further include: updating the execution conditions, and controlling entry into another automatic parking test phase indicated by the updated phase indicator based on whether the execution conditions are met. Specifically, if the updated phase indicator meets the execution conditions, control can be exercised to enter another automatic parking test phase indicated by the updated phase indicator.

[0044] When a new stage indicator is used to replace a previous stage indicator, the execution condition can be the condition for determining whether the stage indicator is the next stage indicator. If the stage indicator does not meet the execution condition, the test phase indicated by the current stage indicator is entered; if the stage indicator meets the execution condition, the execution condition is updated.

[0045] (2) Update the stage indicator. Here, different values ​​indicate different automatic parking test stages.

[0046] Specifically, the stage indicator can have an initial value, and when performing an automatic parking test, the value of the stage indicator can be updated to enter different test stages.

[0047] As an example, the steps for assigning a value to an update stage indicator may include one of the following operations:

[0048] When the automatic parking test phase is completed, the value of the phase indicator is automatically decremented by one. The initial value of the phase indicator can be N, where N is the total number of automatic parking test phases.

[0049] When the automatic parking test phase is completed, the phase indicator is automatically incremented by one, where the initial value of the phase indicator is zero.

[0050] Furthermore, when updating the assignment of the stage indicator, the execution condition can be whether the assigned value of the stage indicator is greater than or equal to the threshold for entering the next test stage, or less than the threshold for entering the next test stage. When the stage indicator does not meet the execution condition, the test stage indicated by the current stage indicator is entered; when the stage indicator meets the execution condition, the execution condition is updated. Here, according to the execution order of the test stages, the threshold used for each test stage in the execution condition can be preset. For example, if the initial assignment of the stage indicator can be N, the thresholds corresponding to multiple test stages can be decreased by 1, and the initial value of the threshold (i.e., the threshold corresponding to the first test stage) can be N. The execution condition can be whether the assigned value of the stage indicator is less than the threshold for entering the next test stage. If the initial assignment of the stage indicator is zero, the thresholds corresponding to multiple test stages can be increased by 1, and the initial value of the threshold (i.e., the threshold corresponding to the first test stage) can be 0. The execution condition can be whether the assigned value of the stage indicator is greater than or equal to the threshold for entering the next test stage.

[0051] Return to reference Figure 1 If the automatic parking test phase is not completed, proceed to step S5: continue the test process of the automatic parking test phase.

[0052] In step S5, if the current automatic parking test phase is not completed, the automatic parking test phase can be repeated. Here, incompleteness can include test failure, test result failure, test interruption, etc.

[0053] As described above, the automatic parking test method according to the embodiments of this application can be executed repeatedly in an automatic parking test phase if a single automatic parking test phase is not completed, until the phase is completed before entering the next test phase. There is no need to initialize the test and restart a new test process. Therefore, the automatic parking test phase that has failed or malfunctioned can be repeatedly tested without affecting other test phases.

[0054] Figure 2 An example of the test flow for an automatic parking test method according to an embodiment of this application is shown. Reference will be made below. Figure 2 The test process of the automatic parking test method according to the embodiments of this application is described in detail. Figure 2 An example is given using different assignments to indicate different automatic parking test phases.

[0055] As an example, the automatic parking test phase may include a first test phase, a second test phase, a third test phase, and a fourth test phase. The first, second, third, and fourth test phases may have a predetermined execution order, specifically, as follows: Figure 2 As shown, the first to fourth test phases can be executed sequentially.

[0056] like Figure 2 As shown, when entering the automatic parking test process, the stage indicator P can be assigned the value 0 (S100). It can then be determined whether the initial value of the stage indicator meets the condition for entering the next automatic parking test stage, that is, whether P is greater than or equal to 1 (S10). Since the initial value is 0, it can be determined that P is less than 1, that is, the first test stage of the automatic parking test process can be entered (S11).

[0057] The first testing phase may include: setting up the automatic parking test environment; and starting the automatic parking test process based on the automatic parking test environment.

[0058] Here, the automatic parking test environment can be a simulated real-vehicle environment implemented through hardware and / or software. For example, a real-vehicle environment can be simulated on a test bench using a development environment such as CANoe (CAN open environment). Bench testing refers to testing the automatic parking system in a virtual test environment, which can replace real-vehicle testing, thereby reducing the time and economic costs associated with real-vehicle testing. However, this application is not limited to this; the automatic parking test scheme according to the embodiments of this application can also be used for real-vehicle testing. In the automatic parking test environment, the test process can be started by activating the vehicle's Automatic Parking (APA) function, for example, by repeatedly pressing the APA function button. Furthermore, when the vehicle speed is below a predetermined speed, the APA function button can be pressed or a predetermined operation can be performed to detect whether the APA function is activated.

[0059] In the first testing phase, step S3, which determines whether the automatic parking testing phase has been completed, may include:

[0060] Based on whether a parking signal from the automatic parking system is received within a predetermined time (S12), it is determined whether the first test phase has been completed. Here, the parking signal includes a parking prompt signal and / or a parking request signal.

[0061] If a parking prompt signal and / or parking request signal are received within the aforementioned predetermined time, the first test phase is deemed complete.

[0062] If no parking prompt signal and / or parking request signal are received within the aforementioned predetermined time, the first test phase is determined to be incomplete.

[0063] In the above steps, it can be determined whether the vehicle enters the automatic parking state within a predetermined time. Specifically, it can be determined whether a parking prompt signal and / or parking request signal is received from the vehicle (e.g., the automatic parking system) within the predetermined time. For example, it can be confirmed on the CANoe whether the vehicle unit has issued an APA parking request signal.

[0064] If the corresponding signal is received within the predetermined time, the vehicle's automatic parking system is considered to have been activated normally. If the corresponding signal is not received within the predetermined time, the vehicle's automatic parking system is considered to have not been activated normally, and the test process of the first test phase needs to be executed again until the automatic parking system is activated normally. The predetermined time can be set according to the actual test needs. As an example, it can be set according to the required response speed of the automatic parking system, and it can be inversely proportional to the required response speed.

[0065] However, the operation to determine whether the first test phase has been completed is not limited to this. It can also be determined by observing whether the navigation interface on the vehicle's display screen automatically jumps to the parking interface.

[0066] like Figure 2 As shown, when the first test phase is completed, the assignment of the phase indicator can be updated. For example, the value of the phase indicator can be incremented by 1, i.e., P = P + 1 (S13).

[0067] The current value of the stage indicator can be determined to meet the conditions for entering the next automatic parking test stage, i.e., whether P is greater than or equal to 2 (S20). Since the value of the stage indicator is incremented by 1 in step S13, it can be determined that P is less than 2, i.e., the second test stage of the automatic parking test process can be entered (S21).

[0068] The second testing phase may include: obtaining an environmental map of the vehicle's location; and determining valid parking spaces based on the environmental map.

[0069] Specifically, this second testing phase can be a testing process for the automatic parking system's ability to acquire valid parking spaces. During the use of the automatic parking system, an electronic map can be created around the vehicle. This electronic map can define parking areas and optimize parking space space. Based on the environment around the vehicle, ultrasonic sensing modules (such as ultrasonic radar) and camera sensing modules can work together to provide the user with valid parking spaces at the human-machine interface (HMI), allowing the user to confirm their selection with confidence levels. Here, the ultrasonic sensing module can be used for obstacle distance detection, parking space depth and width detection, etc., while the camera sensing module can be used for parking line recognition, moving object trajectory recognition, etc. The ultrasonic sensing module can be used to acquire spatial parking spaces, and the camera sensing module can be used to acquire line parking spaces.

[0070] According to the actual usage process, in the second testing phase, sensors simulating real vehicles can be set up on the test bench, such as high-definition cameras and radar sensors such as ultrasonic radar sensors. Through these sensors, an environmental map simulating the real vehicle environment can be obtained, and effective parking spaces can be obtained from the environmental map.

[0071] In the second testing phase, step S3, which determines whether the automatic parking testing phase has been completed, may include:

[0072] Based on whether a valid parking space has been acquired (S22), it is determined whether the second testing phase has been completed.

[0073] Once a valid parking space is secured, the second testing phase is considered complete.

[0074] If no valid parking space is found, the second testing phase is determined to be incomplete.

[0075] In the above steps, a valid parking space refers to a parking space available on the current environmental map that can meet the parking needs of the current vehicle. The success of parking space acquisition can be tested using a combination of radar sensors and cameras. If a usable parking space is found on the environmental map, it is considered a valid parking space, and the second testing phase is considered complete. If no usable parking space is found on the environmental map, the testing process for the second phase can be repeated.

[0076] like Figure 2 As shown, when the second test phase is completed, the assignment of the phase indicator can be updated. For example, the value of the phase indicator can be incremented by 1, i.e., P = P + 1 (S23).

[0077] The current value of the stage indicator can be used to determine whether it meets the conditions for entering the next automatic parking test stage, that is, whether P is greater than or equal to 3 (S30). Since the operation of incrementing the value of the stage indicator by 1 is performed in step S23, it can be determined that P is less than 3, that is, the third test stage of the automatic parking test process can be entered (S31).

[0078] The third testing phase may include determining a parking path based on the vehicle's current location and available parking spaces.

[0079] As an example, the coordinates of the current parking space and the available parking spaces can be determined based on an environmental map. Based on these coordinates, a parking path from the current parking space to an available parking space is planned, and this path can be represented as waypoint data. Here, the path planning process can divide the parking starting area, analyze the minimum number of steps, and calculate the driving trajectory. For instance, the coordinates of the current parking space can be input into the APA controller on a test bench. The APA controller uses a pre-stored path planning algorithm to calculate the parking path, and the resulting waypoint data can be sent to the autonomous driving controller of the autonomous driving vehicle (ADV) for automatic parking.

[0080] In the third testing phase, step S3, which determines whether the automatic parking testing phase has been completed, may include:

[0081] Based on whether the path point data of the parking path is received within the predetermined time (S32), determine whether the third test phase has been completed.

[0082] If the path point data is received within the aforementioned predetermined time, the third testing phase is considered complete.

[0083] If no path point data is received within the aforementioned predetermined time, it is determined that the third testing phase has not been completed.

[0084] In the above steps, path point data of the parking path fed back by the automatic parking system can be continuously received within a predetermined time. If path point data is received within the predetermined time, the parking path planned based on the path point data can be determined, and the third test phase is considered complete. If path point data is not received within the predetermined time, it can be assumed that the automatic parking system has not yet planned a parking path or that data transmission has failed, and the test process of the third test phase can be repeated. The predetermined time can be set according to the actual test needs. As an example, it can be set according to the required path planning speed of the automatic parking system, and it can be inversely proportional to the required path planning speed.

[0085] like Figure 2As shown, when the third test phase is completed, the assignment of the phase indicator can be updated. For example, the value of the phase indicator can be incremented by 1, i.e., P = P + 1 (S33).

[0086] The current value of the stage indicator can be determined to meet the conditions for entering the next automatic parking test stage, i.e., whether P is greater than or equal to 4 (S40). Since the value of the stage indicator is incremented by 1 in step S33, it can be determined that P is less than 4, i.e., the fourth test stage of the automatic parking test process can be entered (S41).

[0087] The fourth testing phase may include: requesting control of the vehicle; and, in response to gaining control of the vehicle, performing automatic parking according to the parking path.

[0088] Specifically, an automatic parking system can request control of the vehicle. The driver or control system can then transfer control of the vehicle to the automatic parking system. After gaining control, the automatic parking system can perform automatic parking according to a planned parking path. For example, it can control the vehicle's movement laterally and longitudinally, parking the vehicle in a selected available parking space according to a predetermined parking path. After automatic parking is completed, the automatic parking system can notify the driver or control system to take over the vehicle and transfer control.

[0089] In the fourth testing phase, step S3, which determines whether the automatic parking testing phase has been completed, may include:

[0090] Whether the fourth test phase is completed depends on whether the parking is completed within the predetermined time (S42).

[0091] If the parking space is successfully completed within the aforementioned predetermined time, the fourth test phase is considered complete.

[0092] If the parking space is not completed within the aforementioned scheduled time, the fourth test phase is deemed incomplete.

[0093] In the above steps, it can be determined whether the vehicle was successfully parked in a valid parking space within the predetermined time. If the vehicle is successfully parked within the predetermined time, the fourth test phase can be considered complete. If the vehicle is not successfully parked within the predetermined time, for example, if the automatic parking operation is interrupted during the parking path, the vehicle is parked in the wrong parking space, or the parking operation is not completed by the end of the predetermined time, then the vehicle can be considered successfully parked in a valid parking space, and the parking failure can be repeated. The test process of the fourth test phase can be repeated. The predetermined time can be set according to the actual test needs. As an example, it can be set according to the required execution speed of the automatic parking system, and it can be inversely proportional to the required execution speed.

[0094] like Figure 2As shown, upon completion of the fourth test phase, the value of the phase indicator can be updated. For example, the value of the phase indicator can be incremented by 1, i.e., P = P + 1 (S43). Thus, upon completion of the fourth test phase, parking can be considered successful (S200), and the current system has passed the automatic parking test.

[0095] The above text refers to Figure 2 The description outlines a test process executed sequentially from the first test phase to the fourth test phase. However, the automatic parking test method according to embodiments of this application can integrate one or more test phase modules to perform the test.

[0096] Specifically, in one case, it can be referred to as above. Figure 2 The test is executed sequentially from the first test phase to the fourth test phase, and the test can be repeated in each test phase until the current test phase is successful. In this way, it is not necessary to start a new test when a test phase fails, but to repeat the test phase that has been successfully tested, thereby improving testing efficiency and avoiding the waste of testing resources.

[0097] In another scenario, during real-vehicle testing, if any test stage fails, such as the first, second, third, and fourth test stages described above, the test step can be interrupted. The automatic parking test method according to embodiments of this application can then be used to perform modular testing on the failed test stages. Specifically, only the testing process from the failed test stage to the final test stage can be executed. For example, if the first test stage fails, tests from the first to the fourth test stages can be executed; if the second test stage fails, tests from the second to the fourth test stages can be executed without re-executing the first test stage. Specifically, the test results of the first testing phase can be used as initial parameters input into the second testing phase. If the third testing phase fails, the process from the third to the fourth testing phase can be executed without re-executing the first and second testing phases. Similarly, if the fourth testing phase fails, only the fourth testing phase can be executed, without re-executing the first to the third testing phases. The first to third testing phases can be executed in a virtual test environment on a test bench or in a real vehicle test environment; the fourth testing phase can be executed in a real vehicle test environment.

[0098] In this scenario, simply specifying the phase indicator for the initial test phase during test process initialization allows testing to begin from that specified initial test phase. This enables each test to run without starting from the first test phase, allowing for the specification of any desired initial test phase. As an example, the modular test process described above can be executed on a test bench.

[0099] As described above, the automatic parking test method according to the embodiments of this application can adopt a modular integrated test process, which can test in steps / stages according to functions and then integrate the results to complete the entire test process.

[0100] Furthermore, the automatic parking test method according to the embodiments of this application only requires placing the failed test phases on a test bench for modular testing, eliminating the need to start testing from scratch, avoiding invalid repeated testing, reducing the testing time for software developers and testers on real vehicles, improving testing efficiency, and also reducing resource waste, such as reducing the consumption of gasoline and the waste of tape used to mark parking spaces during real vehicle testing.

[0101] Furthermore, although the above reference Figure 2 The example described uses different assignments to indicate different automatic parking test phases, but this application is not limited to this. As mentioned above, the test process can also be performed by replacing the current phase indicator with a new phase indicator.

[0102] According to another aspect of this application, an automatic parking test apparatus is provided.

[0103] like Figure 3 As shown, the automatic parking test device according to an embodiment of this application includes an acquisition unit 100, a control unit 200, a determination unit 300, and an execution unit 400.

[0104] The acquisition unit 100 can be used to acquire a phase indicator used to indicate the automatic parking test phase.

[0105] The control unit 200 can be used to control entry into the automatic parking test phase indicated by the phase indicator.

[0106] The determining unit 300 can be used to determine whether the automatic parking test phase has been completed.

[0107] If the determining unit 300 determines that the automatic parking test phase has been completed, the execution unit 400 can be used to update the phase indicator to control entry into another automatic parking test phase indicated by the updated phase indicator.

[0108] If the determining unit 300 determines that the automatic parking test phase has not been completed, the execution unit 400 can be used to continue the test process of the automatic parking test phase.

[0109] The acquisition unit 100, control unit 200, determination unit 300, and execution unit 400 can be configured as described above. Figure 1 and Figure 2 The automatic parking test method in the method embodiment shown executes the corresponding steps in the method, for example by acquiring machine-readable instructions executable by the acquisition unit 100, control unit 200, determination unit 300 and execution unit 400. The specific implementation of the acquisition unit 100, control unit 200, determination unit 300 and execution unit 400 can be found in the method embodiment described above, and will not be repeated here.

[0110] Embodiments of this application also provide an electronic device, which includes a processor and a memory. The memory stores a computer program. When the computer program is executed by the processor, the electronic device can perform operations as described above. Figure 1 and Figure 2 The automatic parking test method in the illustrated method embodiment executes the corresponding steps in the method, for example, through machine-readable instructions executable by an electronic device. The specific implementation of the electronic device can be found in the method embodiment described above, and will not be repeated here.

[0111] Embodiments of this application also provide a computer-readable storage medium storing a computer program, which, when executed by a processor, can perform the above-described operations. Figure 1 and Figure 2 The steps of the automatic parking test method in the method embodiment shown are described in detail in the method embodiment, and will not be repeated here.

[0112] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the above-described apparatus and unit can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0113] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and there may be other division methods in actual implementation. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed.

[0114] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of the embodiments of this application, depending on actual needs.

[0115] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0116] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a processor-executable, non-volatile, computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0117] The automatic parking test method, apparatus, electronic device, and storage medium of this application set a stage indicator for each automatic parking test stage and updated the stage indicator according to whether the automatic parking test stage is completed. This allows for cyclic testing of a single automatic parking test stage without having to start a new test from scratch, thereby improving test efficiency and reducing test resource waste and test costs.

[0118] Furthermore, the automatic parking test method and apparatus, electronic device and storage medium of this application can update the stage indicator by replacing the stage indicator or updating the stage indicator assignment, which can be applied to different test requirements and make the application scenarios more flexible.

[0119] Furthermore, according to the automatic parking test method and apparatus, electronic device and storage medium of this application, the execution order of test stages can be specified by specifying the update order of the stage indicators. In this way, it is also possible to start the test from any test stage represented by any stage indicator, realizing a modular test scheme, which allows repeated testing only for the stage that fails, thereby improving test efficiency.

[0120] Furthermore, according to the automatic parking test method and apparatus, electronic equipment and storage medium of this application, the test phases can be divided according to the test functions. The test phases may include one or more of the functions of activating the automatic parking system, obtaining a valid parking space, planning a parking path, and obtaining vehicle control by parking. This allows for testing of different functions, making it easier to troubleshoot the stage where a fault occurs, and allowing for repeated testing of the stage where a fault occurs.

[0121] Finally, it should be noted that the above-described embodiments are merely specific implementations of this application, used to illustrate the technical solutions of this application, and not to limit them. The scope of protection of this application is not limited thereto. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features, within the scope of the technology disclosed in this application. Such modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. An automatic parking test method, characterized in that, The automatic parking test method includes: Obtain a phase indicator for indicating the automatic parking test phase; the automatic parking test phase is divided according to the test function; the automatic parking test phase includes a first test phase, a second test phase, a third test phase, and a fourth test phase. The first test phase includes: setting up the automatic parking test environment, and starting the automatic parking test process based on the automatic parking test environment. The step of determining whether the automatic parking test phase is complete includes: determining whether the first test phase is complete based on whether a parking prompt signal and / or parking request signal from the automatic parking system is received. The second test phase includes: obtaining an environmental map of the vehicle's location, and determining valid parking spaces based on the environmental map. The steps for determining whether the automatic parking test phase is completed include: determining whether the second test phase is completed based on whether a valid parking space has been acquired; the third test phase includes: determining a parking path based on the vehicle's current position and the valid parking space; the steps for determining whether the automatic parking test phase is completed include: determining whether the third test phase is completed based on whether path point data of the parking path has been received; the fourth test phase includes: requesting to acquire vehicle control; in response to acquiring vehicle control, performing automatic parking based on the parking path; the steps for determining whether the automatic parking test phase is completed include: determining whether the fourth test phase is completed based on whether parking has been successfully completed. According to the stage indicator, control enter the automatic parking test stage indicated by the stage indicator; Determine whether the automatic parking test phase has been completed; If the automatic parking test phase has been completed, the phase indicator is updated to control entry into another automatic parking test phase indicated by the updated phase indicator; the control to enter the other automatic parking test phase indicated by the updated phase indicator includes: when the updated phase indicator meets the execution condition, controlling entry into the other automatic parking test phase indicated by the updated phase indicator; wherein, when the updated phase indicator is assigned a value through the updated phase indicator, the execution condition is to determine whether the assigned value of the phase indicator is greater than or equal to the threshold for entering the next test phase; If the automatic parking test phase is not completed, the test process of the automatic parking test phase continues; the process of continuing the test of the automatic parking test phase includes: repeating the automatic parking test phase.

2. The automatic parking test method according to claim 1, characterized in that, The steps to update the stage indicator include one of the following operations: Replace the aforementioned stage indicator with a new stage indicator, wherein the different stage indicators indicate different automatic parking test stages; Update the assignment of the stage indicator, where different assignments indicate different automatic parking test stages.

3. The automatic parking test method according to claim 2, characterized in that, The new phase indicator is determined in the following manner: Based on the pre-defined update order among different stage indicators, determine the next stage indicator that is in the next order of the stage indicators in the update order; The next stage indicator is determined as the new stage indicator.

4. The automatic parking test method according to claim 1, characterized in that, Upon receiving the parking prompt signal and / or the parking request signal, the first test phase is determined to be complete; If the parking prompt signal and / or the parking request signal are not received, it is determined that the first test phase has not been completed.

5. The automatic parking test method according to claim 1, characterized in that, If a valid parking space is found, the second test phase is considered complete. If no valid parking space is found, the second test phase is determined to be incomplete.

6. The automatic parking test method according to claim 5, characterized in that, Upon receiving the path point data, it is determined that the third testing phase is complete; If the path point data is not received, it is determined that the third testing phase has not been completed.

7. The automatic parking test method according to claim 6, characterized in that, Once the parking space is successfully completed, the fourth test phase is deemed complete. If the parking maneuver is not completed, the fourth test phase is deemed incomplete.

8. An automatic parking testing device, characterized in that, The automatic parking test device includes: The acquisition unit acquires a phase indicator for indicating the automatic parking test phase. The automatic parking test phase is divided according to the test function. The automatic parking test phase includes a first test phase, a second test phase, a third test phase, and a fourth test phase. The first test phase includes: setting up an automatic parking test environment, and starting an automatic parking test process based on the automatic parking test environment. The step of determining whether the automatic parking test phase is completed includes: determining whether the first test phase is completed based on whether a parking prompt signal and / or parking request signal from the automatic parking system is received. The second test phase includes: acquiring an environmental map of the vehicle's environment, and determining a valid parking space based on the environmental map. The steps for determining whether the automatic parking test phase is complete include: determining whether the second test phase is complete based on whether a valid parking space has been acquired; the third test phase includes: determining a parking path based on the vehicle's current position and the valid parking space; the steps for determining whether the automatic parking test phase is complete include: determining whether the third test phase is complete based on whether path point data of the parking path has been received; the fourth test phase includes: requesting to acquire vehicle control; in response to acquiring vehicle control, performing automatic parking according to the parking path; the steps for determining whether the automatic parking test phase is complete include: determining whether the fourth test phase is complete based on whether parking has been successfully completed. The control unit controls the entry into the automatic parking test phase indicated by the phase indicator, according to the phase indicator. The determining unit determines whether the automatic parking test phase has been completed. If the determining unit determines that the automatic parking test phase has been completed, the execution unit updates the phase indicator to control entry into another automatic parking test phase indicated by the updated phase indicator. Controlling entry into the other automatic parking test phase indicated by the updated phase indicator includes: controlling entry into the other automatic parking test phase indicated by the updated phase indicator when the updated phase indicator meets the execution condition; wherein, when the updated phase indicator is assigned a value, the execution condition is determining whether the assigned value of the phase indicator is greater than or equal to the threshold for entering the next test phase. If the determining unit determines that the automatic parking test phase is not completed, the execution unit continues to execute the test process of the automatic parking test phase; the continued execution of the test process of the automatic parking test phase includes: repeating the automatic parking test phase.

9. An electronic device, characterized in that, The electronic device includes: processor; A memory storing a computer program that, when executed by a processor, implements the automatic parking test method according to any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the automatic parking test method according to any one of claims 1 to 7.

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