An automatic driving data abstraction software testing method, system, device and storage medium

Abstract

The application provides an automatic driving data abstraction software testing method, system, device and storage medium, and relates to the technical field of automobile control. The method comprises the following steps: acquiring the type of a sensor to be tested of a vehicle, determining a data abstraction software server based on the type of the sensor, connecting the data abstraction software server and acquiring a connection success flag, receiving transmission data sent by the data abstraction software server based on the connection success flag, and performing real-time visual display based on the transmission data and the type of the data abstraction software server. Through the above steps, the type of the sensor to be tested of the vehicle is acquired, the corresponding data abstraction software server is connected, transmission data in the driving process of the vehicle is received in real time, and real-time display is performed, so that a tester can check the transmission data in real time during the testing process, thereby simplifying and optimizing the process of automatic driving testing and improving the testing efficiency of the automatic driving vehicle.

Description

Technical Field

[0001] This application relates to the field of automotive control technology, specifically to a method, system, device, and storage medium for testing autonomous driving data abstraction software. Background Technology

[0002] Autonomous driving systems rely on environmental perception technology to sense the vehicle's surroundings and, based on this information, autonomously control the vehicle's steering and speed through a decision controller, enabling the vehicle to drive safely and reliably to its predetermined destination. There are two types of field testing for autonomous vehicles: real-world road testing in a development environment and virtual testing on an autonomous driving simulation platform. Currently, almost all automakers and autonomous driving technology companies primarily use virtual testing, supplemented by real-world road testing.

[0003] Because the behavior of autonomous driving software relies on sensor data input, current autonomous driving data testing methods mostly test the correctness and latency of data from specific types of sensors. During testing, driving status information, camera and radar sensor data are first saved locally, and then the locally stored data is used for simulation to troubleshoot and locate problems. This method fails to intuitively display real-time data information during testing, preventing testers from promptly identifying and locating issues. This not only wastes testers' time but also increases the complexity and time cost of testing autonomous vehicles. Summary of the Invention

[0004] In view of the shortcomings of the prior art described above, the present invention provides a method, system, device and storage medium for testing autonomous driving data abstraction software to solve the above technical problems.

[0005] This invention provides a method for testing autonomous driving data abstraction software, comprising:

[0006] Obtain the type of sensor to be tested in the vehicle, and determine the data abstraction software server based on the type of sensor;

[0007] Connect to the data abstraction software server and obtain a connection success flag;

[0008] Based on the connection success flag, receive the transmission data sent by the data abstraction software server;

[0009] Real-time visualization is performed based on the type of the transmitted data and the data abstraction software server.

[0010] In one embodiment of the present invention, the sensor includes radar, camera, and sensors of a controller area network.

[0011] In one embodiment of the present invention, visualization is performed based on the type of the transmitted data and the data abstraction software server, including:

[0012] The transmitted data is deserialized to obtain readable data;

[0013] Based on the type of the data abstraction software server, the readable data is displayed in real time.

[0014] In one embodiment of the present invention, based on the type of the data abstraction software server, real-time visualization of the readable data is performed, including:

[0015] The readable data is visualized and the readable data is analyzed and then visualized.

[0016] In one embodiment of the present invention, visualizing the readable data includes:

[0017] If the readable data originates from a radar or a sensor in a controller area network, the readable data is converted into a chart for display.

[0018] If the readable data originates from a camera, the readable data is converted into video for display.

[0019] In one embodiment of the present invention, the readable data is analyzed and then visualized, including:

[0020] If the sensor is a radar, verify the integrity of the readable data to obtain the radar data verification result;

[0021] If the sensor is a camera, verify the frame loss rate of the readable data to obtain the camera data verification result;

[0022] If the sensor is a sensor of a controller local area network, verify the correctness of the readable data acquisition format, and obtain the controller local area network data verification result;

[0023] Calculate the time interval for each acquisition of the readable data;

[0024] The radar data verification results and / or the camera data verification results and / or the controller local area network data verification results, along with the time interval data of the readable data, are displayed in a chart.

[0025] In one embodiment of the present invention, before receiving the transmission data sent by the data abstraction software server, the following steps are included:

[0026] The data abstraction software server receives the raw data emitted by the sensor and serializes the raw data to obtain the transmitted data.

[0027] This invention provides an autonomous driving data abstraction software testing system, comprising:

[0028] The initial interface module obtains the type of the sensor to be tested in the vehicle, and determines the type of the data abstraction software server based on the sensor type.

[0029] Establish a communication connection module to connect to the data abstraction software server according to the type of the data abstraction software server, and obtain a connection success flag;

[0030] The data receiving and display module receives the transmission data sent by the data abstraction software server based on the connection success flag; performs real-time visualization display based on the transmission data and the type of the data abstraction software server, and verifies the transmission data and calculates the data interval delay.

[0031] This invention provides an electronic device, the electronic device comprising:

[0032] One or more processors;

[0033] A storage device for storing one or more programs, which, when executed by one or more processors, cause the electronic device to implement the autonomous driving data abstraction software testing method as described above.

[0034] The present invention also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a computer processor, causes the computer to perform the autonomous driving data abstraction software testing method as described in any of the preceding claims.

[0035] The beneficial effects of this invention are as follows: The autonomous driving data abstraction software testing method, system, device, and storage medium of this invention acquire the sensor type of the vehicle to be tested, connect to the corresponding data abstraction software server, and receive and display the transmitted data during the vehicle's driving process in real time. This allows testers to view the transmitted data in real time during the testing process, thereby simplifying and optimizing the autonomous driving testing process. It enables testers to promptly identify and locate problems during the testing process, improving the testing efficiency of autonomous vehicles and reducing the cumbersomeness and time cost of autonomous vehicle testing.

[0036] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0037] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings:

[0038] Figure 1 This is a flowchart illustrating an exemplary embodiment of the autonomous driving data abstraction software testing method of this application;

[0039] Figure 2 This is a block diagram illustrating an autonomous driving data abstraction software testing system, as shown in an exemplary embodiment of this application.

[0040] Figure 3 This is a schematic diagram illustrating a test method for autonomous driving data abstraction software, showing a connection success flag, as demonstrated in an exemplary embodiment.

[0041] Figure 4 This is a logical diagram illustrating the receiving and processing of transmitted data in an autonomous driving data abstraction software testing system, as shown in an exemplary embodiment of this application.

[0042] Figure 5 A schematic diagram of the structure of a computer system suitable for implementing the electronic device of the present application is shown. Detailed Implementation

[0043] The embodiments of the present invention will be described below with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention and not for limiting the scope of protection of the present invention.

[0044] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0045] In the following description, numerous details are explored to provide a more thorough explanation of embodiments of the invention. However, it will be apparent to those skilled in the art that embodiments of the invention may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring embodiments of the invention.

[0046] Figure 1 This is a flowchart illustrating an exemplary embodiment of the autonomous driving data abstraction software testing method, as shown in this application. Figure 1 As shown, the present invention provides a method for testing autonomous driving data abstraction software, comprising:

[0047] Step S110: Obtain the type of sensor to be tested in the vehicle, and determine the data abstraction software server based on the sensor type.

[0048] In this embodiment, the sensors include radar, cameras, and Controller Area Network (CAN) sensors (one of the most widely used fieldbuses internationally). During testing, it supports simultaneous testing of two or more sensor types. Because different types of sensors on a vehicle receive different types of data, different types of sensors require different data abstraction software servers to achieve differentiated reception and processing of different data types.

[0049] Step S120: Connect to the data abstraction software server and obtain a connection success flag.

[0050] In this embodiment, after successfully connecting to the data abstraction software server, the received connection success flag is as follows: Figure 3 As shown. In other embodiments, the received connection success flag may be displayed in other ways.

[0051] Step S130: Based on the connection success flag, receive the transmission data sent by the data abstraction software server.

[0052] In this embodiment, a communication connection is established with the data abstraction software server by invoking the distributed real-time network communication middleware (DataDistributionService, DDS). If transmitted data is received, the received transmitted data is pushed into a queue, and the reception of transmitted data continues. This prevents the loss of transmitted data that cannot be processed in time and improves the stability of data transmission.

[0053] For example, if the sensor to be tested is a camera, and the data abstraction software server that receives and processes the data collected by the camera is video data abstraction software, then the software to be tested is video data abstraction software. The autonomous driving software test client calls the distributed real-time network communication middleware to establish a communication connection with the video data abstraction software server software, obtains a flag indicating whether the connection was successfully established, and if the connection is successful, the autonomous driving software test client returns a connection success flag and begins to receive the transmission data sent by the video data abstraction software.

[0054] In one exemplary embodiment, step S130 includes step S210 before real-time visualization of the type of data transmission and data abstraction software server.

[0055] Step S210: The data abstraction software server receives the raw data emitted by the sensor and serializes the raw data to obtain the transmission data.

[0056] Step S140: Perform real-time visualization based on the type of transmitted data and the data abstraction software server.

[0057] In an exemplary embodiment, step S140, which involves real-time visualization of the type of transmitted data and the data abstraction software server, further includes steps S310 and S320.

[0058] Step S310: Deserialize the transmitted data to obtain readable data.

[0059] As described in step S210 above, the raw data emitted by the sensor is serialized and transformed into unreadable transmission data. In this embodiment, the data abstraction software server serializes the raw data emitted by the sensor using proto (Protocol Buffers, a serialization framework) to form a binary data field. In other embodiments, the raw data can also be serialized using XML (Extensible Markup Language, a source language that allows users to define their own markup language) or JSON (JavaScript Object Notation, a lightweight data exchange format). For internet applications, data interaction is required between clients and between clients and servers. This data transmission is done via binary streams over the internet. Therefore, a means is needed to encode data objects into a binary stream that can be transmitted over the network; this process is called serialization. Similarly, the client needs to decode the data upon receiving the binary stream; this process is called deserialization. Thus, transmitted data needs to be deserialized before it can be visualized and analyzed.

[0060] Figure 4 A logic diagram illustrating the receiving and processing of transmitted data in an autonomous driving data abstraction software test system, as shown in an exemplary embodiment of this application, is as follows: Figure 4 As shown, the program running in the autonomous driving data abstraction software testing system of this invention is divided into an autonomous driving software testing client main thread and an autonomous driving software testing client sub-thread. The autonomous driving software testing client sub-thread connects to the data abstraction software server under test. Since the autonomous driving data abstraction software testing system can test two or more types of sensors, and different types of sensors correspond to different types of data abstraction software servers, at least one autonomous driving software testing client sub-thread can exist under the autonomous driving software testing client main thread. The autonomous driving software testing client sub-thread can connect to different types of data abstraction software servers simultaneously. In this embodiment, after the autonomous driving software testing client sub-thread establishes a connection with the data abstraction software server under test, it starts to call the data receiving interface function in a loop. If transmitted data is received, the received transmitted data is pushed into the queue and enters the next loop. If no transmitted data is received, it directly enters the next loop. This ensures that the data in transmission will not be accidentally lost, ensuring the accuracy of the autonomous driving data abstraction software test results. The autonomous driving software testing client main thread calls the queue data interface function to obtain real-time data, and then calls the proto deserialization interface function of the corresponding sensor type to convert the originally binary unreadable data field into readable data.

[0061] Step S320: Based on the type of the data abstraction software server, perform real-time visualization of readable data.

[0062] In one exemplary embodiment, step S320, which involves real-time visualization of readable data based on the type of the data abstraction software server, further includes step S410.

[0063] Step S410: Visualize the readable data and visualize the readable data after analysis.

[0064] In this embodiment, both the readable data and the analyzed readable data are visualized, intuitively demonstrating the data abstraction software server's reception and processing of data during the autonomous vehicle testing process, making it easier for testers to discover and locate problems.

[0065] In one exemplary embodiment, step S410 visualizes the readable data and further includes step S510.

[0066] Step S510: If the readable data originates from a radar or a sensor on the controller area network, convert the readable data into a chart for display; if the readable data originates from a camera, convert the readable data into video for display.

[0067] In this embodiment, readable data originating from radar is displayed as a scatter plot, readable data originating from the controller area network is displayed as a list, and readable data originating from the camera is displayed as video. In other embodiments, readable data originating from radar, controller area network, or camera may also be displayed in other ways, adjusting the display method according to the type of readable data and actual needs.

[0068] In one exemplary embodiment, step S410, which involves visualizing the readable data after analysis, also includes step S610.

[0069] Step S610: If the sensor is radar, verify the integrity of the readable data and obtain the radar data verification result; if the sensor is camera, verify the frame loss rate of the readable data and obtain the camera data verification result; if the sensor is a sensor of the controller area network, verify the correctness of the readable data acquisition format and obtain the controller area network data verification result; calculate the time interval for each acquisition of readable data; display the radar data verification result and / or camera data verification result and / or controller area network data verification result and the time interval data of the readable data in a chart.

[0070] In summary, by acquiring the sensor types of the vehicle to be tested, connecting to the corresponding data abstraction software server, and receiving and displaying the transmitted data during the vehicle's driving process in real time, testers can easily view the transmitted data during testing. This simplifies and optimizes the autonomous driving testing process, enabling testers to promptly identify and locate problems during testing, improving the testing efficiency of autonomous vehicles, and reducing the complexity and time cost of autonomous vehicle testing.

[0071] Figure 2 This is a block diagram illustrating an autonomous driving data abstraction software testing system, as shown in an exemplary embodiment of this application. Figure 2 As shown, the present invention also provides an autonomous driving data abstraction software testing system, comprising:

[0072] The initial interface module 210 obtains the type of the sensor to be tested in the vehicle and determines the type of the data abstraction software server based on the sensor type.

[0073] Establish a communication connection module 220, connect to the data abstraction software server according to the type of the data abstraction software server, and obtain a connection success flag;

[0074] The data receiving and display module 230 receives the transmitted data sent by the data abstraction software server based on the connection success flag; it performs real-time visualization display based on the type of transmitted data and the data abstraction software server, and verifies the transmitted data and calculates the data interval delay.

[0075] It should be noted that the autonomous driving data abstraction software testing system and the autonomous driving data abstraction software testing method provided in the above embodiments belong to the same concept. The specific operation methods of each module and unit have been described in detail in the method embodiments and will not be repeated here. In practical applications, the road condition refresh device provided in the above embodiments can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. This is not a limitation here.

[0076] Embodiments of this application also provide an electronic device, including: one or more processors; and a storage device for storing one or more programs, which, when executed by the one or more processors, cause the electronic device to implement the autonomous driving data abstraction software testing method provided in the above embodiments.

[0077] Figure 5 A schematic diagram of a computer system suitable for implementing the embodiments of this application is shown. It should be noted that... Figure 5 The computer system 500 of the electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0078] like Figure 5 As shown, the computer system 500 includes a Central Processing Unit (CPU) 501, which can perform various appropriate actions and processes based on programs stored in Read-Only Memory (ROM) 502 or programs loaded from storage portion 508 into Random Access Memory (RAM) 503, such as performing the methods described in the above embodiments. The RAM 503 also stores various programs and data required for system operation. The CPU 501, ROM 502, and RAM 503 are interconnected via a bus 504. An Input / Output (I / O) interface 505 is also connected to the bus 504.

[0079] The following components are connected to I / O interface 505: an input section 506 including a keyboard, mouse, etc.; an output section 507 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 508 including a hard disk, etc.; and a communication section 509 including a network interface card such as a LAN (Local Area Network) card, modem, etc. The communication section 509 performs communication processing via a network such as the Internet. A drive 510 is also connected to I / O interface 505 as needed. A removable medium 511, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on drive 510 as needed so that computer programs read from it can be installed into storage section 508 as needed.

[0080] Specifically, according to embodiments of this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program including a computer program for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 509, and / or installed from removable medium 511. When the computer program is executed by central processing unit (CPU) 501, it performs various functions defined in the system of this application.

[0081] It should be noted that the computer-readable medium shown in the embodiments of this application can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this application, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying a computer-readable computer program. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media can also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to wireless, wired, etc., or any suitable combination thereof.

[0082] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. Each block in a flowchart or block diagram may represent a module, segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0083] The units described in the embodiments of this application can be implemented in software or hardware, and the described units can also be located in a processor. The names of these units do not necessarily limit the specific unit itself.

[0084] Another aspect of this application provides a computer-readable storage medium storing a computer program thereon, which, when executed by a computer's processor, causes the computer to perform the autonomous driving data abstraction software testing method as described above. This computer-readable storage medium may be included in the electronic device described in the above embodiments, or it may exist independently and not assembled into the electronic device.

[0085] Another aspect of this application provides a computer program product or computer program including computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the autonomous driving data abstraction software testing method provided in the various embodiments described above.

[0086] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A software testing method for autonomous driving data abstraction, characterized in that, include: Obtain the type of sensor to be tested in the vehicle, and determine the data abstraction software server based on the type of sensor; Connect to the data abstraction software server and obtain a connection success flag; Based on the connection success flag, receive the transmission data sent by the data abstraction software server; Real-time visualization is performed based on the type of the transmitted data and the data abstraction software server. The visualization display, based on the type of the transmitted data and the data abstraction software server, includes: The transmitted data is deserialized to obtain readable data; Based on the type of the data abstraction software server, the readable data is displayed in real time. The real-time visualization of the readable data, based on the type of the data abstraction software server, includes: The readable data is visualized and the readable data is analyzed and then visualized.

2. The autonomous driving data abstraction software testing method according to claim 1, characterized in that: The sensors include radar, cameras, and sensors from the controller area network.

3. The autonomous driving data abstraction software testing method according to claim 1, characterized in that, Visualizing the readable data includes: If the readable data originates from a radar or a sensor in a controller area network, the readable data is converted into a chart for display. If the readable data originates from a camera, the readable data is converted into video for display.

4. The autonomous driving data abstraction software testing method according to claim 1, characterized in that, The readable data is analyzed and then visualized, including: If the sensor is a radar, verify the integrity of the readable data to obtain the radar data verification result; If the sensor is a camera, verify the frame loss rate of the readable data to obtain the camera data verification result; If the sensor is a sensor of a controller local area network, verify the correctness of the readable data acquisition format, and obtain the controller local area network data verification result; Calculate the time interval for each acquisition of the readable data; The radar data verification results and / or the camera data verification results and / or the controller local area network data verification results, along with the time interval data of the readable data, are displayed in a chart.

5. The autonomous driving data abstraction software testing method according to claim 1, characterized in that, Before receiving the transmission data sent by the data abstraction software server, the process includes: The data abstraction software server receives the raw data emitted by the sensor and serializes the raw data to obtain the transmitted data.

6. An autonomous driving data abstraction software testing system, characterized in that, include: The initial interface module obtains the type of the sensor to be tested in the vehicle, and determines the type of the data abstraction software server based on the sensor type. Establish a communication connection module to connect to the data abstraction software server according to the type of the data abstraction software server, and obtain a connection success flag; The data receiving and display module receives the transmitted data sent by the data abstraction software server based on the connection success flag. Based on the type of the transmitted data and the data abstraction software server, real-time visualization is performed, and the transmitted data is verified and the data interval delay is calculated. The visualization based on the type of the transmitted data and the data abstraction software server includes: the data receiving and display module deserializing the transmitted data to obtain readable data; and the data receiving and display module performing real-time visualization of the readable data based on the type of the data abstraction software server. Furthermore, the real-time visualization of the readable data based on the type of the data abstraction software server includes: the data receiving and display module visualizing the readable data and visualizing the readable data after analysis.

7. An electronic device, characterized in that, The electronic device includes: One or more processors; A storage device for storing one or more programs, which, when executed by one or more processors, cause the electronic device to implement the autonomous driving data abstraction software testing method as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, It stores a computer program that, when executed by the computer's processor, causes the computer to perform the autonomous driving data abstraction software testing method as described in any one of claims 1 to 5.

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