Test method, device and equipment for autonomous vehicle

Abstract

Embodiments of the present application provide a kind of test method, device and equipment of automatic driving vehicle.The method comprises: control vehicle computer system sends line control system line control instruction, make line control system according to line control instruction control automatic driving vehicle carries out first test run;First running data of automatic driving vehicle in first test run is acquired, according to first running data and line control instruction, determine the test result of line control system;When automatic driving vehicle is located in preset scene, control vehicle computer system sends test data to control system, make control system and line control system control automatic driving vehicle carries out second test run;Second running data of automatic driving vehicle in second test run is acquired, according to second running data and test data, determine the test result of control system;According to the test result of line control system and the test result of control system, determine the test result of automatic driving vehicle.Improvement optimization efficiency to automatic driving vehicle.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of automatic driving, and in particular, to a test method, device and equipment of an automatic driving vehicle. BACKGROUND

[0002] The automatic driving vehicle can include a vehicle-mounted computer system, and the automatic driving vehicle can be controlled to perform automatic driving through the vehicle-mounted computer system.

[0003] In actual application, in order to ensure the reliability of the automatic driving vehicle, performance testing can be performed on the automatic driving vehicle. In related technologies, a test driver is usually arranged to drive the automatic driving vehicle, the test driver determines a test result according to driving experience, and the automatic driving vehicle is optimized according to the test result. However, the test driver may not accurately determine the test result according to the driving experience, and thus the automatic driving vehicle cannot be accurately optimized, resulting in low optimization efficiency of the automatic driving vehicle. SUMMARY

[0004] Embodiments of the present application provide a test method, device and equipment of an automatic driving vehicle, which improve the optimization efficiency of the automatic driving vehicle.

[0005] In a first aspect, a test method of an automatic driving vehicle is provided, the automatic driving vehicle including a control system and a drive-by-wire system, and the method includes:

[0006] controlling a vehicle-mounted computer system to send a drive-by-wire instruction to the drive-by-wire system, so that the drive-by-wire system controls the automatic driving vehicle to perform a first test run according to the drive-by-wire instruction;

[0007] obtaining first running data of the automatic driving vehicle in the first test run, and determining a test result of the drive-by-wire system according to the first running data and the drive-by-wire instruction;

[0008] controlling the vehicle-mounted computer system to send test data to the control system when the automatic driving vehicle is located in a preset scene, so that the control system and the drive-by-wire system control the automatic driving vehicle to perform a second test run;

[0009] obtaining second running data of the automatic driving vehicle in the second test run, and determining a test result of the control system according to the second running data and the test data;

[0010] determining a test result of the automatic driving vehicle according to the test result of the drive-by-wire system and the test result of the control system.

[0011] In a possible implementation, the drive-by-wire instruction comprises a lateral drive-by-wire instruction and a longitudinal drive-by-wire instruction, wherein the lateral drive-by-wire instruction is used to control the automatic driving vehicle to turn, and the longitudinal drive-by-wire instruction is used to control the automatic driving vehicle to accelerate or decelerate.

[0012] The first running data comprises first lateral running data corresponding to the lateral drive-by-wire instruction and first longitudinal running data corresponding to the longitudinal drive-by-wire instruction.

[0013] In a possible implementation, the test result of the drive-by-wire system is determined according to the first running data and the drive-by-wire instruction, comprising:

[0014] The lateral test result of the drive-by-wire system is determined according to the lateral drive-by-wire instruction and the first lateral running data.

[0015] The longitudinal test result of the drive-by-wire system is determined according to the longitudinal drive-by-wire instruction and the first longitudinal running data.

[0016] The test result of the drive-by-wire system comprises the lateral test result and the longitudinal test result.

[0017] In a possible implementation, the lateral drive-by-wire instruction comprises a first lateral drive-by-wire instruction and a second lateral drive-by-wire instruction, and the first lateral running data comprises first sub-running data corresponding to the first lateral drive-by-wire instruction and second sub-running data corresponding to the second lateral drive-by-wire instruction, wherein,

[0018] The first lateral drive-by-wire instruction comprises a plurality of steering angles and a steering time interval, the plurality of steering angles are distributed in a sinusoidal wave, and the plurality of steering angles comprise a left steering angle and a right steering angle.

[0019] The first sub-running data comprises a first time when the drive-by-wire system receives the first lateral drive-by-wire instruction, a second time when the automatic driving vehicle executes the first lateral drive-by-wire instruction, a maximum left steering angle and a maximum right steering angle of the automatic driving vehicle during execution of the first lateral drive-by-wire instruction.

[0020] The second lateral drive-by-wire instruction comprises a target request value.

[0021] The second sub-running data comprises a first time when the drive-by-wire system receives the second lateral drive-by-wire instruction, a second time when the automatic driving vehicle executes the second lateral drive-by-wire instruction, a third time when a response value of the automatic driving vehicle reaches the target request value for the first time, a fourth time when the automatic driving vehicle turns stably, a maximum response value and a stable response value of the automatic driving vehicle during execution of the second lateral drive-by-wire instruction.

[0022] In a possible implementation, the determining the lateral test result of the drive-by-wire system according to the lateral drive-by-wire instruction and the first lateral running data comprises:

[0023] determining a first lateral sub-result according to the first lateral drive-by-wire instruction and the first sub-running data, the first lateral sub-result comprising a response delay time and an amplitude deviation;

[0024] determining a second lateral sub-result according to the second lateral drive-by-wire instruction and the second sub-running data, the second lateral sub-result comprising a response delay time, an execution time, an overshoot time, an overshoot amount and a steady-state error;

[0025] the determining the lateral test result comprises the first lateral sub-result and the second lateral sub-result.

[0026] In a possible implementation, the longitudinal drive-by-wire instruction comprises a first longitudinal drive-by-wire instruction and a second longitudinal drive-by-wire instruction, the first longitudinal drive-by-wire instruction being used for controlling the automatic driving vehicle to accelerate, and the second longitudinal drive-by-wire instruction being used for controlling the automatic driving vehicle to decelerate; the first longitudinal running data comprises third sub-running data corresponding to the first longitudinal drive-by-wire instruction and fourth sub-running data corresponding to the second longitudinal drive-by-wire instruction;

[0027] determining a longitudinal test result of the drive-by-wire system according to the longitudinal drive-by-wire instruction and the first longitudinal running data comprises:

[0028] determining a first longitudinal sub-result according to the first longitudinal drive-by-wire instruction and the third sub-running data, the first longitudinal drive-by-wire instruction comprising a first target torque;

[0029] determining a second longitudinal sub-result according to the second longitudinal drive-by-wire instruction and the fourth sub-data, the second longitudinal drive-by-wire instruction comprising a second target torque, the first longitudinal sub-result and the second longitudinal sub-result respectively comprising a response delay, a follow-up delay, a follow-up error, an overshoot amount and a steady-state error;

[0030] the determining the longitudinal test result comprises the first longitudinal sub-result and the second longitudinal sub-result.

[0031] In a possible implementation, the test data comprises a driving route and driving parameters, the driving parameters comprising at least one of a speed and an acceleration;

[0032] the second running data comprises a time when the automatic driving vehicle drives to a preset position, an actual driving route of the automatic driving vehicle and a time when the automatic driving vehicle performs a preset operation;

[0033] The test result of the control system includes a response delay time, an execution time, an overshoot time, an overshoot amount, and a steady-state error.

[0034] In a possible implementation, the preset scene includes at least one of the following: preset offset straight driving, uniform speed turning, accelerated turning, decelerated turning, starting around an obstacle, cruising around an obstacle, uniform lane changing, accelerated lane changing, decelerated lane changing, accelerated straight driving, and decelerated straight driving.

[0035] In a second aspect, an embodiment of the present application provides a training device for an autonomous vehicle, comprising: a first control module, a first acquisition module, a second control module, a second acquisition module, and a determination module, wherein,

[0036] The first control module is configured to control a vehicle computer system to send a drive-by-wire instruction to the drive-by-wire system, so that the drive-by-wire system controls the autonomous vehicle to perform a first test run according to the drive-by-wire instruction.

[0037] The first acquisition module is configured to acquire first running data of the autonomous vehicle during the first test run, and determine a test result of the drive-by-wire system according to the first running data and the drive-by-wire instruction.

[0038] The second control module is configured to control the vehicle computer system to send test data to the control system when the autonomous vehicle is in a preset scene, so that the control system and the drive-by-wire system control the autonomous vehicle to perform a second test run.

[0039] The second acquisition module is configured to acquire second running data of the autonomous vehicle during the second test run, and determine a test result of the control system according to the second running data and the test data.

[0040] The determination module is configured to determine a test result of the autonomous vehicle according to the test result of the drive-by-wire system and the test result of the control system.

[0041] In a possible implementation, the drive-by-wire instruction includes a lateral drive-by-wire instruction and a longitudinal drive-by-wire instruction; the lateral drive-by-wire instruction is used to control the autonomous vehicle to turn, and the longitudinal drive-by-wire instruction is used to control the autonomous vehicle to accelerate or decelerate.

[0042] The first running data includes first lateral running data corresponding to the lateral drive-by-wire instruction and first longitudinal running data corresponding to the longitudinal drive-by-wire instruction.

[0043] In a possible implementation, the first acquisition module is specifically configured to,

[0044] determine a lateral test result of the drive-by-wire system according to the lateral drive-by-wire instruction and the first lateral running data;

[0045] determine a longitudinal test result of the drive-by-wire system according to the longitudinal drive-by-wire instruction and the first longitudinal running data;

[0046] The test result of the drive-by-wire system includes the lateral test result and the longitudinal test result.

[0047] In a possible implementation, the lateral drive-by-wire instruction includes a first lateral drive-by-wire instruction and a second lateral drive-by-wire instruction; the first lateral running data includes first sub-running data corresponding to the first lateral drive-by-wire instruction and second sub-running data corresponding to the second lateral drive-by-wire instruction, wherein,

[0048] The first lateral drive-by-wire instruction includes a plurality of steering angles and steering time intervals, the plurality of steering angles are distributed in a sinusoidal wave, and the plurality of steering angles include a left steering angle and a right steering angle.

[0049] The first sub-running data includes a first time when the drive-by-wire system receives the first lateral drive-by-wire instruction, a second time when the autonomous vehicle executes the first lateral drive-by-wire instruction, a maximum left steering angle and a maximum right steering angle of the autonomous vehicle during execution of the first lateral drive-by-wire instruction.

[0050] The second lateral drive-by-wire instruction includes a target request value.

[0051] The second sub-running data includes a first time when the drive-by-wire system receives the second lateral drive-by-wire instruction, a second time when the autonomous vehicle executes the second lateral drive-by-wire instruction, a third time when a response value of the autonomous vehicle reaches the target request value for the first time, a fourth time when the autonomous vehicle is stable in steering, a maximum response value and a stable response value of the autonomous vehicle during execution of the second lateral drive-by-wire instruction.

[0052] In a possible implementation, the first obtaining module is specifically configured to:

[0053] determine a first lateral sub-result according to the first lateral drive-by-wire instruction and the first sub-running data, the first lateral sub-result including a response delay time and an amplitude deviation;

[0054] determine a second lateral sub-result according to the second lateral drive-by-wire instruction and the second sub-running data, the second lateral sub-result including a response delay time, an execution time, an overshoot time, an overshoot amount, and a steady-state error;

[0055] The determination of the lateral test result comprises the first lateral sub-result and the second lateral sub-result.

[0056] In a possible implementation, the longitudinal control instruction comprises a first longitudinal control instruction and a second longitudinal control instruction, the first longitudinal control instruction is used to control the automatic driving vehicle to accelerate, and the second longitudinal control instruction is used to control the automatic driving vehicle to decelerate; the first longitudinal running data comprises third sub-running data corresponding to the first longitudinal control instruction and fourth sub-running data corresponding to the second longitudinal control instruction.

[0057] In a possible implementation, the first obtaining module is specifically configured to:

[0058] According to the first longitudinal control instruction and the third sub-running data, a first longitudinal sub-result is determined, the first longitudinal control instruction comprises a first target torque;

[0059] According to the second longitudinal control instruction and the fourth sub-data, a second longitudinal sub-result is determined, the second longitudinal control instruction comprises a second target torque, and the first longitudinal sub-result and the second longitudinal sub-result respectively comprise a response time delay, a follow-up time delay, a follow-up error, an overshoot and a steady-state error;

[0060] The determination of the longitudinal test result comprises the first longitudinal sub-result and the second longitudinal sub-result.

[0061] In a possible implementation, the test data comprises a driving route and driving parameters, and the driving parameters comprise at least one of a speed and an acceleration.

[0062] The second running data comprises a time when the automatic driving vehicle drives to a preset position, an actual driving route of the automatic driving vehicle, and a time when the automatic driving vehicle performs a preset operation.

[0063] The test result of the control system comprises a response delay time, an execution time, an overshoot time, an overshoot and a steady-state error.

[0064] In a possible implementation, the preset scene comprises at least one of the following: preset offset straight driving, uniform speed turning, acceleration turning, deceleration turning, starting around an obstacle, cruising around an obstacle, uniform lane changing, acceleration lane changing, deceleration lane changing, acceleration straight driving, and deceleration straight driving.

[0065] In a third aspect, an embodiment of the present application provides a test device of an automatic driving vehicle, comprising a processor and a memory.

[0066] The memory stores computer execution instructions.

[0067] The processor executes computer-executable instructions stored in the memory, so that the processor executes the test method of the autonomous vehicle according to any one of the first aspect.

[0068] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores computer-executable instructions, and the computer-executable instructions are used to implement the test method of the autonomous vehicle according to any one of the first aspect when executed by a processor.

[0069] In a fifth aspect, an embodiment of the present application provides a computer program product, which includes a computer program, and the computer program is used to implement the test method of the autonomous vehicle according to any one of the first aspect when executed by a processor.

[0070] The test method, device and equipment of the autonomous vehicle provided by the embodiments of the present application can control the vehicle-mounted computer to send a drive-by-wire instruction to a drive-by-wire system in the autonomous vehicle, so that the drive-by-wire system controls the autonomous vehicle to perform a first test run according to the drive-by-wire instruction, thereby obtaining a test result of the drive-by-wire system. The test method, device and equipment of the autonomous vehicle provided by the embodiments of the present application can control the vehicle-mounted computer to send test data to a control system in the autonomous vehicle, so that the control system controls the autonomous vehicle to perform a second test run according to the test data, thereby obtaining a test result of the control system. According to the test result of the drive-by-wire system and the test result of the control system, the drive-by-wire system and the control system of the autonomous vehicle can be accurately optimized, the optimization efficiency of the drive-by-wire system and the control system is improved, and the optimization efficiency of the autonomous vehicle is improved. BRIEF DESCRIPTION OF DRAWINGS

[0071] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without any creative labor.

[0072] Figure 1 The application scenario diagram provided by the embodiments of the present application is shown in the following figure:

[0073] Figure 2 The flowchart of the test method of the autonomous vehicle provided by the embodiments of the present application is shown in the following figure:

[0074] Figure 3 The test result diagram of a test provided by the embodiments of the present application is shown in the following figure:

[0075] Figure 4 The flowchart of another test method of the autonomous vehicle provided by the embodiments of the present application is shown in the following figure:

[0076] Figure 5 A structural schematic diagram of a test device of an autonomous vehicle is provided for an embodiment of the present application.

[0077] Figure 6 A structural schematic diagram of a test device of an autonomous vehicle is provided for an embodiment of the present application. DETAILED DESCRIPTION

[0078] The exemplary embodiments will be described in detail herein with reference to the attached drawings. In the following description, the same or similar components are designated by the same or similar reference numerals, and the description thereof will not be repeated. The embodiments described in the following exemplary embodiments do not represent all the embodiments consistent with the present application. Rather, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0079] It should be noted that, in this document, the terms "comprise", "comprising", or any other variant thereof are intended to cover non-exclusive inclusions, such that processes, methods, articles, or devices that comprise a list of elements are not limited to those elements, but can also include other elements not expressly listed, or inherent to such processes, methods, articles, or devices. Without more limitations, an element defined by the phrase "comprising a" does not exclude the presence of additional identical elements in the process, method, article, or device that includes the element.

[0080] Figure 1 A schematic diagram of an application scenario is provided for an embodiment of the present application. Please refer to Figure 1 , which includes an autonomous vehicle 101 and a test device 102. The autonomous vehicle 101 includes an on-board computer system, which includes a drive-by-wire system and a control system.

[0081] A plurality of control algorithms are provided in the on-board computer system, and the control system can execute the control algorithms to generate control instructions and send the control instructions to the drive-by-wire system. After receiving the control instructions, the drive-by-wire system can control the components of the autonomous vehicle to operate according to the control instructions. The drive-by-wire system and the control system can be tested for performance through standard experiments, and test data and operation data during the testing process can be collected. The on-board computer system can automatically save the test data and operation data, and send the test data and operation data to the test device 102. After receiving the test data and operation data, the test device 102 can analyze and process the test data and operation data to obtain test results. According to the test results, the drive-by-wire system and the control system can be accurately optimized, which improves the optimization efficiency of the drive-by-wire system and the control system, and further improves the optimization efficiency of the autonomous vehicle 101.

[0082] In the related art, the test driving of the automatic driving vehicle is usually performed by a staff, the test driving result is determined by the staff according to the driving experience, and the automatic driving vehicle is optimized according to the test driving result. However, the staff may not accurately determine the test driving result according to the driving experience, and thus the automatic driving vehicle cannot be accurately optimized, resulting in low optimization efficiency of the automatic driving vehicle.

[0083] In the embodiments of the present application, the performance of the drive-by-wire system and the control system in the automatic driving vehicle can be tested by a standard experiment, and the test result of the drive-by-wire system and the control system can be determined according to the test data and the running data. According to the test result, the drive-by-wire system and the control system of the automatic driving vehicle can be accurately optimized, the optimization efficiency of the drive-by-wire system and the control system is improved, and thus the optimization efficiency of the automatic driving vehicle is improved.

[0084] In the following, the test method of the automatic driving vehicle shown in the present application is described in detail through specific embodiments. It should be noted that the following embodiments can exist independently or in combination with each other, and for the same or similar content, the description is not repeated in different embodiments.

[0085] Figure 2 A flowchart of a test method of an automatic driving vehicle according to an embodiment of the present application is shown.

[0086] Referring to Figure 2 , the method can include:

[0087] S201, the test equipment controls the vehicle computer system to send a drive-by-wire instruction to the drive-by-wire system, so that the drive-by-wire system controls the automatic driving vehicle to perform a first test run according to the drive-by-wire instruction.

[0088] The execution subject of the embodiments of the present application can be a test equipment or a test device provided in the test equipment. The test device can be realized by software or by the combination of software and hardware. The test device can be a processor in the test equipment. In order to facilitate understanding, in the following, the execution subject is taken as the test equipment as an example for description.

[0089] The test equipment can send an instruction to the vehicle computer system of the automatic driving vehicle, and can extract and analyze the test data and the running data of the automatic driving vehicle. For example, the test equipment can be a computer.

[0090] The test equipment can send an instruction to the vehicle computer system by the following two ways.

[0091] Method 1: can be through a wired network. For example, a data line can be used to connect the hardware interface of the test equipment and the vehicle computer system, so that the test equipment can send an instruction to the vehicle computer system.

[0092] Method 2: Through a wireless network. The wireless network can be Bluetooth (BT), Wireless Fidelity (Wi-Fi), etc. The test device can send instructions to the vehicle computer system through the wireless network.

[0093] Vehicle computer system refers to the intelligent system installed in the autonomous vehicle.

[0094] Drive-by-wire system refers to the traditional mechanical control system of the vehicle being changed into an electrical system controlled by electrical signals. The drive-by-wire system is the actuator of the autonomous vehicle, which can simulate the operation of the driver. For example, the drive-by-wire system can simulate the operation of the driver turning the steering wheel or stepping on the accelerator pedal, etc.

[0095] The drive-by-wire system can include a lateral drive-by-wire system and a longitudinal drive-by-wire system.

[0096] The lateral drive-by-wire system is used to control the steering of the autonomous vehicle. For example, the lateral drive-by-wire system can be an Electric Power Steering (EPS) system. The EPS system can support a steering angle interface or a torque interface. For the autonomous vehicle, the installed EPS system can support one of the interfaces.

[0097] The steering wheel can be controlled by the steering angle of the steering angle interface to control the steering of the autonomous vehicle. The input and output values of the steering angle interface are steering angle. For example, the steering angle can be 90°.

[0098] The steering wheel can be controlled by the torque of the torque interface to control the steering of the autonomous vehicle. The input and output values of the torque interface are torque values. For example, the torque value can be 10 Nm.

[0099] The longitudinal drive-by-wire system is used to control the acceleration or deceleration of the autonomous vehicle. The longitudinal drive-by-wire system can include a drive-by-wire drive system and a drive-by-wire brake system.

[0100] The drive-by-wire drive system is used to control the acceleration of the autonomous vehicle. The drive-by-wire drive system can include an Engine Management System (EMS) and a Vehicle control unit (VCU). For the autonomous vehicle, the installed drive-by-wire drive system can be an EMS system or a VCU system.

[0101] The brake-by-wire system is used to control the automatic driving vehicle to decelerate. The brake-by-wire system can include an Electric Stability Controller (ESC) system and an intelligent booster system iBooster. For the automatic driving vehicle, two sets of brake-by-wire systems, ESC and iBooster, need to be installed to ensure that the safe state can still be entered when a fault occurs. The ESC system can serve as the main braking system, and the iBooster system can serve as the auxiliary braking system, both of which are connected to a set of independent power supply systems.

[0102] The brake-by-wire command can include a lateral brake-by-wire command and a longitudinal brake-by-wire command. The lateral brake-by-wire command is used to control the automatic driving vehicle to turn, and the longitudinal brake-by-wire command is used to control the automatic driving vehicle to accelerate or decelerate.

[0103] The lateral control command can include a steering angle request value, which is used to control the steering wheel of the automatic driving vehicle to turn an angle, thereby controlling the automatic driving vehicle to turn. If the lateral brake-by-wire system supports a steering angle interface, the steering angle request value can be a steering angle. If the lateral brake-by-wire system supports a torque interface, the steering angle request value can be a torque value.

[0104] The longitudinal brake-by-wire command can include a torque request value, which is used to control the actuator of the automatic driving vehicle to accelerate or decelerate. The actuator of the automatic driving vehicle can be an engine.

[0105] The first test run refers to a run of the automatic driving vehicle controlled without accessing the control algorithm.

[0106] The test device can send the brake-by-wire command to the on-board computer system, and the on-board computer system can send the brake-by-wire command to the brake-by-wire system, so that the brake-by-wire system controls the automatic driving vehicle to perform the first test run according to the brake-by-wire command.

[0107] For example, if the lateral brake-by-wire system supporting the steering angle interface is tested, the test device can send the steering angle request value 90° to the on-board computer system, and the on-board computer system can send the steering angle request value 90° to the lateral brake-by-wire system. The lateral brake-by-wire system can control the steering wheel of the automatic driving vehicle to turn 90° according to the steering angle request value 90°, thereby performing the first test run.

[0108] If the longitudinal brake-by-wire system is tested, the test device can send the torque request value 10 Nm to the on-board computer system, and the on-board computer system can send the torque request value 10 Nm to the longitudinal brake-by-wire system. The longitudinal brake-by-wire system can control the engine of the automatic driving vehicle to accelerate or decelerate according to the torque request value 10 Nm, thereby performing the first test run.

[0109] S202, the test equipment obtains first running data of the autonomous vehicle in the first test running process, and determines a test result of the drive-by-wire system according to the first running data and the drive-by-wire instruction.

[0110] The first running data is actual running parameter obtained by the autonomous vehicle in the first test running process. The first running data includes first lateral running data corresponding to the lateral drive-by-wire instruction and first longitudinal running data corresponding to the longitudinal drive-by-wire instruction.

[0111] The first lateral running data is actual running data obtained when the lateral drive-by-wire system is tested. For example, if the lateral drive-by-wire instruction is a steering angle request value of 90°, the lateral drive-by-wire system controls the steering wheel of the autonomous vehicle to rotate 90°, and the steering wheel of the autonomous vehicle actually rotates 100°, then the first lateral running data is a steering angle actual value of 100°.

[0112] The first longitudinal running data is actual running data obtained when the longitudinal drive-by-wire system is tested. For example, if the longitudinal drive-by-wire instruction is a torque request value of 10 Nm, the longitudinal drive-by-wire system can control the engine of the autonomous vehicle to accelerate or decelerate according to the torque request value of 10 Nm, and the engine of the autonomous vehicle actually outputs a torque request value of 12 Nm, then the first longitudinal running data is a torque actual value of 12 Nm.

[0113] The test result of the drive-by-wire system can be determined by the following manner: determining a lateral test result of the drive-by-wire system according to the lateral drive-by-wire instruction and the first lateral running data; determining a longitudinal test result of the drive-by-wire system according to the longitudinal drive-by-wire instruction and the first longitudinal running data; and determining the test result of the drive-by-wire system including the lateral test result and the longitudinal test result.

[0114] The lateral drive-by-wire instruction includes a first lateral drive-by-wire instruction and a second lateral drive-by-wire instruction.

[0115] The first lateral drive-by-wire instruction is an instruction for performing a sine response test on the lateral drive-by-wire system. For example, the first lateral drive-by-wire instruction can be a sine signal instruction.

[0116] The sine response test can be used to test the lateral drive-by-wire system supporting a steering angle interface or a torque interface. The sine response test can use a sine steering angle request with a period of 4s for testing, so as to examine the response speed and followability of the lateral drive-by-wire system to the steering angle request.

[0117] The first lateral drive-by-wire instruction includes a plurality of steering angles and a steering time interval, the plurality of steering angles are distributed in a sine wave, and the plurality of steering angles include a left steering angle and a right steering angle.

[0118] The steering time interval refers to the period length of the sine signal. For example, the steering time interval can be 4s.

[0119] The left steering angle and the right steering angle can be respectively a peak value and a trough value of the sine signal. For example, the left steering angle can be 90°, and the right steering angle can be -90°.

[0120] The first transverse drive-by-wire instruction is a sine signal, which is distributed in a sine wave. For example, the first transverse drive-by-wire instruction includes a plurality of left steering angles of 90°, a plurality of right steering angles of -90°, and a steering time interval of 4s.

[0121] The second transverse drive-by-wire instruction is an instruction when a step response test or a ramp response test is performed on the transverse drive-by-wire system. The second transverse drive-by-wire instruction can include a target request value.

[0122] The step response test is used to test the transverse drive-by-wire system supporting the steering angle interface. In the step response test, the second transverse drive-by-wire instruction can include a steering angle request value of 90°, which is used to control the steering wheel of the autonomous vehicle to be directly turned from 0° to 90° by the transverse drive-by-wire system.

[0123] The ramp response test is used to test the transverse drive-by-wire system supporting the torque interface. In the ramp response test, the second transverse drive-by-wire instruction can include a steering angle request value of 30Nm and a steering angle rate of 5Nm / s, which is used to control the torque of the steering wheel of the autonomous vehicle to be uniformly increased from 0Nm to 30Nm at a steering angle rate of 5Nm / s by the transverse drive-by-wire system.

[0124] The first transverse running data includes first sub-running data corresponding to the first transverse drive-by-wire instruction, and second sub-running data corresponding to the second transverse drive-by-wire instruction.

[0125] The first sub-running data is actual running data of the autonomous vehicle when the transverse drive-by-wire system is subjected to the sine response test. The first sub-running data includes a first time when the transverse drive-by-wire system receives the first transverse drive-by-wire instruction, a second time when the autonomous vehicle executes the first transverse drive-by-wire instruction, a maximum left steering angle and a maximum right steering angle of the autonomous vehicle during execution of the first transverse drive-by-wire instruction.

[0126] For example, if the first transverse drive-by-wire instruction is a sine signal with an amplitude of 90° and a period of 4s, the first sub-running data can be a first time t1 when the transverse drive-by-wire system receives the sine signal instruction, a second time t2 when the autonomous vehicle executes the sine signal instruction, a maximum left steering angle of 100° and a maximum right steering angle of -100° of the autonomous vehicle during execution of the sine signal instruction.

[0127] The second sub-operation data is actual operation data of the autonomous vehicle when the step or ramp response test is performed on the lateral drive-by-wire system. The second sub-operation data includes: a first time when the drive-by-wire system receives the second lateral drive-by-wire instruction, a second time when the autonomous vehicle executes the second lateral drive-by-wire instruction, a third time when the autonomous vehicle turns to the target request value, a fourth time when the autonomous vehicle turns to a stable state, a maximum response value and a stable response value of the autonomous vehicle during execution of the second lateral drive-by-wire instruction.

[0128] For example, in the step response test, if the second lateral drive-by-wire instruction is a steering request value of 90°, the second sub-operation data can be: a first time t1 when the drive-by-wire system receives the steering request value of 90°, a second time t2 when the autonomous vehicle executes the steering request value of 90°, a third time t3 when the autonomous vehicle turns to 90°, a fourth time t4 when the autonomous vehicle turns to a stable state, a maximum steering angle 100° and a stable steering angle 92° of the autonomous vehicle during execution of the steering request value of 90°.

[0129] In the ramp response test, if the second lateral drive-by-wire instruction is a steering request value of 30 Nm and a steering rate of 5 Nm / s, the second sub-operation data can be: a first time t1 when the drive-by-wire system receives the steering request value of 30 Nm and the steering rate of 5 Nm / s, a second time t2 when the autonomous vehicle executes the steering rate of 5 Nm / s, a third time t3 when the steering torque of the autonomous vehicle increases to 30 Nm, a fourth time t4 when the autonomous vehicle turns to a stable state, a maximum torque value 35 Nm and a stable torque value 32 Nm of the autonomous vehicle during execution of the steering request value of 30 Nm.

[0130] The on-board computer system can save the lateral drive-by-wire instruction and the lateral operation data as an original data packet, and send the original data packet to the test device. After receiving the original data packet, the test device can automatically extract and analyze the original data packet through the running code, and determine the lateral test result of the drive-by-wire system according to the lateral drive-by-wire instruction and the first lateral operation data in the original data packet.

[0131] The running code can be written by the staff in advance and saved in the test device. The test device can extract data through the running code.

[0132] The lateral test result of the drive-by-wire system can be determined by: determining a first lateral sub-result according to the first lateral drive-by-wire instruction and the first sub-operation data, the first lateral sub-result including: a response delay time and an amplitude deviation; determining a second lateral sub-result according to the second lateral drive-by-wire instruction and the second sub-operation data, the second lateral sub-result including: a response delay time, an execution time, an overshoot time, an overshoot amount and a steady-state error; and determining the lateral test result including the first lateral sub-result and the second lateral sub-result.

[0133] The first lateral sub-result is the analysis result of the original data of the sine response test, which is obtained according to the first lateral control instruction and the first sub-operation data in the original data.

[0134] The response delay time is the time interval between the first time when the lateral control system receives the first lateral instruction and the time when the lateral control system controls the autonomous vehicle to execute the first lateral instruction. For example, if the first time when the lateral control system receives the first lateral instruction is k1, and the second time when the autonomous vehicle executes the first lateral instruction is k2, the response delay time is k2-k1.

[0135] The amplitude deviation refers to the maximum error value between the maximum steering angle actually reached by the autonomous vehicle during the process of the lateral control system controlling the autonomous vehicle to execute the first lateral control instruction and the steering angle request value. For example, if the first lateral control instruction is a sine signal with an amplitude of 90°, and the maximum steering angle actually reached by the autonomous vehicle is 100°, the amplitude deviation is 100°-90°=10°.

[0136] The second lateral sub-result is the analysis result of the original data of the step or ramp response test, which is obtained according to the second lateral control instruction and the second sub-operation data in the original data.

[0137] Next, combined with Figure 3 , the response delay time, execution time, overshoot time, overshoot amount and steady-state error in the test result are described by taking the test result of the step response test of the lateral control system as an example.

[0138] Figure 3 The test result schematic diagram of one test provided by the embodiment of the present application. Please refer to Figure 3 , wherein,

[0139] The response delay time is the time interval between the time when the autonomous vehicle receives the second lateral control instruction and the time when the autonomous vehicle starts to execute the second lateral control instruction.

[0140] The execution time is the time interval between the time when the autonomous vehicle starts to execute the second lateral control instruction and the time when the response value of the autonomous vehicle reaches the target request value.

[0141] The overshoot time is the time interval between the time when the response value of the autonomous vehicle reaches the target request value for the first time during the execution of the second lateral instruction and the time when the response value of the autonomous vehicle reaches the steady state for the first time.

[0142] The overshoot amount is the maximum error value of the response value of the autonomous vehicle exceeding the target request value during the execution of the second lateral instruction.

[0143] The steady-state error is the maximum error value between the target request value and the response value of the autonomous vehicle after the response value reaches a steady state during execution of the second lateral control instruction.

[0144] For example, in a step response test, if the second lateral control instruction is a steering angle request value of 90°, the time at which the autonomous vehicle receives the steering angle request value of 90° is t1, the time at which the autonomous vehicle begins to execute the steering angle request value of 90° is t2, the time at which the steering wheel angle of the autonomous vehicle reaches 90 degrees for the first time is t3, the time at which the response value of the autonomous vehicle reaches a steady state for the first time is t4, the maximum steering angle of the autonomous vehicle during execution of the steering angle request value of 90° is 100°, the minimum steering angle of the autonomous vehicle after reaching a steady state during execution of the steering angle request value of 90° is 88°, the response delay time is t2-t1, the execution time is t3-t2, the overshoot time is t4-t3, the overshoot amount is 100 degrees-90 degrees = 10 degrees, and the steady-state error is 90°-88° = 2°.

[0145] The longitudinal control instruction includes a first longitudinal control instruction and a second longitudinal control instruction. The longitudinal control instruction can include a torque request value.

[0146] The first longitudinal control instruction is an instruction for testing the drive-by-wire system and is used to control the autonomous vehicle to accelerate. The first longitudinal control instruction includes a first target torque. For example, the first longitudinal control instruction can include a first target torque of 50 Nm.

[0147] The second longitudinal control instruction is an instruction for testing the drive-by-wire braking system and is used to control the autonomous vehicle to decelerate. The second longitudinal control instruction can include a second target torque of 20 Nm.

[0148] The first longitudinal operation data includes third sub-operation data corresponding to the first longitudinal control instruction and fourth sub-operation data corresponding to the second longitudinal control instruction.

[0149] The third sub-operation data is actual operation data of the autonomous vehicle when the drive-by-wire system is tested. The third sub-operation data can include a first time at which the drive-by-wire system receives the first longitudinal control instruction, a second time at which the autonomous vehicle executes the first longitudinal control instruction, a third time at which the engine torque of the autonomous vehicle increases to the first target torque, a fourth time at which the engine torque of the autonomous vehicle stabilizes, a maximum torque value of the autonomous vehicle during execution of the first longitudinal control instruction, and a stable torque value.

[0150] For example, if the first target torque is 50 Nm, the third sub-operation data can include a first time T1 at which the drive-by-wire system receives the first target torque 50 Nm, a second time T2 at which the autonomous vehicle executes the first target torque 50 Nm, a third time T3 at which the engine torque of the autonomous vehicle increases to 50 Nm, a fourth time T4 at which the engine torque of the autonomous vehicle reaches a steady state, a maximum torque value of 60 Nm during execution of the first target torque 50 Nm by the autonomous vehicle, and a minimum torque value of 48 Nm after the engine torque of the autonomous vehicle reaches the steady state.

[0151] The fourth sub-operation data is actual operation data of the autonomous vehicle when the drive-by-wire braking system is tested. The fourth sub-operation data can include a first time at which the drive-by-wire braking system receives the second longitudinal drive-by-wire instruction, a second time at which the autonomous vehicle executes the second longitudinal drive-by-wire instruction, a third time at which the engine torque of the autonomous vehicle increases to the second target torque, a fourth time at which the engine torque of the autonomous vehicle stabilizes, a minimum torque value and a stable torque value during execution of the second longitudinal drive-by-wire instruction by the autonomous vehicle.

[0152] For example, if the second target torque is 20 Nm, the fourth sub-operation data can include a first time S1 at which the drive-by-wire braking system receives the second target torque 20 Nm, a second time S2 at which the autonomous vehicle executes the second target torque 20 Nm, a third time S3 at which the engine torque of the autonomous vehicle decreases to 20 Nm, a fourth time S4 at which the engine torque of the autonomous vehicle reaches a steady state, a minimum torque value of 10 Nm during execution of the second target torque 20 Nm by the autonomous vehicle, and a maximum torque value of 18 Nm after the engine torque of the autonomous vehicle reaches the steady state.

[0153] The vehicle computer system can save the longitudinal drive-by-wire instruction and the longitudinal operation data as an original data package and send the original data package to the test device. The test device can automatically extract and analyze the original data package through the operation code and determine the longitudinal test result of the drive-by-wire system according to the longitudinal drive-by-wire instruction and the first longitudinal operation data in the original data package.

[0154] The longitudinal test result of the drive-by-wire system can be determined by the following method, including: determining a first longitudinal sub-result according to the first longitudinal drive-by-wire instruction and the third sub-operation data, the first target torque being included in the first longitudinal drive-by-wire instruction; determining a second longitudinal sub-result according to the second longitudinal drive-by-wire instruction and the fourth sub-data, the second target torque being included in the second longitudinal drive-by-wire instruction, the first longitudinal sub-result and the second longitudinal sub-result respectively including a response delay time, an execution time, an overshoot time, an overshoot amount, and a steady state error;

[0155] The first longitudinal sub-result is an analysis result of the original data obtained by testing the drive-by-wire system, and is obtained according to the first longitudinal drive-by-wire instruction in the original data and the third sub-operation data.

[0156] For example, if the first target torque is 50 Nm, the third sub-operation data can include a first time T1 at which the drive-by-wire system receives the first target torque 50 Nm, a second time T2 at which the autonomous vehicle executes the first target torque 50 Nm, a third time T3 at which the engine torque of the autonomous vehicle increases to 50 Nm, a fourth time T4 at which the engine torque of the autonomous vehicle reaches a steady state, a maximum torque value of 60 Nm of the autonomous vehicle during execution of the first target torque 50 Nm, and a minimum torque value of 48 Nm of the engine torque of the autonomous vehicle after reaching the steady state. The first longitudinal sub-result can include a response delay time T2-T1, an execution time T3-T2, an overshoot time T4-T3, an overshoot amount 60 Nm-50 Nm=10 Nm, and a steady-state error 50 Nm-48 Nm=2 Nm.

[0157] The second longitudinal sub-result is an analysis result of the original data obtained by testing the brake-by-wire system, and is obtained according to the second longitudinal brake-by-wire instruction in the original data and the fourth sub-operation data.

[0158] For example, if the second target torque is 20 Nm, the fourth sub-operation data can include a first time S1 at which the brake-by-wire system receives the second target torque 20 Nm, a second time S2 at which the autonomous vehicle executes the second target torque 20 Nm, a third time S3 at which the engine torque of the autonomous vehicle decreases to 20 Nm, a fourth time S4 at which the engine torque of the autonomous vehicle reaches a steady state, a minimum torque value of 10 Nm of the autonomous vehicle during execution of the second target torque 20 Nm, and a maximum torque value of 18 Nm of the engine torque of the autonomous vehicle after reaching the steady state. The second longitudinal sub-result can include a response delay time S2-S1, an execution time S3-S2, an overshoot time S4-S3, an overshoot amount 20 Nm-10 Nm=10 Nm, and a steady-state error 20 Nm-18 Nm=2 Nm.

[0159] The longitudinal test result can be determined to include the first longitudinal sub-result and the second longitudinal sub-result. According to the longitudinal test result, the performance of the drive-by-wire system and the brake-by-wire system of the autonomous vehicle can be determined.

[0160] The test results of the drive-by-wire system can include lateral test results and longitudinal test results. The response delay time, execution time, overshoot time, overshoot amount, and steady-state error obtained in each test can be used as evaluation indexes, so that the performance of the drive-by-wire system can be evaluated. Each evaluation index has a corresponding preset threshold. When the over-standard proportion of the evaluation index does not exceed the preset threshold, it can be marked as “close to index requirement” as a secondary optimization item; when the over-standard proportion of the evaluation index exceeds the preset threshold, it is recorded as “far from meeting the index requirement” as a main optimization item. The drive-by-wire system can be optimized for the main optimization item to improve the performance of the drive-by-wire system.

[0161] When the indicators of the drive-by-wire system meet the system requirements of the autonomous vehicle, the autonomous vehicle access control algorithm can be used to test and evaluate the control system of the autonomous vehicle.

[0162] S203, when the autonomous vehicle is located in the preset scene, the test equipment controls the vehicle computer system to send test data to the control system, so that the control system and the drive-by-wire system control the autonomous vehicle to perform a second test run.

[0163] The preset scene is a standardized experimental scene when testing the control system. The preset scene can include lateral preset scenes and longitudinal preset scenes. The preset scene includes at least one of the following: preset offset straight line, uniform speed turning, acceleration turning, deceleration turning, static starting obstacle avoidance, cruise obstacle avoidance, uniform speed lane changing, acceleration lane changing, deceleration lane changing, acceleration straight line, deceleration straight line.

[0164] The preset offset straight line can be set as: the autonomous vehicle travels a preset distance away from the reference line at an initial speed, and then follows the reference line after stable driving. The initial speed can be a plurality of different speed values. For example, the initial speed can be 2 km / h, 5 km / h, 10 km / h, 30 km / h, etc. The preset distance can be a plurality of different distances. For example, the preset distance can be 10 cm, 15 cm, 40 cm, 160 cm, etc.

[0165] The uniform speed turning can be set as: the autonomous vehicle uniformly turns left / right at a stable initial speed when entering the curve from the straight line segment.

[0166] The acceleration turning can be set as: the autonomous vehicle can stably drive at different initial speeds on the straight line segment, and after entering the curve, it accelerates to the target speed at different accelerations to turn left or right. The acceleration can be 0.5 m / s2, 1.0 m / s2, etc.

[0167] The deceleration turn can be set as: the autonomous vehicle can stably travel at different initial speeds on the straight section, and after entering the curve, it can decelerate to the target speed at different accelerations to turn left or right.

[0168] The start-around-obstacle can be set as: the autonomous vehicle starts from a stationary state, and after passing around the obstacle, it stably cruises.

[0169] The cruise-around-obstacle can be set as: the autonomous vehicle cruises at different initial speeds on the straight section, and after passing around the obstacle, it stably cruises.

[0170] The constant-speed lane change can be set as: the autonomous vehicle cruises at different initial speeds on the straight section, and after changing lanes, it stably cruises.

[0171] The acceleration lane change can be set as: the autonomous vehicle cruises at different initial speeds on the straight section, and after changing lanes, it accelerates to the target speed at different accelerations.

[0172] The deceleration lane change can be set as: the autonomous vehicle cruises at different initial speeds on the straight section, and after changing lanes, it decelerates to the target speed at different accelerations. After changing lanes, it stably cruises at the target speed.

[0173] The acceleration straight driving includes stationary acceleration and non-stationary acceleration.

[0174] The stationary acceleration can be set as: the autonomous vehicle accelerates at different accelerations from a stationary state, and after reaching different target speeds, it cruises at a constant speed.

[0175] The non-stationary acceleration can be set as: the autonomous vehicle can cruise at different initial speeds, and after reaching a specified point A, it accelerates to different target speeds at different accelerations, and after reaching a specified point B, it cruises at a constant speed at the different target speeds.

[0176] The deceleration straight driving can be set as: the autonomous vehicle can cruise at different initial speeds, and after reaching a specified point A, it decelerates to different target speeds at different accelerations, and after reaching a specified point B, it cruises at a constant speed at the different target speeds.

[0177] The control system can execute a control algorithm according to the received test data and the current state of the autonomous vehicle to generate control instructions and send the control instructions to the line control system. The line control system can control the corresponding components of the autonomous vehicle to perform actions according to the control instructions.

[0178] The test data can include a driving route and driving parameters, and the driving parameters can include at least one of speed and acceleration.

[0179] The control instruction is calculated by the control system according to the test data. The control instruction can include a steering angle, a torque value, a trajectory value, etc.

[0180] The trajectory value is used to identify a driving route. One trajectory value can include multiple trajectory points, and each trajectory point can be identified by (x, y, z) coordinates in a local Cartesian coordinates coordinate system (ENU).

[0181] The local Cartesian coordinates coordinate system is referred to as the ENU coordinate system, wherein the X-axis of the coordinate system points to the east, the Y-axis points to the north, and the Z-axis points to the zenith.

[0182] The second test run refers to a run of the autonomous vehicle in a preset scene when the autonomous vehicle accesses the control algorithm.

[0183] When the autonomous vehicle is in the preset scene, the test device can send test data to the on-board computer system, and the on-board computer system can send the test data to the control system after receiving the test data. The control system can calculate the test data through the control algorithm to generate a control instruction and send the control instruction to the line control system, so that the autonomous vehicle performs a second test run according to the control instruction.

[0184] S204, the test device obtains second running data of the autonomous vehicle in the second test run, and determines a test result of the control system according to the second running data and the test data;

[0185] The second running data includes: a time when the autonomous vehicle drives to a preset position, an actual driving route of the autonomous vehicle, and a time when the autonomous vehicle performs a preset operation.

[0186] The on-board computer system can save the second running data of the autonomous vehicle in the second test run as an original data packet and send the original data packet to the test device. After receiving the original data packet, the test device can automatically extract and analyze the original data packet through the running code, and determine the test result of the control system according to the second running data in the original data packet and the test data.

[0187] The test results of the control system can include response delay time, execution time, overshoot time, overshoot amount and steady-state error, and the response delay time, execution time, overshoot time, overshoot amount and steady-state error obtained in each test can be used as evaluation indexes, so that the performance of the control system can be evaluated. Each evaluation index has a corresponding preset threshold, when the over-standard proportion of the evaluation index does not exceed the preset threshold, it can be marked as “close to index requirement”, as a secondary optimization item; when the over-standard proportion of the evaluation index exceeds the preset threshold, it is recorded as “far from meeting the index requirement”, as a main optimization item. The control algorithm of the control system can be optimized for the main optimization item to improve the performance of the control system.

[0188] In S205, the test device determines the test result of the autonomous vehicle according to the test result of the drive-by-wire system and the test result of the control system.

[0189] According to the test result of the drive-by-wire system and the test result of the control system, the performance of the drive-by-wire system and the control system can be evaluated, so that the test result of the autonomous vehicle can be determined.

[0190] According to the test result of the drive-by-wire system, the performance of the drive-by-wire system can be evaluated, and according to the evaluation result, the drive-by-wire system can be accurately optimized to improve the optimization efficiency of the drive-by-wire system.

[0191] According to the test result of the control system, the performance of the control system can be evaluated, and according to the evaluation result, the control algorithm of the control system can be accurately optimized to improve the optimization efficiency of the control system.

[0192] By improving the optimization efficiency of the drive-by-wire system and the optimization efficiency of the control system, the optimization efficiency of the autonomous vehicle can be improved.

[0193] In the embodiments of the present application, the performance of the drive-by-wire system and the control system in the autonomous vehicle can be tested by standard experiments, and the test results of the drive-by-wire system and the control system can be determined according to the test data and the running data. According to the test results, the drive-by-wire system and the control system of the autonomous vehicle can be accurately optimized, which improves the optimization efficiency of the drive-by-wire system and the control system, and further improves the optimization efficiency of the autonomous vehicle.

[0194] In Figure 2 On the basis of the embodiments shown in the foregoing, the following will be described in detail in combination with Figure 4 The test method of the autonomous vehicle is further described in detail.

[0195] Figure 4 Another flowchart of a test method of an autonomous vehicle provided by the embodiments of the present application is shown in FIG. 8. Please refer to FIG. 8. Figure 4The method can comprise:

[0196] S401, controlling the vehicle computer system to send a lateral drive-by-wire instruction to the lateral drive-by-wire system to make the drive-by-wire system control the autonomous vehicle to perform a first test run according to the lateral drive-by-wire instruction.

[0197] The test device can send a lateral drive-by-wire instruction to the vehicle computer system, and the vehicle computer system can send the lateral drive-by-wire instruction to the lateral drive-by-wire system to make the lateral drive-by-wire system control the components of the autonomous vehicle to perform actions according to the lateral drive-by-wire instruction, and perform a first test run.

[0198] The first test run of the lateral drive-by-wire system includes a sine response test, a ramp / step response test, etc.

[0199] The vehicle computer system can automatically save each test result obtained in the first test run as an original data package, and send the original data package to the test device.

[0200] S402, determining a lateral test result of the drive-by-wire system according to the lateral drive-by-wire instruction and the first lateral run data.

[0201] After receiving the original data package sent by the vehicle computer system, the test device can extract and analyze the original data package, and determine each lateral test result of the lateral drive-by-wire according to the extracted lateral drive-by-wire instruction and the first lateral run data. Each lateral test result can include a response delay time, an execution time, an overshoot time, an overshoot amount, a steady-state error, etc.

[0202] S403, controlling the vehicle computer system to send a longitudinal drive-by-wire instruction to the longitudinal drive-by-wire system to make the drive-by-wire system control the autonomous vehicle to perform a longitudinal test according to the longitudinal drive-by-wire instruction.

[0203] The test device can send a longitudinal drive-by-wire instruction to the vehicle computer system, and the vehicle computer system can send the longitudinal drive-by-wire instruction to the longitudinal drive-by-wire system to make the longitudinal drive-by-wire system control the components of the autonomous vehicle to perform actions according to the longitudinal drive-by-wire instruction, and perform a first test run.

[0204] The first test run of the longitudinal drive-by-wire system includes a test of the drive-by-wire drive system and the drive-by-wire brake system, etc.

[0205] The vehicle computer system can automatically save each longitudinal test result obtained in the first test run as an original data package, and send the original data package to the test device.

[0206] S404, determining a longitudinal test result of the drive-by-wire system according to the longitudinal drive-by-wire instruction and the first longitudinal run data.

[0207] After the test equipment receives the original data packet sent by the vehicle computer system, the original data packet can be extracted and parsed, and according to the extracted longitudinal drive-by-wire instruction and the first longitudinal running data, the longitudinal drive-by-wire test results of each item are determined. Each longitudinal test result can include response delay time, execution time, overshoot time, overshoot amount and steady-state error, etc.

[0208] S405, determine whether the test result of the drive-by-wire system meets the index.

[0209] If not, the drive-by-wire system is optimized, and S401 is executed.

[0210] If yes, S406 is executed.

[0211] The test results of the drive-by-wire system can include lateral test results and longitudinal test results, and each test result includes response delay time, execution time, overshoot time, overshoot amount and steady-state error, etc. Response delay time, execution time, overshoot time, overshoot amount and steady-state error can be used as evaluation indexes. Each evaluation index in each test result has a corresponding different preset threshold, and the corresponding exceeding proportion can be calculated according to the evaluation index.

[0212] If the exceeding proportion of an evaluation index in the drive-by-wire system exceeds the corresponding preset threshold, the evaluation index is marked as a main optimization item, and it can be determined that the test result of the drive-by-wire system does not meet the index. After optimization of the main optimization item, S401 is executed.

[0213] If the exceeding proportions of all evaluation indexes in the drive-by-wire system do not exceed the corresponding preset thresholds, it can be determined that the test results of the drive-by-wire system all meet the index, and S406 is executed.

[0214] S406, when the autonomous vehicle is in a preset scene, the vehicle computer system sends test data to the control system to control the autonomous vehicle to perform a second test run.

[0215] The process of performing the second test run can refer to S203, which will not be described here.

[0216] The vehicle computer system can automatically save each test result obtained in the second test run as an original data packet, and send the original data packet to the test equipment.

[0217] S407, obtain second running data of the autonomous vehicle in the second test run, and determine the test result of the control system according to the second running data and the test data.

[0218] After the test equipment receives the original data packet sent by the vehicle-mounted computer system, the original data packet can be automatically extracted and parsed by running the code, and the test result of the control system can be determined according to the second running data and the test data in the original data packet.

[0219] The process of determining the test result of the control system can be referred to as S204, which will not be described here.

[0220] S408, determine whether the test result of the control system meets the index.

[0221] If not, perform S406.

[0222] If yes, perform S409.

[0223] The test result of the control system can include response delay time, execution time, overshoot time, overshoot amount and steady-state error. The response delay time, execution time, overshoot time, overshoot amount and steady-state error obtained in each test can be used as evaluation indexes, so that the performance of the control system can be evaluated.

[0224] Each evaluation index has a corresponding preset threshold. When the over-standard proportion of the evaluation index does not exceed the preset threshold, it can be marked as “close to index requirement” as a secondary optimization item; when the over-standard proportion of the evaluation index exceeds the preset threshold, it is recorded as “far from meeting the index requirement” as a main optimization item. The control algorithm of the control system can be optimized for the main optimization item to improve the performance of the control system.

[0225] Each evaluation index in each test result has a corresponding different preset threshold, and the corresponding over-standard proportion can be calculated according to the evaluation index.

[0226] If the over-standard proportion of an evaluation index in the control system exceeds the corresponding preset threshold, the evaluation index is marked as a main optimization item, and it can be determined that the test result of the control system does not meet the index. After optimizing the control algorithm of the control system, perform S406.

[0227] If the over-standard proportion of each evaluation index in the control system does not exceed the corresponding preset threshold, it can be determined that the test result of the control system meets the index, and the test of the control system ends.

[0228] S409, determine the test result of the automatic driving vehicle according to the test result of the by-wire system and the test result of the control system.

[0229] According to the test result of the by-wire system and the test result of the control system, the performance of the by-wire system and the control system can be evaluated, so that the test result of the automatic driving vehicle can be determined.

[0230] The process of determining the test result of the autonomous vehicle can be referred to as S205, which will not be described here.

[0231] In the embodiment of the present application, the performance of the drive-by-wire system and the control system in the autonomous vehicle can be tested through standard experiments, and the test result of the drive-by-wire system and the control system can be determined according to the test data and the running data. According to the test result, the drive-by-wire system and the control system of the autonomous vehicle can be accurately optimized, which improves the optimization efficiency of the drive-by-wire system and the control system, and further improves the optimization efficiency of the autonomous vehicle.

[0232] Figure 5 A structural schematic diagram of a test device of an autonomous vehicle is provided in the embodiment of the present application. Please refer to Figure 5 The test device 10 of the autonomous vehicle can include a first control module 11, a first acquisition module 12, a second control module 13, a second acquisition module 14 and a determination module 15, wherein,

[0233] The first control module 11 is configured to control the vehicle computer system to send a drive-by-wire instruction to the drive-by-wire system, so that the drive-by-wire system controls the autonomous vehicle to perform a first test run according to the drive-by-wire instruction;

[0234] The first acquisition module 12 is configured to acquire first running data of the autonomous vehicle during the first test run, and determine a test result of the drive-by-wire system according to the first running data and the drive-by-wire instruction;

[0235] The second control module 13 is configured to control the vehicle computer system to send test data to the control system when the autonomous vehicle is in a preset scene, so that the control system and the drive-by-wire system control the autonomous vehicle to perform a second test run;

[0236] The second acquisition module 14 is configured to acquire second running data of the autonomous vehicle during the second test run, and determine a test result of the control system according to the second running data and the test data;

[0237] The determination module 15 is configured to determine a test result of the autonomous vehicle according to the test result of the drive-by-wire system and the test result of the control system.

[0238] The test device of the autonomous vehicle provided in the embodiment of the present application can execute the technical solutions shown in the method embodiments, and the implementation principles and beneficial effects are similar, which will not be described here.

[0239] In a possible implementation, the drive-by-wire instruction comprises a lateral drive-by-wire instruction and a longitudinal drive-by-wire instruction, wherein the lateral drive-by-wire instruction is used to control the automatic driving vehicle to turn, and the longitudinal drive-by-wire instruction is used to control the automatic driving vehicle to accelerate or decelerate.

[0240] The first running data comprises first lateral running data corresponding to the lateral drive-by-wire instruction and first longitudinal running data corresponding to the longitudinal drive-by-wire instruction.

[0241] In a possible implementation, the first obtaining module 12 is specifically configured to,

[0242] determine a lateral test result of the drive-by-wire system according to the lateral drive-by-wire instruction and the first lateral running data;

[0243] determine a longitudinal test result of the drive-by-wire system according to the longitudinal drive-by-wire instruction and the first longitudinal running data;

[0244] The test result of the drive-by-wire system comprises the lateral test result and the longitudinal test result.

[0245] In a possible implementation, the lateral drive-by-wire instruction comprises a first lateral drive-by-wire instruction and a second lateral drive-by-wire instruction, and the first lateral running data comprises first sub-running data corresponding to the first lateral drive-by-wire instruction and second sub-running data corresponding to the second lateral drive-by-wire instruction, wherein,

[0246] The first lateral drive-by-wire instruction comprises a plurality of steering angles and a steering time interval, the plurality of steering angles are distributed in a sinusoidal wave, and the plurality of steering angles comprise a left steering angle and a right steering angle.

[0247] The first sub-running data comprises a first time when the drive-by-wire system receives the first lateral drive-by-wire instruction, a second time when the automatic driving vehicle executes the first lateral drive-by-wire instruction, a maximum left steering angle and a maximum right steering angle of the automatic driving vehicle in the process of executing the first lateral drive-by-wire instruction.

[0248] The second lateral drive-by-wire instruction comprises a target request value.

[0249] The second sub-running data comprises a first time when the drive-by-wire system receives the second lateral drive-by-wire instruction, a second time when the automatic driving vehicle executes the second lateral drive-by-wire instruction, a third time when a response value of the automatic driving vehicle reaches the target request value for the first time, a fourth time when the automatic driving vehicle turns stably, and a maximum response value and a stable response value of the automatic driving vehicle in the process of executing the second lateral drive-by-wire instruction.

[0250] In a possible implementation, the first obtaining module 12 is specifically configured to:

[0251] According to the first lateral drive-by-wire instruction and the first sub-operation data, a first lateral sub-result is determined, the first lateral sub-result including a response delay time and an amplitude deviation;

[0252] According to the second lateral drive-by-wire instruction and the second sub-operation data, a second lateral sub-result is determined, the second lateral sub-result including a response delay time, an execution time, an overshoot time, an overshoot amount and a steady-state error;

[0253] The lateral test result is determined to include the first lateral sub-result and the second lateral sub-result.

[0254] In a possible implementation, the longitudinal drive-by-wire instruction includes a first longitudinal drive-by-wire instruction and a second longitudinal drive-by-wire instruction, the first longitudinal drive-by-wire instruction being used to control the automatic driving vehicle to accelerate, and the second longitudinal drive-by-wire instruction being used to control the automatic driving vehicle to decelerate; the first longitudinal operation data includes third sub-operation data corresponding to the first longitudinal drive-by-wire instruction and fourth sub-operation data corresponding to the second longitudinal drive-by-wire instruction.

[0255] In a possible implementation, the first obtaining module 12 is specifically configured to:

[0256] According to the first longitudinal drive-by-wire instruction and the third sub-operation data, a first longitudinal sub-result is determined, the first target torque being included in the first longitudinal drive-by-wire instruction;

[0257] According to the second longitudinal drive-by-wire instruction and the fourth sub-data, a second longitudinal sub-result is determined, the second target torque being included in the second longitudinal drive-by-wire instruction, the first longitudinal sub-result and the second longitudinal sub-result respectively including a response time delay, a follow-up time delay, a follow-up error, an overshoot amount and a steady-state error;

[0258] The longitudinal test result is determined to include the first longitudinal sub-result and the second longitudinal sub-result.

[0259] In a possible implementation, the test data includes a driving route and driving parameters, the driving parameters including at least one of a speed and an acceleration;

[0260] The second operation data includes a time when the automatic driving vehicle drives to a preset position, an actual driving route of the automatic driving vehicle, and a time when the automatic driving vehicle performs a preset operation.

[0261] The test result of the control system includes a response delay time, an execution time, an overshoot time, an overshoot amount and a steady-state error.

[0262] In a possible implementation, the preset scene includes at least one of the following: preset offset straight driving, uniform speed turning, accelerated turning, decelerated turning, starting around an obstacle, cruising around an obstacle, uniform lane changing, accelerated lane changing, decelerated lane changing, accelerated straight driving, and decelerated straight driving.

[0263] The test device of the autonomous vehicle provided in the embodiments of the present application can implement the technical solutions shown in the method embodiments, and the implementation principles and beneficial effects are similar, which will not be repeated here.

[0264] The present application provides a structural diagram of a test device of an autonomous vehicle, please refer to Figure 6 The test device 20 of the autonomous vehicle can include a processor 21 and a memory 22. Exemplarily, the processor 21, the memory 22, and each part are connected to each other through a bus 23.

[0265] The memory 22 stores computer execution instructions;

[0266] The processor 21 executes the computer execution instructions stored in the memory 22, so that the processor 21 performs the test method of the autonomous vehicle as shown in the above method embodiments.

[0267] All or part of the steps of the above method embodiments can be completed by program instruction related hardware. The foregoing program can be stored in a readable memory. When the program is executed, the steps of the above method embodiments are executed; and the foregoing memory (storage medium) includes: read-only memory (English: read-only memory, abbreviation: ROM), RAM, flash memory, hard disk, solid state disk, magnetic tape (English: magnetic tape), floppy disk (English: floppy disk), optical disc (English: optical disc) and any combination thereof.

[0268] The embodiments of the present application provide a computer readable storage medium, the computer readable storage medium stores computer execution instructions, when the computer execution instructions are executed by a processor, the computer execution instructions are used to implement the test method of the autonomous vehicle described in the above method embodiments.

[0269] The embodiments of the present application can also provide a computer program product, including a computer program, when the computer program is executed by a processor, the computer program can implement the test method of the autonomous vehicle shown in the above method embodiments.

[0270] These computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture including instructions which implement the flow Figure 1 one or more flows and / or blocks Figure 1 one or more blocks or multiple blocks.

[0271] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions executed on the computer or other programmable apparatus provide steps for implementing the flow Figure 1 one or more flows and / or blocks Figure 1 one or more blocks or multiple blocks.

[0272] Obviously, persons having ordinary skill in the art can make various modifications and variations to the embodiments of the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the embodiments of the present application belong to the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

[0273] In the present application, the term "comprising" and its variants can refer to non-limiting inclusion; the term "or" and its variants can refer to "and / or". In the present application, the terms "first", "second" and the like are used to distinguish similar objects, and do not necessarily indicate a specific order or sequence. In the present application, "multiple" refers to two or more. "And / or", which describes the relationship between the associated objects, means that there can be three relationships, for example, A and / or B can represent: A exists alone, A and B exist together, and B exists alone. The character " / " generally represents that the associated objects before and after are in an "or" relationship.

Claims

1. A testing method for an autonomous vehicle, characterized in that, The autonomous vehicle includes a control system and a drive-by-wire system, and the method includes: The onboard computer system sends drive-by-wire commands to the drive-by-wire system, causing the drive-by-wire system to control the autonomous vehicle to perform a first test run according to the drive-by-wire commands. The first test run is performed when the autonomous vehicle is not connected to the control algorithm. The drive-by-wire commands include lateral drive-by-wire commands and longitudinal drive-by-wire commands. The lateral drive-by-wire commands include a first lateral drive-by-wire command and a second lateral drive-by-wire command. The first lateral running data includes first sub-running data corresponding to the first lateral drive-by-wire command and second sub-running data corresponding to the second lateral drive-by-wire command. The first lateral drive-by-wire command includes: multiple steering angles and steering time intervals, wherein the multiple steering angles are distributed in a sine wave pattern, and the multiple steering angles include a left steering angle and a right steering angle; The first sub-operation data includes: the first moment when the drive-by-wire system receives the first lateral drive-by-wire command, the second moment when the autonomous vehicle executes the first lateral drive-by-wire command, and the maximum left turn angle and maximum right turn angle of the autonomous vehicle during the execution of the first lateral drive-by-wire command; The second lateral control-by-wire command includes: the target requested value; The second sub-operation data includes: the first moment when the drive-by-wire system receives the second lateral drive-by-wire command, the second moment when the autonomous vehicle executes the second lateral drive-by-wire command, the third moment when the response value of the autonomous vehicle first reaches the target request value, the fourth moment when the autonomous vehicle stabilizes its steering, and the maximum response value and stable response value of the autonomous vehicle during the execution of the second lateral drive-by-wire command; Acquire the first operating data of the autonomous vehicle during the first test run, and determine the test result of the drive-by-wire system based on the first operating data and the drive-by-wire command; When the autonomous vehicle is in a preset scenario, the on-board computer system sends test data to the control system so that the control system and the drive-by system control the autonomous vehicle to perform a second test run. The second test run is the run when the autonomous vehicle accesses the control algorithm. Acquire second operating data of the autonomous vehicle during the second test run, and determine the test result of the control system based on the second operating data and the test data; The test results of the autonomous vehicle are determined based on the test results of the drive-by-wire system and the test results of the control system.

2. The method according to claim 1, characterized in that, The lateral steer-by-wire command is used to control the autonomous vehicle to steer, and the longitudinal steer-by-wire command is used to control the autonomous vehicle to accelerate or decelerate. The first operating data includes: the first lateral operating data corresponding to the lateral control command and the first longitudinal operating data corresponding to the longitudinal control command.

3. The method according to claim 2, characterized in that, Based on the first operating data and the drive-by-wire command, the test results of the drive-by-wire system are determined, including: Based on the lateral control command and the first lateral running data, the lateral test result of the control system is determined; Based on the longitudinal drive command and the first longitudinal running data, determine the longitudinal test result of the drive system; The test results of the drive-by-wire system include the lateral test results and the longitudinal test results.

4. The method according to claim 1, characterized in that, Based on the lateral control command and the first lateral movement data, the lateral test results of the control system are determined, including: Based on the first lateral control-by-wire command and the first sub-operation data, a first lateral sub-result is determined, which includes: response delay time and amplitude deviation. Based on the second horizontal control-by-wire command and the second sub-operation data, the second horizontal sub-result is determined, which includes: response delay time, execution time, overshoot time, overshoot amount, and steady-state error. The lateral test results are determined to include the first lateral sub-result and the second lateral sub-result.

5. The method according to claim 3, characterized in that, The longitudinal directional control command includes a first longitudinal directional control command and a second longitudinal directional control command. The first longitudinal directional control command is used to control the acceleration of the autonomous vehicle, and the second longitudinal directional control command is used to control the deceleration of the autonomous vehicle. The first longitudinal running data includes a third sub-running data corresponding to the first longitudinal directional control command and a fourth sub-running data corresponding to the second longitudinal directional control command. Based on the longitudinal drive-by-wire command and the first longitudinal running data, the longitudinal test results of the drive-by-wire system are determined, including: Based on the first longitudinal drive command and the third sub-operation data, a first longitudinal sub-result is determined, wherein the first longitudinal drive command includes a first target torque; Based on the second longitudinal drive-by command and the fourth sub-operation data, a second longitudinal sub-result is determined. The second longitudinal drive-by command includes a second target torque. The first longitudinal sub-result and the second longitudinal sub-result respectively include response delay, follow-up delay, follow-up error, overshoot, and steady-state error. The longitudinal test results are determined to include the first longitudinal sub-result and the second longitudinal sub-result.

6. The method according to any one of claims 1-5, characterized in that, The test data includes: driving route and driving parameters, wherein the driving parameters include at least one of speed and acceleration; The second operational data includes: the time when the autonomous vehicle reaches the preset location, the actual driving route of the autonomous vehicle, and the time when the autonomous vehicle performs the preset operation; The test results of the control system include: response delay time, execution time, overshoot time, overshoot amount, and steady-state error.

7. The method according to claim 6, characterized in that, The preset scenarios include at least one of the following: straight driving with preset offset, constant speed turning, accelerated turning, decelerated turning, starting obstacle avoidance, cruise obstacle avoidance, uniform lane change, accelerated lane change, decelerated lane change, accelerated straight driving, and decelerated straight driving.

8. A testing device for an autonomous vehicle, characterized in that, include: The autonomous vehicle comprises a first control module, a first acquisition module, a second control module, a second acquisition module, and a determination module. The autonomous vehicle also includes a control system and a drive-by-wire system. The first control module is used to control the on-board computer system to send drive-by-wire commands to the drive-by-wire system, so that the drive-by-wire system controls the autonomous vehicle to perform a first test run according to the drive-by-wire commands; The first test run is conducted by controlling the autonomous vehicle when the autonomous vehicle is not connected to the control algorithm. The drive-by-wire commands include lateral drive-by-wire commands and longitudinal drive-by-wire commands. The lateral drive-by-wire commands include a first lateral drive-by-wire command and a second lateral drive-by-wire command. The first lateral running data includes first sub-running data corresponding to the first lateral drive-by-wire command and second sub-running data corresponding to the second lateral drive-by-wire command. The first lateral drive-by-wire command includes: multiple steering angles and steering time intervals, wherein the multiple steering angles are distributed in a sine wave pattern, and the multiple steering angles include a left steering angle and a right steering angle; The first sub-operation data includes: the first moment when the drive-by-wire system receives the first lateral drive-by-wire command, the second moment when the autonomous vehicle executes the first lateral drive-by-wire command, and the maximum left turn angle and maximum right turn angle of the autonomous vehicle during the execution of the first lateral drive-by-wire command; The second lateral control-by-wire command includes: the target requested value; The second sub-operation data includes: the first moment when the drive-by-wire system receives the second lateral drive-by-wire command, the second moment when the autonomous vehicle executes the second lateral drive-by-wire command, the third moment when the response value of the autonomous vehicle first reaches the target request value, the fourth moment when the autonomous vehicle stabilizes its steering, and the maximum response value and stable response value of the autonomous vehicle during the execution of the second lateral drive-by-wire command; The first acquisition module is used to acquire the first operating data of the autonomous vehicle during the first test run, and determine the test result of the drive-by-wire system based on the first operating data and the drive-by-wire command. The second control module is used to control the on-board computer system to send test data to the control system when the autonomous vehicle is in a preset scenario, so that the control system and the drive-by-wire system control the autonomous vehicle to perform a second test run, which is the run when the autonomous vehicle accesses the control algorithm; The second acquisition module is used to acquire second operating data of the autonomous vehicle during the second test run, and determine the test result of the control system based on the second operating data and the test data; The determining module is used to determine the test results of the autonomous vehicle based on the test results of the drive-by-wire system and the test results of the control system.

9. A testing device for autonomous vehicles, characterized in that, include: Processor and memory; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory, causing the processor to perform the test method for an autonomous vehicle as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the testing method for the autonomous vehicle according to any one of claims 1 to 7.

11. A computer program product comprising a computer program that, when executed by a processor, implements the method of any one of claims 1 to 7.

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