Ramp testing method and device for autonomous driving vehicles

Abstract

The present application discloses a ramp testing method and device for an autonomous driving vehicle, wherein the method comprises: analyzing at least one involved functional module and related signals based on a problem description on a defective system; checking signal transition information based on at least one involved functional module and related signals, thereby determining the judgment logic and signal value of at least one problem point; and then writing back-injection test cases, back-injection test pseudocode, and back-injection test scripts to perform ramp testing of the autonomous driving vehicle. The embodiments of the present application can determine the judgment logic and signal value of the problem point based on the signal transition information on the defective system, thereby writing back-injection test cases, back-injection test pseudocode, and back-injection test scripts to perform ramp testing of the autonomous driving vehicle, thereby effectively reducing manual operation costs, improving the intelligence level of the vehicle, and improving the efficiency and ability of testers to independently analyze problems.

Description

Technical Field

[0001] The present application relates to the technical field of automobile performance testing, and in particular to a ramp testing method and device for an autonomous driving vehicle. Background Art

[0002] In related technologies, due to the complexity of ramp conditions and the large number of modules involved, testing is relatively difficult, and most of them rely on developers to analyze and locate problems, and require testers to have a high level of business familiarity.

[0003] However, the related technologies rely on developers to analyze and locate problems, which increases labor costs and takes a long time. The vehicle's automation level is low, which reduces the efficiency and ability of testers to independently analyze problems and reduces the overall efficiency of autonomous driving research and development, which urgently needs to be solved. Summary of the Invention

[0004] This application is based on the following problems and understandings made by the inventors:

[0005] Autonomous driving vehicle testing is an important part of intelligent driving research and development, and is also an important support for the development of autonomous driving technology. With the continuous upgrading of autonomous driving products and the continuous industrialization and implementation of advanced automation and networking systems such as intelligent connected vehicles, the dependence on testing is becoming more and more profound, and new technological breakthroughs are needed.

[0006] The testing of autonomous vehicles accompanies the entire vehicle development process. Test types mainly include HIL (Hardware In Loop), SIL (Saftware In Loop), VIL (Vehicle in Loop), vehicle field, and road testing. Among them, road testing is an indispensable part of the development of autonomous driving technology and can be used to verify the safety and reliability of autonomous driving. Road testing requires the collection of a large amount of real-vehicle test data. This data is generally used to feed back into the simulation environment for analysis and debugging to verify product performance, or for data capture and feeding back into problem scenario data. However, there is no analysis and testing method for specific functional module problems.

[0007] The present application provides a ramp testing method and apparatus for an autonomous driving vehicle to address the technical issues in related technologies whereby developers analyze and locate problems, which increases labor costs and takes a long time, results in a low level of vehicle automation, reduces the efficiency and ability of testers to independently analyze problems, and reduces the overall efficiency of autonomous driving research and development.

[0008] The first aspect of the present application provides a ramp testing method for an autonomous driving vehicle, comprising the following steps: analyzing at least one functional module and related signals involved based on a problem description on a defective system; checking signal transition information based on the at least one functional module and related signals involved, and determining the judgment logic and signal value of at least one problem point based on the signal transition information; and writing back-injection test cases, back-injection test pseudocode, and back-injection test scripts based on the judgment logic and signal value of the at least one problem point to perform ramp testing of the autonomous driving vehicle.

[0009] According to the above-mentioned technical means, the embodiment of the present application can determine the judgment logic and signal value of the problem point based on the signal jump information on the defective system, so as to write backinjection test cases, backinjection test pseudocode and backinjection test scripts to perform ramp testing of autonomous driving vehicles, thereby effectively reducing manual operation costs, improving the intelligence level of the vehicle, and improving the efficiency and ability of testers to independently analyze problems.

[0010] Optionally, in one embodiment of the present application, the backinjection test case, backinjection test pseudocode and backinjection test script are written according to the judgment logic and signal value of the at least one problem point to perform ramp testing of the autonomous driving vehicle, including: writing the backinjection test case using a preset backinjection test case template; writing the backinjection test pseudocode according to the judgment logic and signal value; and generating the backinjection test script according to the backinjection test pseudocode.

[0011] According to the above technical means, the embodiment of the present application can generate a back-injection test script by back-injecting the test pseudocode, effectively improving the automation level of the vehicle, and improving the ability and efficiency of the testers to analyze problems independently, so as to achieve safe import and export of the vehicle.

[0012] Optionally, in one embodiment of the present application, the back-injection test case includes at least one of a data ID, a road traffic status, a driver status, an operation step, a detection signal, and an expected result.

[0013] Based on the above technical means, the embodiments of the present application can improve the accuracy and reliability of data, improve the accuracy of writing back-injection test cases, and improve the ability and efficiency of testers to analyze problems independently.

[0014] Optionally, in one embodiment of the present application, before executing the ramp test of the autonomous driving vehicle, it also includes: debugging the back-injection test script until the preset conditions are met to obtain the final back-injection test script.

[0015] According to the above technical means, the embodiment of the present application can debug the back-injection test script, effectively improve the accuracy of writing the back-injection test script logic code, and improve the ability and efficiency of testers to analyze problems independently.

[0016] Optionally, in one embodiment of the present application, before analyzing the at least one functional module and related signals involved, it also includes: collecting sensor data, and determining data information describing the problem on the defective system based on the sensor data to analyze the data information.

[0017] According to the above technical means, the embodiment of the present application can determine the data information describing the problem on the defective system based on the sensor data, thereby analyzing the data information, effectively improving the accuracy and reliability of the data analysis.

[0018] The second aspect of the present application provides a ramp testing device for an autonomous driving vehicle, including: an analysis module for analyzing at least one functional module and related signals involved according to a problem description on a defective system; a determination module for checking signal jump information based on the at least one functional module and related signals involved, and determining the judgment logic and signal value of at least one problem point based on the signal jump information; a testing module for writing back-injection test cases, back-injection test pseudocodes and back-injection test scripts according to the judgment logic and signal value of the at least one problem point to perform ramp testing of the autonomous driving vehicle.

[0019] Optionally, in one embodiment of the present application, the test module includes: a first writing unit, used to write the backannotation test case using a preset backannotation test case template; a second writing unit, used to write the backannotation test pseudocode based on the judgment logic and signal value; and a generation unit, used to generate the backannotation test script based on the backannotation test pseudocode.

[0020] Optionally, in one embodiment of the present application, the back-injection test case includes at least one of a data ID, a road traffic status, a driver status, an operation step, a detection signal, and an expected result.

[0021] Optionally, in one embodiment of the present application, the device of the embodiment of the present application further includes: a debugging module, which is used to debug the back-injection test script before executing the ramp test of the autonomous driving vehicle until the preset conditions are met to obtain the final back-injection test script.

[0022] Optionally, in one embodiment of the present application, the device of the embodiment of the present application also includes: a processing module, which is used to collect sensor data before analyzing the at least one functional module and related signals involved, and determine data information describing the problem on the defective system based on the sensor data to analyze the data information.

[0023] The third aspect of the present application provides a vehicle, comprising: a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor executes the program to implement the ramp testing method for the autonomous driving vehicle as described in the above embodiment.

[0024] The fourth aspect of the present application provides a computer-readable storage medium, which stores a computer program. When the program is executed by a processor, it implements the ramp testing method of the autonomous driving vehicle as described above.

[0025] Beneficial effects of this application:

[0026] (1) The embodiments of the present application can generate back-injection test scripts by back-injecting test pseudocode, effectively improving the automation level of the vehicle and improving the ability and efficiency of testers to independently analyze problems, so as to achieve safe import and export of vehicles.

[0027] (2) The embodiments of the present application can debug the back-injection test script, effectively improve the accuracy of writing the back-injection test script logic code, and improve the ability and efficiency of testers to analyze problems independently.

[0028] (3) The embodiment of the present application can determine the judgment logic and signal value of the problem point based on the signal jump information on the defective system, so as to compile back-injection test cases, back-injection test pseudocode and back-injection test scripts to perform ramp testing of autonomous driving vehicles, thereby effectively reducing manual operation costs, improving the intelligence level of the vehicle, and improving the efficiency and ability of testers to independently analyze problems.

[0029] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0031] Figure 1 This is a flowchart of a ramp testing method for an autonomous driving vehicle provided according to an embodiment of the present application;

[0032] Figure 2This is a schematic diagram of a framework of a problem analysis method according to a specific embodiment of the present application;

[0033] Figure 3 This is a flowchart of a ramp testing method for an autonomous driving vehicle according to a specific embodiment of the present application;

[0034] Figure 4 A flowchart of a method for writing a back-injection test script according to a specific embodiment of the present application;

[0035] Figure 5 Schematic diagram of the structure of a ramp testing device for an autonomous driving vehicle according to an embodiment of the present application;

[0036] Figure 6 A schematic structural diagram of a vehicle provided according to an embodiment of the present application.

[0037] Among them, 10 is a ramp test device for an autonomous driving vehicle; 100 is an analysis module, 200 is a determination module, and 300 is a test module; 601 is a memory, 602 is a processor, and 603 is a communication interface. DETAILED DESCRIPTION

[0038] The following describes in detail embodiments of the present application, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0039] The following describes a ramp testing method and apparatus for an autonomous vehicle according to an embodiment of the present application with reference to the accompanying drawings. In response to the aforementioned problems mentioned in the background technology center, the aforementioned problems are analyzed and located by developers, which increases labor costs and takes a long time. The problem leads to a low level of vehicle automation, reduces the efficiency and ability of testers to independently analyze problems, and reduces the overall efficiency of autonomous driving R&D. The present application provides a ramp testing method for an autonomous vehicle. In this method, the functional modules and related signals involved can be analyzed based on the problem description on the defective system, and signal transition information can be viewed based on the functional modules and related signals involved to determine the judgment logic and signal values ​​of at least one problem point. Back-injection test cases, back-injection test pseudocode, and back-injection test scripts can then be written to perform ramp testing of the autonomous vehicle. This effectively reduces manual operation costs, improves the vehicle's intelligence level, and improves the efficiency and ability of testers to independently analyze problems. This solves the technical problem in the aforementioned related art that the problem analysis and location performed by developers increases labor costs and takes a long time. The problem leads to a low level of vehicle automation, reduces the efficiency and ability of testers to independently analyze problems, and reduces the overall efficiency of autonomous driving R&D.

[0040] Specifically, Figure 1 A flowchart of a ramp testing method for an autonomous driving vehicle provided in an embodiment of the present application.

[0041] like Figure 1 As shown, the ramp testing method for the autonomous driving vehicle includes the following steps:

[0042] In step S101 , at least one involved functional module and related signals are analyzed according to a problem description on a defective system.

[0043] It can be understood that the embodiments of the present application can analyze at least one involved functional module and related signals based on the problem description on the defective system. For example, the involved functional modules may include map, sensor fusion, lateral planning, longitudinal planning and HMI (Human Machine Interface) and other control system components of autonomous driving on and off ramps, as well as the signal flow relationship between each component, which can be used to find problems step by step from the bottom input to the outermost output. In addition, the signal summary of each module can include the common signals of the above-mentioned functional modules. The input and output signal streams of each module can be used for signal screening and searching, so as to analyze the functional modules that may be involved in the problem and the related input / output signals, thereby effectively improving the feasibility of autonomous driving vehicle ramp testing and improving the intelligence level of the vehicle.

[0044] Optionally, in one embodiment of the present application, before analyzing at least one involved functional module and related signals, it also includes: collecting sensor data, and determining data information describing the problem on the defective system based on the sensor data to analyze the data information.

[0045] During the actual implementation process, the embodiments of the present application can collect sensor data and determine the data information of the problem description on the defective system based on the sensor data. For example, the independently developed offline visualization tool can be used to open the dat format data file collected by the actual vehicle to verify whether the data is available and whether the signal is collected comprehensively, which is convenient for subsequent analysis work. In addition, the video captured by the camera can be viewed to determine the time period and specific manifestations of the problem in the video based on the problem description on the problem sheet, including environmental information such as road conditions, vehicle conditions and weather conditions, so as to analyze the data information and effectively improve the accuracy and reliability of data analysis.

[0046] In step S102, signal transition information is checked according to at least one involved functional module and related signals, and judgment logic and signal value of at least one problem point are determined based on the signal transition information.

[0047] It can be understood that the embodiment of the present application can analyze the functional modules and related signals involved in the analysis in the above steps through tools. For example, the analysis can be performed through the Graphic window of the offline visualization tool to view the signal jump information, and determine the judgment logic and signal value of the problem point based on the signal jump information, thereby effectively reducing the manual operation cost and improving the ability and efficiency of testers to analyze problems independently.

[0048] In step S103, a back-injection test case, back-injection test pseudocode and back-injection test script are written according to the judgment logic and signal value of at least one problem point to perform ramp testing of the autonomous driving vehicle.

[0049] It can be understood that the embodiment of the present application can determine the judgment logic and signal values ​​of the problem points through the above steps, write the back-injection test cases, back-injection test pseudocode and back-injection test scripts in the following steps, and debug the scripts, and finally complete the analysis, positioning and back-injection testing of the problems of autonomous driving on and off ramps, so as to help testers quickly analyze and locate the problem points and causes of errors in autonomous driving on and off ramps, and accurately write the back-injection test script logic code to improve the ability and efficiency of testers to analyze problems independently, while improving the overall efficiency of autonomous driving research and development.

[0050] Optionally, in one embodiment of the present application, backannotation test cases, backannotation test pseudocodes and backannotation test scripts are written based on the judgment logic and signal values ​​of at least one problem point to perform ramp testing of an autonomous driving vehicle, including: writing backannotation test cases using a preset backannotation test case template; writing backannotation test pseudocodes based on the judgment logic and signal values; and generating backannotation test scripts based on the backannotation test pseudocodes.

[0051] As a possible implementation method, the embodiment of the present application can use an independently designed backannotation test case template to write a backannotation test case, and write a backannotation test pseudocode in a simple language based on the judgment logic and signal value, without requiring language and syntax, so as to generate a backannotation test script based on the backannotation test pseudocode. For example, the backannotation test pseudocode can be written into a backannotation test script in C++ language, which requires clear logic, comprehensive coverage of detection points, and obtain the final backannotation test script Fail or Pass, thereby effectively improving the vehicle's automation level and improving the tester's ability and efficiency to independently analyze problems, so as to achieve safe import and export of vehicles.

[0052] It should be noted that the preset back-injection test case template is set by those skilled in the art according to actual conditions and is not specifically limited here.

[0053] In one embodiment of the present application, the back-injection test case includes at least one of a data ID, a road traffic status, a driver status, an operation step, a detection signal, and an expected result.

[0054] In some embodiments, the back-annotation test cases may include but are not limited to data ID, road traffic status, driver status, operation steps, detection signals and expected results, etc., thereby improving the accuracy and reliability of the data, improving the accuracy of writing back-annotation test cases, and improving the ability and efficiency of testers to analyze problems independently.

[0055] Optionally, in one embodiment of the present application, before executing the ramp test of the autonomous driving vehicle, it also includes: debugging the back-injection test script until the preset conditions are met to obtain the final back-injection test script.

[0056] During the actual execution process, the embodiment of the present application can debug the back-injection test script. For example, the version where the problem is discovered needs to reach the Fail status, or the version where the problem is fixed needs to reach the Pass status, until the preset conditions are met, and the final back-injection test script Fail or Pass is obtained, thereby effectively improving the accuracy of writing the back-injection test script logic code, and improving the ability and efficiency of testers to independently analyze problems, so as to achieve safe import and export of vehicles.

[0057] It should be noted that the preset conditions are set by those skilled in the art according to actual conditions and are not specifically limited here.

[0058] like Figure 2 As shown, it is a framework diagram of the problem analysis method of a specific embodiment of the present application, which specifically includes the functional modules involved, signal summary of each module, common ramp test scenarios, scenario ramp problems and analysis.

[0059] For example, the functional modules involved may include map, sensor fusion, lateral planning, longitudinal planning, HMI and other control system components for autonomous driving on and off ramps, as well as the signal flow relationship between each component, which is used to find problems step by step from the lowest input to the outermost output. In addition, the signal summary of each module contains the common signals of the above functional modules, and the input and output signal flows of each module, which are used for signal screening and search.

[0060] Next, ramp test scenarios can include ramp merging into the main road with a guide lane, ramp merging into the main road without a guide lane, main road entering the ramp with continuous forks, etc. Each scenario lists the focus of the test, mainly whether the lane change method complies with traffic regulations, for example, whether lane changes can be made on dotted lines but not on solid lines, right of way priority, how to handle lane change conflicts, how to handle lane change failures, etc. These test points facilitate testers to analyze problems more accurately and enable autonomous vehicles to safely merge in and out of ramps.

[0061] In summary, this article summarizes the specific manifestations, analysis methods, detection signals, and back-injection script writing logic of problems previously encountered on and off ramps. This facilitates testers' analysis, location, and regression of problems, improving their efficiency and ability to independently analyze problems while also enhancing the overall efficiency of autonomous driving R&D.

[0062] like Figure 3 As shown, the working principle of the embodiment of the present application is described in detail below with a specific embodiment.

[0063] Step S301: Preliminarily determine the functional modules that may be involved based on the problem description.

[0064] That is, the embodiments of the present application can preliminarily analyze and determine the functional modules that may be involved in the problem based on the problem description of the defective system.

[0065] Step S302: Use an offline visualization tool to open the data file collected from the actual vehicle.

[0066] That is, the embodiment of the present application can use the independently developed offline visualization tool to open the dat format data file collected by the actual vehicle to verify whether the data is available and whether the signal is collected comprehensively, so as to facilitate the subsequent analysis work.

[0067] Step S303: View the video to locate the specific manifestation and time point of the problem.

[0068] That is, the embodiment of the present application can view the video captured by the camera and determine the time period, specific manifestations, etc. when the problem occurs in the video based on the description on the problem sheet.

[0069] Step S304: According to the on-ramp and off-ramp problem analysis method, the signals that may be involved in the problem are obtained.

[0070] That is, the embodiment of the present application can derive the functional modules and related input / output signals that may be involved in the problem based on the on-ramp and off-ramp problem analysis method.

[0071] Step S305: View the transition of the required signal through the Graphic window of the offline visualization tool to locate the problem (obtain the signal value and judgment logic).

[0072] That is, the embodiment of the present application can be analyzed through the Graphic window of the offline visualization tool to view the signal jump situation and determine the judgment logic and signal value of the problem point.

[0073] Step S306: Write a back-injection test script based on the signal and judgment logic and complete debugging.

[0074] That is, the embodiments of the present application can write back-injection test cases, back-injection test pseudocodes, and back-injection test scripts based on signals and judgment logic, and finally debug the scripts to improve the ability and efficiency of testers to analyze problems independently, while improving the overall efficiency of autonomous driving research and development.

[0075] like Figure 4 As shown, the working principle of the embodiment of the present application is described in detail below with a specific embodiment.

[0076] Step S401: Design a test case, which may include vehicle settings and operating steps, test points, detection signals, and expected results.

[0077] That is, the embodiment of the present application can write test cases based on the independently designed "Back-injection Test Case Template", which can include vehicle settings and operation steps, test points, detection signals, expected results, etc.

[0078] Step S402: Write back-injection test pseudo code.

[0079] That is, the embodiments of the present application can be written in pseudocode using simple statements based on functional logic and signals, without requiring language and grammar.

[0080] Step S403: Convert the pseudo code into a back-annotation test script (declare signal variables, mark time, verify problem points, and finally output Fail or Pass in the logic code segment).

[0081] That is, the embodiment of the present application can write the pseudocode into a back-injection test script in C++ language, which requires clear logic and comprehensive coverage of detection points to obtain the final back-injection test script Fail or Pass.

[0082] Step S404: Debug and re-inject the test script (for both the new and old versions).

[0083] That is, the embodiment of the present application can debug the back-injection test script, that is, the version in which the problem is discovered needs to reach the Fail state, and the version in which the problem is fixed needs to reach the Pass state, which effectively improves the accuracy of writing the logic code of the back-injection test script and improves the ability and efficiency of testers to analyze problems independently.

[0084] According to the ramp testing method for autonomous driving vehicles proposed in the embodiment of the present application, the functional modules and related signals involved can be analyzed based on the problem description on the defective system, and the signal jump information can be checked based on the functional modules and related signals involved, so as to determine the judgment logic and signal value of at least one problem point, and then write back-injection test cases, back-injection test pseudocode and back-injection test scripts to perform the ramp testing of autonomous driving vehicles, thereby effectively reducing the cost of manual operation, improving the intelligence level of the vehicle, and improving the efficiency and ability of testers to analyze problems independently. As a result, the technical problem of the related technology that the analysis and location of problems by developers increases labor costs and takes a long time, the automation level of the vehicle is low, the efficiency and ability of testers to analyze problems independently is reduced, and the overall efficiency of autonomous driving research and development is reduced is solved.

[0085] Next, the ramp testing device for an autonomous driving vehicle proposed in accordance with an embodiment of the present application will be described with reference to the accompanying drawings.

[0086] Figure 5 It is a block diagram of a ramp testing device for an autonomous driving vehicle according to an embodiment of the present application.

[0087] like Figure 5 As shown, the ramp testing device 10 for the autonomous driving vehicle includes: an analysis module 100 , a determination module 200 and a testing module 300 .

[0088] Specifically, the analysis module 100 is configured to analyze at least one involved functional module and related signals according to the problem description on the defective system.

[0089] The determination module 200 is configured to check signal transition information according to at least one involved functional module and related signals, and determine the judgment logic and signal value of at least one problem point based on the signal transition information.

[0090] The test module 300 is used to write back-injection test cases, back-injection test pseudocode and back-injection test scripts based on the judgment logic and signal values ​​of at least one problem point to perform ramp testing of the autonomous driving vehicle.

[0091] Optionally, in one embodiment of the present application, the testing module 300 includes: a first writing unit, a second writing unit, and a generating unit.

[0092] Among them, the first writing unit is used to write the back-annotation test case using a preset back-annotation test case template.

[0093] The second writing unit is used to write back-annotation test pseudo code according to the judgment logic and signal value.

[0094] A generation unit is used to generate a back-injection test script according to the back-injection test pseudo code.

[0095] Optionally, in one embodiment of the present application, the back-injection test case includes at least one of a data ID, a road traffic status, a driver status, an operation step, a detection signal, and an expected result.

[0096] Optionally, in one embodiment of the present application, the apparatus 10 of the embodiment of the present application further includes: a debugging module.

[0097] Among them, the debugging module is used to debug the back-injection test script before executing the ramp test of the autonomous driving vehicle until the preset conditions are met to obtain the final back-injection test script.

[0098] Optionally, in one embodiment of the present application, the device 10 of the embodiment of the present application further includes: a processing module.

[0099] Among them, the processing module is used to collect sensor data before analyzing at least one involved functional module and related signals, and determine data information describing the problem on the defective system based on the sensor data to analyze the data information.

[0100] It should be noted that the above explanation of the embodiment of the ramp testing method for an autonomous driving vehicle is also applicable to the ramp testing device for an autonomous driving vehicle in this embodiment, and will not be repeated here.

[0101] According to the ramp test device for an autonomous driving vehicle proposed in the embodiment of the present application, the functional modules and related signals involved can be analyzed based on the problem description on the defective system, and the signal jump information can be checked based on the functional modules and related signals involved, so as to determine the judgment logic and signal value of at least one problem point, and then write back-injection test cases, back-injection test pseudocode and back-injection test scripts to perform the ramp test of the autonomous driving vehicle, thereby effectively reducing the manual operation cost, improving the intelligence level of the vehicle, and improving the efficiency and ability of the testers to analyze the problem independently. Thus, the technical problem of the related technology that the analysis and location of the problem by the developers is increased, and it is time-consuming, the automation level of the vehicle is low, the efficiency and ability of the testers to analyze the problem independently is reduced, and the overall efficiency of autonomous driving research and development is reduced is solved.

[0102] Figure 6A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. The vehicle may include:

[0103] A memory 601 , a processor 602 , and a computer program stored in the memory 601 and executable on the processor 602 .

[0104] When the processor 602 executes the program, the ramp testing method for the autonomous driving vehicle provided in the above embodiment is implemented.

[0105] Furthermore, the vehicle further comprises:

[0106] The communication interface 603 is used for communication between the memory 601 and the processor 602 .

[0107] The memory 601 is used to store computer programs that can be run on the processor 602 .

[0108] The memory 601 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0109] If the memory 601, processor 602, and communication interface 603 are implemented independently, the communication interface 603, memory 601, and processor 602 can be connected to each other via a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. Buses can be divided into address buses, data buses, control buses, etc. For ease of representation, Figure 6 Only one thick line is used in the diagram, but this does not mean that there is only one bus or one type of bus.

[0110] Optionally, in a specific implementation, if the memory 601, the processor 602 and the communication interface 603 are integrated on a chip, the memory 601, the processor 602 and the communication interface 603 can communicate with each other through an internal interface.

[0111] The processor 602 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0112] This embodiment also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the ramp testing method for an autonomous driving vehicle as described above.

[0113] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0114] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Thus, a feature specified as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of this application, "N" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0115] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or N executable instructions for implementing a custom logical function or process step, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may be performed in a different order than shown or discussed, including performing functions in a substantially simultaneous manner or in a reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present application pertain.

[0116] The logic and / or steps represented in a flowchart or otherwise described herein, for example, can be considered a sequenced list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (e.g., a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device). For purposes of this specification, a "computer-readable medium" is any device that can contain, store, communicate, propagate, or transport a program for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (not exhaustive) of computer-readable media include: an electrical connection with one or more wires (electronic devices), a portable computer disk cartridge (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and a portable compact disc read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program can be obtained electronically by optically scanning the paper or other medium and then editing, interpreting or processing it in other suitable ways as necessary, and then storing it in a computer memory.

[0117] It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiment, the N steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used: a discrete logic circuit having logic gate circuits for implementing logical functions on data signals, an application-specific integrated circuit having suitable combinational logic gate circuits, a programmable gate array (PGA), a field-programmable gate array (FPGA), etc.

[0118] Those skilled in the art will understand that all or part of the steps in the method of the above embodiment can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiment.

[0119] In addition, the functional units in the various embodiments of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into a module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0120] The storage medium mentioned above may be a read-only memory, a magnetic disk, or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application. Persons skilled in the art may make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.

Claims

1. A ramp testing method for an autonomous driving vehicle, characterized in that: The following steps are involved: Analyzing at least one involved functional module and related signals based on the problem description of the defective system, including: preliminarily determining the functional modules that may be involved based on the problem description, searching for the problem module by module from the lowest input level to the outermost output level based on the signal flow relationship between the functional modules, and screening and searching for signals based on the signal summary of each functional module, wherein the signal summary of each functional module includes the common signals of each functional module and the input and output signal flows of each functional module, wherein each functional module is a functional module related to the autonomous driving on-ramp and off-ramp control system; Checking signal transition information according to the at least one involved functional module and related signals, and determining judgment logic and signal value of at least one problem point based on the signal transition information; and Based on the judgment logic and signal value of the at least one problem point, write backinjection test cases, backinjection test pseudocode and backinjection test scripts to perform ramp testing of the autonomous driving vehicle.

2. The method according to claim 1, characterized in that The step of writing a back-injection test case, a back-injection test pseudocode, and a back-injection test script based on the judgment logic and signal value of the at least one problem point to perform ramp testing of the autonomous driving vehicle includes: Writing the back-injection test case using a preset back-injection test case template; Write the back-injection test pseudo code according to the judgment logic and signal value; The back-injection test script is generated according to the back-injection test pseudo code.

3. The method according to claim 2, characterized in that The back-injection test case includes at least one of a data ID, a road traffic status, a driver status, an operation step, a detection signal, and an expected result.

4. The method according to claim 1, wherein Before performing the ramp test of the autonomous driving vehicle, the process also includes: The back-injection test script is debugged until the preset conditions are met to obtain the final back-injection test script.

5. The method according to claim 1, wherein Before analyzing the at least one involved functional module and related signals, the method further includes: Sensor data is collected, and data information describing a problem on the defective system is determined based on the sensor data, so as to analyze the data information.

6. A ramp testing device for an autonomous driving vehicle, characterized in that: include: an analysis module configured to analyze at least one involved functional module and related signals based on a problem description of the defective system, including: preliminarily determining the functional modules that may be involved based on the problem description, searching for problems module by module, level by level, from the lowest input layer to the outermost output layer, based on the signal flow relationships between the functional modules; and screening and searching for signals based on a signal summary of each functional module, wherein the signal summary of each functional module includes common signals of each functional module and input and output signal flows of each functional module, wherein each functional module is a functional module related to an autonomous driving on-ramp or off-ramp control system; a determination module, configured to check signal transition information according to the at least one involved functional module and related signals, and determine a judgment logic and a signal value of at least one problem point based on the signal transition information; and The test module is used to write back-injection test cases, back-injection test pseudocodes and back-injection test scripts based on the judgment logic and signal values ​​of the at least one problem point to perform ramp testing of the autonomous driving vehicle.

7. The device according to claim 6, characterized in that The test module includes: A first writing unit, configured to write the back-injection test case using a preset back-injection test case template; A second writing unit is used to write the back-injection test pseudo code according to the judgment logic and signal value; A generating unit is used to generate the back-injection test script according to the back-injection test pseudo code.

8. The device according to claim 7, characterized in that The back-injection test case includes at least one of a data ID, a road traffic status, a driver status, an operation step, a detection signal, and an expected result.

9. A vehicle, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the ramp testing method for an autonomous driving vehicle as described in any one of claims 1 to 5.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the ramp testing method for an autonomous driving vehicle as described in any one of claims 1 to 5.

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