An autonomous driving test system

Abstract

The present application relates to the technical field of vehicle testing, and particularly to an autonomous driving test system; the autonomous driving test system includes an autonomous driving simulation module for simulating vehicle driving scenario information, sending vehicle-road cooperation information and vehicle status information to the vehicle-road cooperation module; the autonomous driving simulation module is further configured to control the simulated vehicle driving based on an autonomous driving control instruction; the vehicle-road cooperation module is configured to generate first target object information based on the vehicle-road cooperation information and the vehicle status information; the vehicle assisted driving module is configured to generate an autonomous driving control instruction based on the first target object information, the vehicle status information, and second target object information; the data analysis module is configured to obtain test results for the vehicle-road cooperation module and the vehicle assisted driving module; by constructing an autonomous driving test system including a vehicle-road cooperation module and a vehicle assisted driving module, the test cost is reduced and the test efficiency is improved.

Description

Technical Field

[0001] This application relates to the technical field of vehicle testing, and particularly to an autonomous driving test system. Background Art

[0002] With the development of technology, the autonomous driving of vehicles has gradually become a research hotspot; there are mainly two modes of autonomous driving technology: single-vehicle intelligence mode and vehicle-road cooperation mode; the single-vehicle intelligence mode refers to obtaining external information based on vehicle sensors to control the autonomous driving of the vehicle; the vehicle-road cooperation mode refers to controlling the autonomous driving of the vehicle based on the dynamic real-time information interaction between vehicles and between vehicles and roads; in the prior art, a new mode has been proposed to use the single-vehicle intelligence mode and the vehicle-road cooperation mode in combination to control the autonomous driving of the vehicle.

[0003] Before the application of the domain controller of single-vehicle intelligence and the domain controller of vehicle-road cooperation, they both need to be tested; in the prior art, there are respective corresponding test systems for the domain controller of single-vehicle intelligence and the domain controller of vehicle-road cooperation; however, in the proposed new mode, if the single-vehicle intelligence module and the vehicle-road cooperation module are tested separately, it will lead to test results that do not conform to the actual situation and will also result in a relatively high test cost. Summary of the Invention

[0004] Aiming at the above problems of the prior art, the purpose of this application is to reduce the test cost and improve the test efficiency by constructing an autonomous driving test system including a vehicle-road cooperation module and a vehicle assisted driving module.

[0005] To solve the above problems, this application provides an autonomous driving test system, which includes an autonomous driving simulation module, a vehicle-road cooperation module, a vehicle assisted driving module, vehicle simulation sensors, and a data analysis module. The autonomous driving simulation module is used to simulate vehicle driving scenario information, send vehicle-road cooperation information and vehicle status information to the vehicle-road cooperation module; the vehicle-road cooperation information matches the vehicle driving scenario information; the autonomous driving simulation module is also used to control the simulated vehicle driving based on the autonomous driving control instruction.

[0006] The vehicle-road cooperation module is used to generate first target object information based on the vehicle-road cooperation information and the vehicle status information.

[0007] The vehicle assisted driving module is used to generate the autonomous driving control instruction based on the first target object information, the vehicle status information, and second target object information; the second target object information is obtained by collecting information on the vehicle driving scenario based on the vehicle simulation sensors.

[0008] The data analysis module is used to analyze based on the first target object information, the second target object information, the vehicle-road collaboration information, the vehicle status information, and the autonomous driving control instruction, so as to obtain the test results of the vehicle-road collaboration module and the vehicle assisted driving module.

[0009] In the embodiment of the present application, the vehicle-road collaboration module includes a radio frequency simulation unit and a vehicle-mounted unit to be tested, and the vehicle-road collaboration information includes driving road information and vehicle position information;

[0010] The radio frequency simulation unit is used to send the driving road information to the vehicle-mounted unit to be tested in a radio frequency manner;

[0011] The vehicle-mounted unit to be tested is used to perform information fusion processing based on the driving road information, the vehicle position information, and the vehicle status information to obtain the first target object information.

[0012] In the embodiment of the present application, the radio frequency simulation unit includes an information exchange protocol plug-in and a vehicle-mounted unit development board. The information exchange protocol plug-in is used to perform format conversion on the driving road information to obtain target road information; the information format of the target road information is the information format that the vehicle-mounted unit can recognize;

[0013] The vehicle-mounted unit development board is used to send the target road information to the vehicle-mounted unit to be tested in a radio frequency manner.

[0014] In the embodiment of the present application, the autonomous driving simulation module includes a first simulation unit and a second simulation unit. The first simulation unit is used to simulate the vehicle driving scenario information; the second simulation unit is used to simulate the simulated vehicle driving.

[0015] In the embodiment of the present application, the first simulation unit includes a vehicle-road collaboration output unit, an elevation information output unit, and an information update unit. The vehicle driving scenario information includes road surface elevation information;

[0016] The vehicle-road collaboration output unit is used to send the vehicle-road collaboration information to the vehicle-road collaboration module;

[0017] The elevation information output unit is used to send the road surface elevation information to the second simulation unit;

[0018] The information update unit is used to update the vehicle driving scenario information based on the driving information of the simulated vehicle.

[0019] In the embodiment of the present application, the second simulation unit includes a simulated driving unit and a vehicle status output unit. The simulated driving unit is used to control the simulated vehicle to drive based on the road surface elevation information and the autonomous driving control instruction;

[0020] The vehicle status output unit is configured to send the vehicle status information to the vehicle-road cooperation module and the vehicle assisted driving module respectively.

[0021] In an embodiment of the present application, the vehicle simulation sensor includes a video injection device, a dark box device, and a radar simulation device; the video injection device is configured to simulate the information interaction between the first image acquisition device on the simulated vehicle and the vehicle assisted driving module; the first image acquisition device is configured to acquire distorted images;

[0022] The dark box device is configured to simulate the information interaction between the second image acquisition device on the simulated vehicle and the vehicle assisted driving module; the second image acquisition device is configured to acquire images in a fixed direction;

[0023] The radar simulation device is configured to simulate the information interaction between multiple radar devices on the simulated vehicle and the vehicle assisted driving module.

[0024] In an embodiment of the present application, the data analysis module includes a data fusion unit and a data reproduction unit. The data fusion unit is configured to correspond the first target object information, the second target object information, the vehicle-road cooperation information, the vehicle status information, and the autonomous driving control instruction based on the test node to obtain test node data;

[0025] The data reproduction unit is configured to correspond the test node data to the test node and store the data, and to reproduce the test node data based on the test node.

[0026] In an embodiment of the present application, the data analysis module includes a first analysis unit and a second analysis unit. The first analysis unit is configured to analyze based on the first target object information, the second target object information, the vehicle status information, and the autonomous driving control instruction to obtain a test result for the vehicle assisted driving module;

[0027] The second analysis unit is configured to analyze based on the first target object information, the vehicle-road cooperation information, and the vehicle status information to obtain a test result for the vehicle-road cooperation module.

[0028] In an embodiment of the present application, the data analysis module includes a cooperation analysis module. The cooperation analysis unit is configured to analyze based on the first target object information, the second target object information, the vehicle-road cooperation information, the vehicle status information, and the autonomous driving control instruction to obtain a correlation test result for the vehicle-road cooperation module and the vehicle assisted driving module.

[0029] Due to the above technical solution, an autonomous driving test system described in the present application has the following beneficial effects:

[0030] By setting up an autonomous driving simulation module to simulate vehicle driving scenario information and sending vehicle-road cooperation information matching the vehicle scenario information to the vehicle-road cooperation module; and the vehicle assisted driving module generates an autonomous driving control instruction based on the first target object information, vehicle state information, and the second target information collected by the vehicle simulation sensor generated by the vehicle-road cooperation module. The data analysis module can obtain the test results of the vehicle-road cooperation module and the vehicle assisted driving module by analyzing the first target object information, the second target object information, the vehicle-road cooperation information, the vehicle state information, and the autonomous driving control instruction, avoiding separately building test systems for the vehicle-road cooperation module and the vehicle assisted driving module, thereby improving the test efficiency and reducing the test costs for the vehicle-road cooperation module and the vehicle assisted driving module; discovering problems in the new mode in advance in the experimental scenario and proposing solutions, thereby reducing the R & D time and R & D costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0032] Figure 1 is a schematic structural diagram of an autonomous driving test system provided by an embodiment of the present application;

[0033] Figure 2 is a schematic structural diagram of an autonomous driving test system provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0034] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.

[0035] As used herein, the term "one embodiment" or "embodiment" refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present application. In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", "top", "bottom", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application 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 should not be construed as a limitation to the present application. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. Moreover, the terms "first", "second", etc. are used to distinguish similar objects and do not necessarily have to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein.

[0036] Combined with Figure 1 , this paper introduces an autonomous driving test system provided by an embodiment of the present application. The system includes an autonomous driving simulation module, a vehicle-road cooperation module, a vehicle assisted driving module, vehicle simulation sensors, and a data analysis module. The autonomous driving simulation module is used to simulate vehicle driving scenario information, send vehicle-road cooperation information and vehicle status information to the vehicle-road cooperation module; the vehicle-road cooperation information matches the vehicle driving scenario information; the autonomous driving simulation module is also used to control the simulated vehicle driving based on the autonomous driving control instruction; the vehicle driving scenario information refers to the road condition information on the current driving road of the vehicle. Specifically, the vehicle driving scenario information may include information on immovable objects such as roadblocks, zebra crossings, and traffic lights on the road surface; the vehicle driving scenario information may also include information on moving objects such as vehicles and pedestrians on the road surface; the vehicle-road cooperation information is the information of dynamic real-time interaction between vehicles and between vehicles and roads in the simulated actual scenario; the autonomous driving control instruction refers to the instruction for controlling the simulated vehicle driving. Specifically, the autonomous driving control instruction includes, but is not limited to, control information such as vehicle gear, vehicle steering angle, vehicle speed, and vehicle acceleration.

[0037] The vehicle-road cooperation module is used to generate first target object information based on the vehicle-road cooperation information and the vehicle status information; the first target object information refers to the set of target object information obtained by the vehicle-road cooperation module through judging and calculating the driving environment of the simulated vehicle; specifically, the first target object information includes information such as the type of the first target object, the speed of the first target object, and the distance of the first target object.

[0038] The vehicle assisted driving module is used to generate an autonomous driving control instruction based on the first target object information, vehicle status information, and second target object information; the second target object information is obtained by collecting information on the vehicle driving scenario based on vehicle simulation sensors; the second target object information refers to the set of target object information of the vehicle driving environment obtained by the vehicle assisted driving module through vehicle simulation sensors; specifically, the second target object information includes information such as the type of the second target object, the speed of the second target object, and the distance of the second target object.

[0039] In a specific embodiment of the present application, the vehicle assisted driving module is the domain controller in the single vehicle intelligence, that is, the controller of the ADAS (Advanced Driving Assistance System).

[0040] The data analysis module is used to analyze based on the first target object information, second target object information, vehicle-road cooperation information, vehicle status information, and autonomous driving control instruction to obtain the test results for the vehicle-road cooperation module and the vehicle assisted driving module; the test results include the test results for the vehicle assisted driving module, the test results for the vehicle-road cooperation module, the test results for the vehicle assisted driving module and the vehicle-road cooperation module, and the correlation test results for the vehicle-road cooperation module and the vehicle assisted driving module.

[0041] In the embodiment of the present application, by setting up an autonomous driving simulation module to simulate the vehicle driving scenario information and sending the vehicle-road cooperation information matching the vehicle scenario information to the vehicle-road cooperation module; and the vehicle assisted driving module generates an autonomous driving control instruction based on the first target object information generated by the vehicle-road cooperation module, vehicle status information, and second target information collected by the vehicle simulation sensors, the data analysis module can obtain the test results for the vehicle-road cooperation module and the vehicle assisted driving module by analyzing the first target object information, second target object information, vehicle-road cooperation information, vehicle status information, and autonomous driving control instruction, avoiding separately building the test systems for the vehicle-road cooperation module and the vehicle assisted driving module, thereby improving the test efficiency and reducing the test costs for the vehicle-road cooperation module and the vehicle assisted driving module; discovering problems in the new mode in advance in the experimental scenario and proposing solutions, and further reducing the R & D time and R & D costs.

[0042] Reference Figure 2, in the embodiment of the present application, the vehicle-road cooperation module includes a radio frequency simulation unit and a vehicle-mounted unit to be tested, and the vehicle-road cooperation information includes driving road information and vehicle position information; the driving road information refers to the road condition information around the position where the simulated vehicle is located; specifically, the driving road information corresponds to the vehicle driving scenario information, and may include the fixed position information of immovable objects such as roadblocks, zebra crossings, and traffic lights on the road surface. The fixed position information may be longitude and latitude information; it may also include the movement information of moving objects such as vehicles and pedestrians on the road surface. The movement information may be information such as movement speed and acceleration; the vehicle position information refers to the position information of the simulated vehicle in the vehicle driving scenario. Specifically, it may include the distance information from immovable objects, and may also be the simulated vehicle longitude and latitude information.

[0043] The radio frequency simulation unit is used to send the driving road information to the vehicle-mounted unit to be tested in a radio frequency manner; by sending the driving road information to the vehicle-mounted unit to be tested in a radio frequency manner, the signal transmission between vehicles and between vehicles and roads in vehicle-road cooperation is simulated, thereby improving the authenticity of the autonomous driving test system and further improving the accuracy of the autonomous driving test system.

[0044] The vehicle-mounted unit to be tested is used to perform information fusion processing based on the driving road information, vehicle position information, and vehicle status information to obtain the first target object information; the vehicle-mounted unit to be tested refers to the domain controller in the vehicle-road cooperation function, that is, the OBU (On board Unit) to be tested.

[0045] Reference Figure 2 , in the embodiment of the present application, the radio frequency simulation unit includes an information exchange protocol plug-in and a vehicle-mounted unit development board. The information exchange protocol plug-in is used to perform format conversion on the driving road information to obtain target road information; the information format of the target road information is the information format that the vehicle-mounted unit can recognize;

[0046] The vehicle-mounted unit development board is used to send the target road information to the vehicle-mounted unit to be tested in a radio frequency manner.

[0047] In a specific embodiment of the present application, the information exchange protocol plug-in is a V2x (vehicle to everything) plug-in; the vehicle-mounted unit development board is an OBU development board; the information format that the OBU development board can recognize is the same as the information format that the OBU can recognize.

[0048] In the embodiment of the present application, by setting the radio frequency simulation unit as an information exchange protocol plug-in and a vehicle-mounted unit development board, the transmission accuracy of vehicle-road cooperation information can be improved, and the cost of sending driving road information to the vehicle-mounted unit to be tested in a radio frequency manner can be reduced, thereby improving the test accuracy of the autonomous driving test system and reducing the test cost of the autonomous driving test system.

[0049] In an embodiment of the present application, the autonomous driving simulation module includes a first simulation unit and a second simulation unit. The first simulation unit is used to simulate vehicle driving scenario information; the second simulation unit is used to simulate vehicle driving.

[0050] In an embodiment of the present application, by simulating vehicle driving information and vehicle driving separately, the difficulty of information simulation can be reduced, and the data processing pressure on the autonomous driving simulation module can be reduced. Furthermore, the test efficiency of the autonomous driving test system can be improved, and the test cost of the autonomous driving test system can be reduced.

[0051] In an embodiment of the present application, the first simulation unit can also be used to build a three-dimensional model of the vehicle driving scenario based on the vehicle driving scenario information, that is, to perform animation simulation; the second simulation unit can also be used to build a dynamic three-dimensional model based on the simulated vehicle driving.

[0052] Reference Figure 2 , in a specific embodiment of the present application, the first simulation unit is a graphics workstation, and the second simulation unit is a real-time simulator, that is, a model-based engineering design application platform; specifically, animation simulation software is run in the graphics workstation, and a pre-generated dynamic model is run in the real-time simulator.

[0053] In an embodiment of the present application, the first simulation unit includes a vehicle-road cooperation output unit, an elevation information output unit, and an information update unit. The vehicle driving scenario information includes road surface elevation information; the road surface elevation information refers to relevant information on the road where the vehicle is simulated to drive; for example, information such as the steepness of the driving road and the road surface adhesion coefficient of the driving road.

[0054] The vehicle-road cooperation output unit is used to send vehicle-road cooperation information to the vehicle-road cooperation module;

[0055] The elevation information output unit is used to send road surface elevation information to the second simulation unit;

[0056] The information update unit is used to update the vehicle driving scenario information based on the driving information of the simulated vehicle; the driving information of the simulated vehicle refers to the information generated after the simulated vehicle simulates driving based on the autonomous driving control instruction. Specifically, the driving information includes information such as the driving distance of the simulated vehicle and the driving speed of the simulated vehicle.

[0057] In an embodiment of the present application, by setting the information update unit to update the vehicle driving scenario information based on the driving information of the simulated vehicle, the vehicle-road cooperation module and the vehicle assisted driving module can generate updated vehicle braking control instructions based on the updated vehicle driving scenario information, so as to achieve loop testing, ensure the coherence of the testing, and at the same time reduce the influence of external information on the testing results. Furthermore, the test convenience of the autonomous driving test system can be improved, and the test accuracy can be improved.

[0058] In an embodiment of the present application, the second simulation unit includes a simulated driving unit and a vehicle state output unit. The simulated driving unit is used to control the driving of a simulated vehicle based on road surface elevation information and an autonomous driving control instruction.

[0059] In a specific embodiment of the present application, the simulated driving unit is used to generate driving information of the simulated vehicle based on road surface elevation information and an autonomous driving control instruction; specifically, the simulated driving unit is used to obtain the driving attitude of the simulated vehicle based on the road surface elevation information, and is used to obtain information such as the speed and acceleration of the vehicle based on the automatic control instruction.

[0060] The vehicle state output unit is used to send vehicle state information to the vehicle-road cooperation module and the vehicle assisted driving module respectively; the vehicle state information refers to the current operation information of the simulated vehicle. Specifically, the vehicle state driving information may include attitude information, speed information, cornering information, and gear information of the simulated vehicle.

[0061] In an embodiment of the present application, by setting the simulated driving unit to control the driving of the simulated vehicle based on road surface elevation information and an autonomous driving control instruction, it is possible to simulate the driving of the vehicle in various environments, and then test the working states of the vehicle-road cooperation module and the vehicle assisted driving module in various environments, thereby improving the test scope of the autonomous driving test system.

[0062] In an embodiment of the present application, the vehicle simulation sensor includes a sensor information interaction device, and the sensor information interaction device is used to simulate the information interaction between the vehicle sensor and the vehicle assisted driving module; specifically, the sensor information interaction device includes an injection device, a black box device, and a radar simulator.

[0063] Reference Figure 2 In an embodiment of the present application, the vehicle simulation sensor includes a video injection device, a black box device, and a radar simulation device; the video injection device is used to simulate the information interaction between the first image acquisition device on the simulated vehicle and the vehicle assisted driving module; the first image acquisition device is used to acquire distorted images; for example, the first image acquisition device may be a surround view camera, a wide-angle camera, and a panoramic image camera.

[0064] The black box device is used to simulate the information interaction between the second image acquisition device on the simulated vehicle and the vehicle assisted driving module; the second image acquisition device is used to acquire images in a fixed direction; for example, the second image acquisition device may be a medium and long-distance front view camera and a medium and long-distance rear view camera.

[0065] The radar simulation device is used to simulate the information interaction between various radar devices on the simulated vehicle and the vehicle assisted driving module; for example, the radar device may be a pulse radar and a lidar.

[0066] In the embodiment of the present application, by using a video injection device, a dark box device, and a radar simulation device to simulate the information interaction between a vehicle sensor and a vehicle assisted driving module, the second target object information transmitted by the vehicle simulation sensor is made to be more in line with the second target object information collected by an actual vehicle sensor, thereby improving the transmission accuracy of the second target object information and further improving the accuracy of the automatic driving system test.

[0067] In the embodiment of the present application, the vehicle simulation sensor further includes a virtual sensor, and the virtual sensor is communicatively connected to the video injection device, the dark box device, and the radar simulation device; the virtual sensor is disposed in a graphics workstation. Specifically, the position and angle of the virtual sensor on the simulated vehicle are set in the graphics workstation; the virtual sensor is used to simulate the information collection of the vehicle sensor for the vehicle driving scenario.

[0068] In the embodiment of the present application, the data analysis module includes a data fusion unit and a data reproduction unit. The data fusion unit is used to obtain test node data based on test nodes for the first target object information, the second target object information, the vehicle-road cooperation information, the vehicle state information, and the automatic driving control instruction; a test node refers to a test marking point in the test process, and the test node can be the number of tests or a test time period; the test node data refers to all data under the test node. For example, the first target object information, the second target object information, the vehicle-road cooperation information, the vehicle state information, and the automatic driving control instruction under the first test; the first target object information, the second target object information, the vehicle-road cooperation information, the vehicle state information, and the automatic driving control instruction under the first test during the time period from t1 to t2.

[0069] The data reproduction unit is used to correspond the test node data to the test nodes and store the data, and is also used to reproduce the test node data based on the test nodes.

[0070] In the embodiment of the present application, by setting the data fusion unit and the data reproduction unit, it is possible to monitor or reproduce the test data based on the test nodes, thereby facilitating the data analysis based on multiple test data and further improving the accuracy of the automatic driving test system.

[0071] In the embodiment of the present application, the data analysis module includes a first analysis unit and a second analysis unit. The first analysis unit is used to analyze based on the first target object information, the second target object information, the vehicle state information, and the automatic driving control instruction to obtain the test result of the vehicle assisted driving module;

[0072] The second analysis unit is used to analyze based on the first target object information, the vehicle-road cooperation information, and the vehicle state information to obtain the test result of the vehicle-road cooperation module.

[0073] In the embodiment of the present application, the test result of the vehicle assisted driving module can be obtained by calling the first analysis unit and not calling the second analysis unit; the test result of the vehicle-road cooperation module can also be obtained by calling the second analysis unit and not calling the first analysis unit; the test results of both the vehicle assisted driving module and the vehicle-road cooperation module can be obtained simultaneously by calling the first analysis unit and the second analysis unit at the same time.

[0074] In the embodiment of the present application, by setting the first analysis unit to obtain the test result of the vehicle assisted driving module, and by setting the second analysis unit to obtain the test result of the vehicle-road cooperation module, through the call of the first analysis unit and the second analysis unit, multiple tests are implemented to obtain multiple test results, thereby improving the functionality of the autonomous driving test system, improving the test efficiency, and reducing the autonomous driving test cost.

[0075] In the embodiment of the present application, the data analysis module includes a collaborative analysis module, and the collaborative analysis unit is used to analyze based on the first target object information, the second target object information, the vehicle-road cooperation information, the vehicle state information, and the autonomous driving control instruction to obtain the correlation test result of the vehicle-road cooperation module and the vehicle assisted driving module.

[0076] In the embodiment of the present application, the correlation test result of the vehicle-road cooperation module and the vehicle assisted driving module can be obtained by calling the collaborative analysis unit; the test result of the vehicle-road cooperation module, the test result of the vehicle assisted driving module, and the correlation test result of the vehicle-road cooperation module and the vehicle assisted driving module can also be obtained by calling the first analysis unit, the second analysis unit, and the collaborative analysis module at the same time; any one of the first analysis unit or the second analysis unit, and the collaborative analysis unit can be called, and then any one of the test results of the vehicle-road cooperation module or the vehicle assisted driving module, and the correlation test result of the vehicle-road cooperation module and the vehicle assisted driving module can be obtained.

[0077] In the embodiment of the present application, by setting the collaborative analysis module to perform a correlation test on the vehicle-road cooperation module and the vehicle assisted driving module, the combination of vehicle-road cooperation and single-vehicle intelligence can be completed by adjusting the correlation between the vehicle-road cooperation module and the vehicle assisted driving module, thereby reducing the R & D time and R & D cost.

[0078] The following introduces the test process of testing the AEB function (Autonomous Emergency Braking) with the autonomous driving test system in the embodiment of the present application:

[0079] In the first simulation module, a stationary target obstacle (target vehicle) is set 500 m in front of the simulated vehicle, and the second simulation module is set to move forward at a vehicle speed of 30 kilometers per hour; the first simulation module sends the vehicle-road cooperation information of the target obstacle (target vehicle) to the vehicle-road cooperation module. Specifically, the first simulation module sends the position information of the simulated vehicle and the target obstacle (target vehicle) to the on-vehicle unit (OBU) to be tested in a radio frequency manner through the information exchange protocol plug-in and the on-vehicle unit development board, and directly sends the position information of the simulated vehicle to the on-vehicle unit to be tested. The on-vehicle unit generates the first target object information based on the vehicle-road cooperation information. Specifically, the first target object information includes the distance information between the simulated vehicle and the target obstacle (target vehicle); the second target object information is collected through the vehicle simulation sensor and sent to the vehicle assisted driving module. The single-vehicle intelligent module generates an autonomous driving control instruction based on the first target object, the second target object, and the vehicle state information, and sends the autonomous driving control instruction to the second simulation module. Specifically, the autonomous driving control instruction includes information such as the instruction sending time, braking speed, and braking acceleration; the second simulation module controls the simulated vehicle to stop based on the autonomous driving control instruction; during this process, information such as the distance and relative speed between the target obstacles (target vehicles) is continuously updated, so that continuous testing can be carried out until the vehicle stops.

[0080] In the above test experiment, the following test items can be tested: 1) Whether the difference between the first target object information sent by the on-vehicle unit to be tested and the actual target object is within the controllable range, that is, the test result of the vehicle-road cooperation module; 2) Whether the time difference between the vehicle assisted driving module receiving the first target object information and the second target object information is within the preset range, and whether the autonomous driving control instruction generated by the vehicle assisted driving module is reasonable, that is, the test result of the single-vehicle intelligent module; 3) The difference between the autonomous driving control instruction calculated based on the first target object information and the second target object information and the ideal control instruction, and based on the above difference, the calculation weights of the first target object information and the second target object can be adjusted, that is, the correlation test result and correlation adjustment of the vehicle-road cooperation module and the vehicle assisted driving module.

[0081] In the embodiment of the present application, the autonomous driving control system has the following beneficial effects:

[0082] By setting up an autonomous driving simulation module to simulate vehicle driving scenario information and sending vehicle-road cooperation information matching the vehicle scenario information to the vehicle-road cooperation module; and the vehicle assisted driving module generates an autonomous driving control instruction based on the first target object information, vehicle state information, and the second target information collected by the vehicle simulation sensor generated by the vehicle-road cooperation module. The data analysis module can obtain the test results of the vehicle-road cooperation module and the vehicle assisted driving module by analyzing the first target object information, the second target object information, the vehicle-road cooperation information, the vehicle state information, and the autonomous driving control instruction, avoiding separately building test systems for the vehicle-road cooperation module and the vehicle assisted driving module, thereby improving the test efficiency and reducing the test costs for the vehicle-road cooperation module and the vehicle assisted driving module; discovering problems in the new mode in advance in the experimental scenario and proposing solutions, thereby reducing the R & D time and R & D costs.

[0083] The above description has fully disclosed the specific implementation manners of the present application. It should be noted that any changes made by those skilled in the art to the specific implementation manners of the present application do not depart from the scope of the claims of the present application. Accordingly, the scope of the claims of the present application is not limited solely to the foregoing specific implementation manners.

Claims

1. An autonomous driving test system, characterized in that, It includes an autonomous driving simulation module, a vehicle-road cooperation module, a vehicle assisted driving module, vehicle simulation sensors, and a data analysis module. The autonomous driving simulation module is used to simulate vehicle driving scenario information, and send vehicle-road cooperation information and vehicle status information to the vehicle-road cooperation module; the vehicle-road cooperation information matches the vehicle driving scenario information; the autonomous driving simulation module is also used to control the simulated vehicle driving based on the autonomous driving control instruction. The vehicle-road cooperation module is used to generate first target object information based on the vehicle-road cooperation information and vehicle status information. The vehicle assisted driving module is used to generate the autonomous driving control instruction based on the first target object information, the vehicle status information, and second target object information; the second target object information is obtained by collecting information on the vehicle driving scenario based on the vehicle simulation sensors. The data analysis module is used to analyze based on the first target object information, the second target object information, the vehicle-road cooperation information, the vehicle status information, and the autonomous driving control instruction, and obtain the test results for the vehicle-road cooperation module and the vehicle assisted driving module. The vehicle-road cooperation module includes a radio frequency simulation unit and a vehicle-mounted unit under test, and the vehicle-road cooperation information includes driving road information and vehicle position information. The radio frequency simulation unit is used to send the driving road information to the vehicle-mounted unit under test in a radio frequency manner. The vehicle-mounted unit under test is used to perform information fusion processing based on the driving road information, the vehicle position information, and the vehicle status information to obtain the first target object information. The autonomous driving simulation module includes a first simulation unit and a second simulation unit. The first simulation unit is used to simulate the vehicle driving scenario information. The second simulation unit is used to simulate the driving of the simulated vehicle. The first simulation unit is a graphics workstation, and the second simulation unit is a real-time simulator; an animation simulation software is run in the graphics workstation, and a pre-generated dynamic model is run in the real-time simulator.

2. The autonomous driving test system according to claim 1, characterized in that, The radio frequency simulation unit includes an information exchange protocol plug-in and a vehicle-mounted unit development board. The information exchange protocol plug-in is used to perform format conversion on the driving road information to obtain target road information; the information format of the target road information is the information format that the vehicle-mounted unit can recognize. The vehicle-mounted unit development board is used to send the target road information to the vehicle-mounted unit under test in a radio frequency manner.

3. An automatic driving test system according to claim 1, characterized in that, The first simulation unit includes a vehicle-road cooperation output unit, an elevation information output unit, and an information update unit. The vehicle driving scenario information includes road surface elevation information. The vehicle-road cooperation output unit is used to send the vehicle-road cooperation information to the vehicle-road cooperation module. The elevation information output unit is used to send the road surface elevation information to the second simulation unit. The information update unit is used to update the vehicle driving scenario information based on the driving information of the simulated vehicle.

4. An automatic driving test system according to claim 3, characterized in that, The second simulation unit includes a simulated driving unit and a vehicle state output unit. The simulated driving unit is configured to control the driving of the simulated vehicle based on the road surface elevation information and the autonomous driving control instruction. The vehicle state output unit is configured to send the vehicle state information to the vehicle-road cooperation module and the vehicle assisted driving module respectively.

5. An automatic driving test system according to claim 1, characterized in that, The vehicle simulation sensor includes a video injection device, a dark box device, and a radar simulation device. The video injection device is configured to simulate the information interaction between the first image acquisition device on the simulated vehicle and the vehicle assisted driving module. The first image acquisition device is configured to acquire distorted images. The dark box device is configured to simulate the information interaction between the second image acquisition device on the simulated vehicle and the vehicle assisted driving module. The second image acquisition device is configured to acquire images in a fixed direction. The radar simulation device is configured to simulate the information interaction between multiple radar devices on the simulated vehicle and the vehicle assisted driving module.

6. An automatic driving test system according to claim 1, characterized in that, The data analysis module includes a data fusion unit and a data reproduction unit. The data fusion unit is configured to correspond the first target object information, the second target object information, the vehicle-road cooperation information, the vehicle state information, and the autonomous driving control instruction based on the test node to obtain test node data. The data reproduction unit is configured to correspond the test node data to the test node and store the data, and to reproduce the test node data based on the test node.

7. An autonomous driving test system according to claim 1, characterized in that, The data analysis module includes a first analysis unit and a second analysis unit. The first analysis unit is configured to analyze based on the first target object information, the second target object information, the vehicle state information, and the autonomous driving control instruction to obtain a test result for the vehicle assisted driving module. The second analysis unit is configured to analyze based on the first target object information, the vehicle-road cooperation information, and the vehicle state information to obtain a test result for the vehicle-road cooperation module.

8. An automatic driving test system according to claim 1, characterized in that, The data analysis module includes a collaborative analysis unit. The collaborative analysis unit is configured to analyze based on the first target object information, the second target object information, the vehicle-road cooperation information, the vehicle state information, and the autonomous driving control instruction to obtain a correlation test result for the vehicle-road cooperation module and the vehicle assisted driving module.

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