An automatic driving test method and device, electronic equipment and storage medium
By using a reference vehicle to conduct interference tests on the vehicle under test in the same test scenario, the problem of high cost of field testing of autonomous vehicles is solved, and efficient performance evaluation and cost savings are achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- SHENZHEN KANGSHIDA TECH CO LTD
- Filing Date
- 2023-02-25
- Publication Date
- 2026-05-19
AI Technical Summary
Real-world testing of autonomous vehicles is costly and requires significant investment of resources and funds.
In the same test scenario, by determining the relative position information between the vehicle under test and the reference vehicle, the reference vehicle is used to conduct interference tests on the vehicle under test, and driving data of each vehicle under test is obtained to evaluate its performance.
It reduces the additional investment cost for designated vehicles, improves testing efficiency, and enables the simultaneous testing of multiple vehicles.
Smart Images
Figure CN116380485B_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of automated testing, and in particular to an automated driving testing method, apparatus, electronic device, and storage medium. Background Technology
[0002] Autonomous vehicles, also known as driverless cars, are intelligent vehicles that achieve driverless operation through computer systems. They primarily rely on the collaborative efforts of artificial intelligence, computer vision, radar, monitoring devices, and global positioning systems to enable the car to drive automatically and safely without human intervention. The safety and reliability of autonomous vehicles have always been a major concern, making their testing a crucial task that directly impacts their safety and reliability.
[0003] At present, autonomous vehicles need to undergo field testing. During field testing, certain vehicle construction test tasks are assigned. The vehicle under test needs to complete the assigned vehicle construction tasks to test the performance of the vehicle under test.
[0004] However, the use of multiple designated vehicles in field testing requires corresponding costs, making the cost of field testing relatively high. Summary of the Invention
[0005] To reduce the investment cost of autonomous vehicles, this application provides an autonomous driving testing method, apparatus, electronic device, and storage medium.
[0006] Firstly, this application provides an autonomous driving testing method, which adopts the following technical solution:
[0007] An autonomous driving testing method includes:
[0008] Acquire test scenario information, which includes at least one detection point, each detection point corresponds to a vehicle under test, and each vehicle under test is used to perform testing at the corresponding detection point;
[0009] When each vehicle under test arrives at the corresponding detection point, the first target vehicle and the second target vehicle corresponding to the current detection point are determined, and an interference command is sent to the second target vehicle so that the second target vehicle interferes with the first target vehicle at the current detection point. The first target vehicle is the vehicle under test corresponding to the current detection point, and the second target vehicle is a reference vehicle for interfering with the first target vehicle to detect the performance of the first target vehicle.
[0010] Acquire driving data for each vehicle under test;
[0011] Based on the driving data, the performance of each vehicle under test is determined.
[0012] By adopting the above technical solution, each vehicle under test is placed in the same test scenario, allowing them to be tested within the same environment. During testing, each vehicle under test serves as both the vehicle being tested and a test vehicle for other vehicles. Based on the driving data obtained for each vehicle under test, its performance is determined. This approach allows for testing of each vehicle while reducing the additional investment cost for specific vehicles, thus minimizing testing expenses. Furthermore, testing multiple vehicles simultaneously improves testing efficiency.
[0013] In one possible implementation, determining the first target vehicle and the second target vehicle when each vehicle to be tested arrives at the corresponding detection point includes:
[0014] When the vehicle to be tested is detected to have arrived at the corresponding detection point, the vehicle to be tested at the current detection point is identified as the first target vehicle.
[0015] Obtain the relative position information of other test vehicles and the first target vehicle, wherein the other test vehicles are test vehicles that do not belong to the first target vehicle;
[0016] Based on the relative position information, a second target vehicle is determined from the other vehicles to be tested.
[0017] By adopting the above technical solution, when determining the first target vehicle and the second target vehicle, the vehicle to be tested corresponding to the detection point is taken as the first target vehicle, and the second target vehicle is determined by the relative position information between other vehicles to be tested and the first target vehicle, thus providing a way to determine the first target vehicle and the second target vehicle.
[0018] In another possible implementation, the relative position information includes a relative direction, wherein determining the second target vehicle from the other vehicles to be tested based on the relative position information includes:
[0019] Based on the relative direction of each other test vehicle, candidate vehicles are determined from the other test vehicles. The relative direction of the candidate vehicle is the direction that indicates that the candidate vehicle is in front and the first target vehicle is behind.
[0020] From the candidate vehicles, a second target vehicle is determined.
[0021] By adopting the above technical solution, the vehicle located in front of the first target vehicle among the other vehicles to be tested is identified as a candidate vehicle, and then the second target vehicle is identified from the candidate vehicles. This makes it easier for the second target vehicle to interfere with the first target vehicle.
[0022] In another possible implementation, the relative position further includes a relative distance, wherein determining the second target vehicle from the candidate vehicles includes:
[0023] From the candidate vehicles, randomly select one as the second target vehicle; or...
[0024] From the candidate vehicles, a third target vehicle is determined, the relative distance of which is less than a preset distance threshold; based on the determined third target vehicle, a second target vehicle is determined.
[0025] By adopting the above technical solution, when determining the second target vehicle, on the one hand, a spare vehicle can be randomly selected as the second target vehicle, and on the other hand, a vehicle whose relative distance from the first target vehicle is less than a preset distance threshold can be selected from the spare vehicles as the third target vehicle. Then, the second target vehicle is determined from the third target vehicle, so that the determined second target vehicle is both in front of the first target vehicle and at a small distance from the first target vehicle, thus making it easier for the determined second target vehicle to interfere with the first target vehicle.
[0026] In another possible implementation, an interference command is sent to the second target vehicle to interfere with the first target vehicle, and the process further includes:
[0027] If no interference success command is received from the second target vehicle within a preset time period, the process of determining new other test vehicles based on the second target vehicle and the other test vehicles, determining a new second target vehicle based on the relative position information of the new other test vehicles, and sending an interference command to the new second target vehicle so that the new second target vehicle interferes with the first target vehicle continues until an interference success command is received from the second target vehicle within the preset time period.
[0028] By adopting the above technical solution, if no interference success command is received from the second target vehicle within a preset time period, that is, if the second target vehicle has not completed the interference action within the preset time period, a new second target vehicle is determined, and the new second target vehicle interferes with the first target vehicle until an interference success command is received from the second target vehicle within the preset time period, thereby improving the efficiency of interfering with the first target vehicle.
[0029] In another possible implementation, the preset duration is determined by:
[0030] When an interference command is sent to the second target vehicle, the driving speed of the first target vehicle and the driving speed of the second target vehicle are obtained.
[0031] The relative speed is determined based on the speed of the first target vehicle and the speed of the second target vehicle previously traveling.
[0032] The preset duration is determined based on the relative distance and relative speed between the first target vehicle and the second target vehicle.
[0033] By adopting the above technical solution, when determining the preset duration, both the driving speeds of the second target vehicle and the first target vehicle and the relative distance between the first target vehicle and the second target vehicle are considered. Thus, the preset duration is determined based on the relative speed and relative distance, making the determined preset duration more adaptable to the current situation and giving the second target vehicle sufficient time to interfere.
[0034] In another possible implementation, determining the relative speed based on the speed of the first target vehicle and the speed of the second target vehicle includes: if the speed of the first target vehicle is greater than the speed of the second target vehicle, then the difference between the speed of the first target vehicle and the speed of the second target vehicle is determined as the relative speed.
[0035] If the speed of the first target vehicle is not greater than the speed of the second target vehicle, a reference speed is determined based on the speed of the first target vehicle. The reference speed is sent to the second target vehicle to cause the second target vehicle to travel at the reference speed. A relative speed is determined based on the speed of the first target vehicle and the reference speed, wherein the reference speed is less than the speed of the first target vehicle.
[0036] By adopting the above technical solution, when determining the driving speed, the difference between the driving speed of the first target vehicle and the driving speed of the second target vehicle can be calculated to calculate the relative speed. When the driving speed of the first target vehicle is less than the driving speed of the second target vehicle, a reference speed is determined based on the driving speed of the first target vehicle, and then the relative speed is determined based on the reference speed and the driving speed. This provides a specific implementation method for determining relative speed.
[0037] Secondly, this application provides an autonomous driving testing device, which adopts the following technical solution:
[0038] An autonomous driving test device includes:
[0039] The scene acquisition module is used to acquire test scene information, which includes at least one detection point, each detection point corresponds to a vehicle under test, and each vehicle under test is used to perform testing at the corresponding detection point.
[0040] The target vehicle determination module is used to determine the first target vehicle and the second target vehicle corresponding to the current detection point when each vehicle under test arrives at the corresponding detection point, and send an interference command to the second target vehicle so that the second target vehicle interferes with the first target vehicle at the current detection point. The first target vehicle is the vehicle under test corresponding to the current detection point, and the second target vehicle is a reference vehicle for interfering with the first target vehicle to detect the performance of the first target vehicle.
[0041] The data acquisition module is used to acquire driving data for each vehicle under test;
[0042] The performance determination module is used to determine the performance of each vehicle under test based on the driving data.
[0043] By adopting the above technical solution, each vehicle under test is placed in the same test scenario, allowing them to be tested within the same environment. During testing, each vehicle under test serves as both the vehicle being tested and a test vehicle for other vehicles. Based on the driving data obtained for each vehicle under test, its performance is determined. This approach allows for testing of each vehicle while reducing the additional investment cost for specific vehicles, thus minimizing testing expenses. Furthermore, testing multiple vehicles simultaneously improves testing efficiency.
[0044] In one possible implementation, when the target vehicle determination module determines the first target vehicle and the second target vehicle upon detecting that each vehicle to be tested has arrived at the corresponding detection point, it is specifically used for:
[0045] When the vehicle to be tested is detected to have arrived at the corresponding detection point, the vehicle to be tested at the current detection point is identified as the first target vehicle.
[0046] Obtain the relative position information of other test vehicles and the first target vehicle, wherein the other test vehicles are test vehicles that do not belong to the first target vehicle;
[0047] Based on the relative position information, a second target vehicle is determined from the other vehicles to be tested.
[0048] In another possible implementation, the relative position information includes a relative direction, wherein the target vehicle determination module, when determining the second target vehicle from the other vehicles to be tested based on the relative position information, is specifically used for:
[0049] Based on the relative direction of each other test vehicle, candidate vehicles are determined from the other test vehicles. The relative direction of the candidate vehicle is the direction that indicates that the candidate vehicle is in front and the first target vehicle is behind.
[0050] From the candidate vehicles, a second target vehicle is determined.
[0051] In another possible implementation, the relative position further includes a relative distance, wherein, when the target vehicle determination module determines the second target vehicle from the candidate vehicles, it is specifically used to:
[0052] From the candidate vehicles, randomly select one as the second target vehicle; or...
[0053] From the candidate vehicles, a third target vehicle is determined, the relative distance of which is less than a preset distance threshold; based on the determined third target vehicle, a second target vehicle is determined.
[0054] In another possible implementation, the device further includes:
[0055] The loop module is used to repeatedly execute the following steps when no interference success command is received from the second target vehicle within a preset time period: determining new other test vehicles based on the second target vehicle and the other test vehicles; determining a new second target vehicle based on the relative position information of the new other test vehicles; and sending an interference command to the new second target vehicle so that the new second target vehicle interferes with the first target vehicle, until an interference success command is received from the second target vehicle within the preset time period.
[0056] In another possible implementation, the device further includes a preset duration determination module, which is used to determine the preset duration, specifically for:
[0057] When an interference command is sent to the second target vehicle, the driving speed of the first target vehicle and the driving speed of the second target vehicle are obtained.
[0058] The relative speed is determined based on the speed of the first target vehicle and the speed of the second target vehicle previously traveling.
[0059] The preset duration is determined based on the relative distance and relative speed between the first target vehicle and the second target vehicle.
[0060] In another possible implementation, when the preset duration determination module determines the relative speed based on the speed of the first target vehicle and the speed of the second target vehicle previously traveling, it is specifically used for:
[0061] When the speed of the first target vehicle is greater than the speed of the second target vehicle, the difference between the speed of the first target vehicle and the speed of the second target vehicle is determined as the relative speed.
[0062] When the speed of the first target vehicle is not greater than the speed of the second target vehicle, a reference speed is determined based on the speed of the first target vehicle. The reference speed is sent to the second target vehicle so that the second target vehicle travels at the reference speed. A relative speed is determined based on the speed of the first target vehicle and the reference speed, wherein the reference speed is less than the speed of the first target vehicle.
[0063] Thirdly, this application provides an electronic device that adopts the following technical solution:
[0064] An electronic device comprising:
[0065] At least one processor;
[0066] Memory;
[0067] At least one application, wherein the at least one application is stored in memory and configured to be executed by at least one processor, the at least one application being configured to: execute the above-described autonomous driving test method.
[0068] Fourthly, this application provides a computer-readable storage medium, which adopts the following technical solution:
[0069] A computer-readable storage medium includes: a computer program stored thereon that can be loaded by a processor and execute the above-described autonomous driving test method.
[0070] In summary, this application includes at least the following beneficial technical effects:
[0071] By placing each vehicle under test in the same test scenario, each vehicle is tested within the same environment. During testing, each vehicle is both the vehicle being tested and a test vehicle for other vehicles. Based on the driving data obtained for each vehicle, the performance of each vehicle is determined. This allows for testing of each vehicle while reducing the additional investment cost for specific vehicles, thus reducing testing costs. Furthermore, testing multiple vehicles simultaneously improves testing efficiency. Attached Figure Description
[0072] Figure 1 This is a flowchart illustrating the autonomous driving testing method according to an embodiment of this application;
[0073] Figure 2 This is a block diagram of an autonomous driving test device according to an embodiment of this application;
[0074] Figure 3 This is a schematic diagram of an electronic device according to an embodiment of this application. Detailed Implementation
[0075] The following is in conjunction with the appendix Figure 1-3 This application will be described in further detail.
[0076] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.
[0077] To facilitate understanding of the technical solutions proposed in this application, several elements that will be introduced in the description of this application are first presented here. It should be understood that the following description is only for the purpose of understanding these elements and the content of the embodiments of this application, and does not necessarily cover all possible situations.
[0078] This application provides an autonomous driving testing method, executed by an electronic device, as described above. Figure 1 The method includes:
[0079] Step S101: Obtain test scenario information.
[0080] The test scenario information includes at least one detection point, each detection point corresponds to one vehicle under test, and each vehicle under test is used to conduct tests at the corresponding detection point.
[0081] Specifically, the test scenario is used to test autonomous vehicles.
[0082] For a batch of autonomous vehicles, during testing, these autonomous vehicles can be placed in the same test scenario. In the same test scenario, each autonomous vehicle can interfere with other autonomous vehicles around it. The performance of each autonomous vehicle can be tested through the mutual interference between different autonomous vehicles.
[0083] In a test scenario, multiple detection points are set up. Each detection point can test one autonomous vehicle or multiple autonomous vehicles. For example, in the current test scenario, there are vehicles a1 to a5 to be tested. At detection point A1, vehicle a1 is tested. Then, vehicles a2 to a5 can interfere with vehicle a1 within the preset detection area corresponding to detection point A1, thereby detecting the performance of vehicle a1.
[0084] Step S102: When each vehicle to be tested is detected to have arrived at the corresponding detection point, the first target vehicle and the second target vehicle corresponding to the current detection point are determined, and an interference command is sent to the second target vehicle so that the second target vehicle interferes with the first target vehicle at the current detection point.
[0085] The first target vehicle is the vehicle to be tested at the current detection point, and the second target vehicle is a reference vehicle used to interfere with the first target vehicle in order to detect its performance.
[0086] Specifically, when a vehicle to be tested is detected arriving at a detection point, i.e., when a vehicle to be tested enters the detection point, the avoidance performance of the vehicle to be tested can be detected. Here, the first target vehicle represents the vehicle being detected at the current detection point, and the second target vehicle represents the vehicle to be tested at the current detection point that is used to detect other vehicles. For the same detection point, the second target vehicle and the first target vehicle are different vehicles to be tested. For example, when vehicles to be tested a1~a3 arrive at detection point A1, vehicle a1 can be identified as the first target vehicle, and vehicle a2 can be identified as the second target vehicle.
[0087] When the vehicle under test leaves the current test point and enters the next test point, the first target vehicle and the second target vehicle corresponding to the next test point are determined. At the next test point, the second target vehicle interferes with the corresponding first target vehicle in order to test the first target vehicle corresponding to the next test point.
[0088] Step S103: Obtain driving data for each vehicle under test.
[0089] Step S104: Determine the performance of each vehicle under test based on the driving data.
[0090] Specifically, by acquiring and analyzing the driving data of each vehicle under test, the performance of each vehicle under test can be determined.
[0091] This application provides an autonomous driving testing method. By placing each vehicle under test in the same test scenario, each vehicle under test is tested within the same scenario. During testing, each vehicle under test is both the vehicle being tested and a test vehicle for testing other vehicles. The performance of each vehicle under test is determined based on the driving data obtained. This allows for testing of each vehicle under test while reducing the additional investment cost for specific vehicles, thereby reducing the financial consumption of testing. Furthermore, testing multiple vehicles under test simultaneously can improve the testing efficiency.
[0092] One possible implementation of this application embodiment is as follows: In step S102, when each vehicle to be tested is detected to have arrived at the corresponding detection point, the first target vehicle and the second target vehicle are determined, including steps S1021, S1022, and S1023, wherein:
[0093] Step S1021: When the vehicle to be tested is detected to have arrived at the corresponding detection point, the vehicle to be tested corresponding to the current detection point is determined as the first target vehicle.
[0094] Specifically, when the vehicle under test is detected to have arrived at the corresponding detection point, it indicates that the performance of the vehicle under test needs to be tested. The first target vehicle is the vehicle under test corresponding to the current detection point. At the current detection point, the first target vehicle will be interfered with to observe its responsiveness and avoidance capabilities under interference, thereby achieving the testing of the first target vehicle.
[0095] In determining the second target vehicle, one vehicle can be randomly selected from the other vehicles to be tested, or the second target vehicle can be determined through steps S1022 and S1023. Specifically:
[0096] Step S1022: Obtain the relative position information of other vehicles under test and the first target vehicle.
[0097] Among them, the other vehicles to be tested are those that are not part of the first target vehicle.
[0098] For example, if the vehicles under test in the current test scenario include vehicles a1 to a5, and the first target vehicle is vehicle a1, then vehicles a2 to a5 all belong to other vehicles under test.
[0099] Step S1023: Based on the relative position information, determine the second target vehicle from the other vehicles to be tested.
[0100] Specifically, in order to test the obstacle avoidance performance of the first target vehicle, it is necessary to interfere with the first target vehicle. Therefore, it is necessary to identify a second target vehicle so that the second target vehicle interferes with the first target vehicle. When identifying the second target vehicle, it will be selected from other vehicles to be tested. More specifically, the second target vehicle will be identified through steps S1022 and S1023.
[0101] The relative position information is used to characterize the distance and relative position between the first target vehicle and the vehicles under test. Specifically, the relative position information includes the relative direction and the relative distance. More specifically, the relative direction can be positive when the first target vehicle is in front and other vehicles under test are behind. When the first target vehicle is behind and the second target vehicle is in front, the corresponding relative direction is negative. For example, if the vehicle under test corresponding to the current detection point is a1, and vehicle under test a3 is in front and vehicle under test a1 is behind, then the relative direction is negative. The relative distance is the straight-line distance between the first target vehicle and the second target vehicle.
[0102] In step S1023, the second target vehicle is determined from other vehicles to be tested based on the relative position information. More specifically, this can be achieved through steps S1023a (not shown in the figure) and S1023b (not shown in the figure), wherein:
[0103] Step S1023a: Based on the relative direction of each other test vehicle, determine the candidate vehicles from the other test vehicles.
[0104] The relative direction of the candidate vehicles is the direction in which the candidate vehicles are in front and the first target vehicle is behind. For example, if the first target vehicle is in front and the other test vehicles are behind is taken as the positive direction, the test vehicle whose corresponding relative direction is negative is identified as the candidate vehicle.
[0105] Step S1023b: Select the second target vehicle from the candidate vehicles.
[0106] Specifically, when a vehicle is in front of the first target vehicle, it can interfere with the first target vehicle by slowing down or changing lanes. However, when a vehicle is behind the first target vehicle, it is difficult to effectively interfere with it. Therefore, vehicles that are in front of the first target vehicle are identified from the other vehicles to be tested; these are the candidate vehicles. From the candidate vehicles, the second target vehicle is then selected.
[0107] More specifically, in step S1023, a second target vehicle is determined from the candidate vehicles. This can be achieved through either method one or method two, wherein:
[0108] Method 1: Randomly select one of the candidate vehicles as the second target vehicle.
[0109] Specifically, one of the candidate vehicles can be randomly selected as the second target vehicle.
[0110] Method 2: Select a third target vehicle from the candidate vehicles, with the relative distance to the third target vehicle being less than a preset distance threshold; based on the selected third target vehicle, select a second target vehicle.
[0111] Specifically, the farther away a vehicle is from the first target vehicle, the more difficult it is to interfere with it; the closer a vehicle is to the first target vehicle, the easier it is to interfere with it. For example, if the alternative vehicle x is 500m away from the first target vehicle, then it is very difficult for the alternative vehicle x to interfere with the first target vehicle.
[0112] Therefore, when determining the second target vehicle, vehicles whose relative distance is less than a preset distance threshold are selected as the third target vehicle from the candidate vehicles. If there is a vehicle among the candidate vehicles whose relative distance is less than the preset distance threshold, then the second target vehicle is selected from the third target vehicles.
[0113] In the embodiments of this application, when there is a vehicle among the candidate vehicles whose relative distance is less than a preset distance threshold, that is, when a third target vehicle can be identified among the candidate vehicles, a second target vehicle is determined based on the identified third target vehicle. Specifically, this may include: if there is a detected vehicle among the identified third target vehicles, then a second target vehicle is determined based on the detected vehicle; if there is no detected vehicle among the identified third target vehicles, then a vehicle is randomly selected from the third target vehicles as the second target vehicle.
[0114] Furthermore, when there are no vehicles among the candidate vehicles whose relative distance is less than a preset distance threshold, i.e., when the determined third target vehicle is an empty set, in one possible implementation, the vehicle with the smallest relative distance among the candidate vehicles can be selected as the second target vehicle; in another possible implementation, the second target vehicle can be uncertain, and an interference command can be sent to a preset test vehicle, so that the preset test vehicle interferes with the first target vehicle, wherein the preset test vehicle is a vehicle that is pre-set at the detection point to interfere with the vehicle.
[0115] In one possible implementation of this application embodiment, in step S102, an interference command is sent to the second target vehicle to interfere with the first target vehicle, and the method further includes:
[0116] If no interference success command is received from the second target vehicle within the preset time period, the process continues to execute the steps of determining new other test vehicles based on the second target vehicle and other test vehicles, determining new second target vehicles based on the relative position information of the new other test vehicles, and sending interference commands to the new second target vehicles so that the new second target vehicles interfere with the first target vehicle, until an interference success command is received from the second target vehicle within the preset time period.
[0117] Specifically, after the interference command is sent, the second target vehicle will perform interference actions against the first target vehicle. Once the second target vehicle has completed its interference actions, it will send a successful interference command to the electronic device to indicate that the second target vehicle has completed its interference. However, due to maneuverability issues between the first and second target vehicles—for example, the second target vehicle might have been traveling ahead of the first target vehicle, but due to the first target vehicle accelerating—the second target vehicle may have lost its opportunity to interfere before it can actually interfere with the first target vehicle. Therefore, if no successful interference command is received from the second target vehicle within a preset time period, a new second target vehicle will be identified, and an interference command will be sent to the new second target vehicle, causing it to interfere with the first target vehicle.
[0118] In this process, when determining a new second target vehicle, the original second target vehicle is removed from the other test vehicles, and new other test vehicles are determined. Then, the new second target vehicle is determined from the new other test vehicles using the relative position information corresponding to the new other test vehicles. The specific method for determining the new second target vehicle from the new other test vehicles can be referred to the above embodiment, and will not be repeated here.
[0119] Furthermore, if the newly identified second target vehicle fails to send a successful interference command to the electronic device within a preset time period, a new second target vehicle will be identified again, and the loop will end when the electronic device receives a successful interference command within a preset time period.
[0120] Furthermore, after the electronic device sends an interference command to the second target vehicle, the second target vehicle may be located in front of the first target vehicle. The interference can only be carried out after the first and second target vehicles approach each other. If, during the waiting period, the electronic device detects that a preset time has elapsed and no successful interference command has been received within that preset time, the electronic device may re-identify a new second target vehicle, deeming the interference attempt on the current second target vehicle a failure. Therefore, the preset time may be the same or different for different second target vehicles. In one possible implementation of this application, the preset time can be determined by a pre-set time, for example, if the pre-set time is 5 minutes, then the determined preset time is 5 minutes. In another possible implementation, the preset time can also include steps Sa1 (not shown in the figure) and Sa2 (not shown in the figure), wherein:
[0121] Step Sa1: When sending an interference command to the second target vehicle, obtain the driving speed of the first target vehicle and the driving speed of the second target vehicle.
[0122] Step Sa2: Determine the relative speed based on the speed of the first target vehicle and the previous speed of the second target vehicle.
[0123] Step Sa3: Determine the preset duration based on the relative distance and relative speed between the first target vehicle and the second target vehicle.
[0124] Specifically, the second target vehicle is in front of the first target vehicle. Based on the relative distance between the second target vehicle and the first target vehicle, the time of intersection between the first target vehicle and the second target vehicle can be roughly predicted, or in other words, the time it takes for the first target vehicle and the second target vehicle to intersect can be predicted. Based on the time it takes for the intersection, the preset time is determined.
[0125] In determining the preset time duration, the distance between the first and second target vehicles will affect the duration, as will their relative speeds. Therefore, when determining the preset time duration, the travel speeds of the first and second target vehicles are obtained, and their relative speeds are then determined. After determining the relative speeds, the intersection time can be obtained by dividing the relative distance by the relative speed. This intersection time represents the time required for the second and first target vehicles to intersect.
[0126] After determining the convergence duration, a preset duration is determined based on the convergence duration. Specifically, the preset duration can be equal to the convergence duration plus the preset interference duration. The preset interference duration is greater than or equal to zero. The preset interference duration is used to characterize the time from convergence to the implementation of interference behavior. For example, the preset interference duration is set to 1 minute.
[0127] Further, in step Sa2, the relative speed is determined based on the speed of the first target vehicle and the previous speed of the second target vehicle. This can be achieved through steps Sa21 and Sa22, wherein:
[0128] Step Sa21: If the speed of the first target vehicle is greater than the speed of the second target vehicle, then the difference between the speeds of the first target vehicle and the second target vehicle is determined as the relative speed.
[0129] For example: if the speed of the first target vehicle is 80 and the speed of the second target vehicle is 60, then the relative speed between the two vehicles is 20.
[0130] Step Sa22: If the speed of the first target vehicle is not greater than the speed of the second target vehicle, then determine the reference speed based on the speed of the first target vehicle, and send the reference speed to the second target vehicle so that the second target vehicle travels at the reference speed; determine the relative speed based on the speed of the first target vehicle and the reference speed.
[0131] The base speed is less than the speed of the first target vehicle.
[0132] Specifically, when the speed of the first target vehicle is less than the speed of the second target vehicle, a reference speed is determined based on the speed of the first target vehicle, and then a relative speed is determined based on the reference speed and the speed of the first target vehicle. The relative speed is equal to the speed of the first target vehicle minus the reference speed.
[0133] More specifically, the reference speed can be preset, with each driving speed range corresponding to a reference speed. For example, 10~20 corresponds to a driving speed range, 21~30 corresponds to a driving speed range, 31~40 corresponds to a driving speed range, etc. Different driving speed ranges can correspond to the same reference speed or different reference speeds. When determining the reference speed, the reference speed corresponding to the driving speed range corresponding to the driving speed of the first target vehicle is determined, and the determined reference speed is less than the driving speed of the first target vehicle.
[0134] If the speed of the second target vehicle is greater than that of the first target vehicle, then when sending the interference command to the second target vehicle, the determined reference speed is also sent to the second target vehicle, so that the second target vehicle runs at the reference speed.
[0135] The above embodiments describe a method for testing autonomous driving from the perspective of process flow. The following embodiments describe an apparatus for testing autonomous driving from the perspective of virtual modules or virtual units. For details, please refer to the following embodiments.
[0136] Reference Figure 2 An autonomous driving test device 200 includes:
[0137] The scene acquisition module 201 is used to acquire test scene information. The test scene information includes at least one detection point, each detection point corresponds to a vehicle under test, and each vehicle under test is used to perform testing at the corresponding detection point.
[0138] The target vehicle determination module 202 is used to determine the first target vehicle and the second target vehicle corresponding to the current detection point when each vehicle under test is detected to have arrived at the corresponding detection point, and send an interference command to the second target vehicle so that the second target vehicle interferes with the first target vehicle at the current detection point. The first target vehicle is the vehicle under test corresponding to the current detection point, and the second target vehicle is a reference vehicle for interfering with the first target vehicle to detect the performance of the first target vehicle.
[0139] The data acquisition module 203 is used to acquire driving data for each vehicle under test;
[0140] The performance determination module 204 is used to determine the performance of each vehicle under test based on driving data.
[0141] Specifically, by placing each vehicle under test in the same test scenario, each vehicle under test is tested within the same scenario. During testing, each vehicle under test is both the vehicle being tested and a test vehicle for testing other vehicles. Based on the driving data obtained for each vehicle under test, the performance of each vehicle under test is determined. This allows for testing of each vehicle under test while reducing the additional investment cost for specific vehicles, thereby reducing the financial consumption of testing. At the same time, testing multiple vehicles under test simultaneously can also improve the testing efficiency.
[0142] In one possible implementation, when the target vehicle determination module detects that each vehicle to be tested has arrived at the corresponding detection point, it determines the first target vehicle and the second target vehicle, specifically by:
[0143] When the vehicle to be tested is detected to have arrived at the corresponding detection point, the vehicle to be tested at the current detection point is identified as the first target vehicle.
[0144] Obtain the relative position information of other test vehicles and the first target vehicle. Other test vehicles are those that do not belong to the first target vehicle.
[0145] Based on the relative position information, the second target vehicle is determined from the other vehicles to be tested.
[0146] In another possible implementation, the relative position information includes relative direction, wherein the target vehicle determination module 202, when determining the second target vehicle from other vehicles to be tested based on the relative position information, is specifically used for:
[0147] Based on the relative direction of each other test vehicle, candidate vehicles are determined from the other test vehicles. The relative direction of the candidate vehicle is the direction that indicates that the candidate vehicle is in front and the first target vehicle is behind.
[0148] From the candidate vehicles, the second target vehicle was selected.
[0149] In another possible implementation, the relative position also includes the relative distance, wherein when the target vehicle determination module 202 determines the second target vehicle from the candidate vehicles, it is specifically used for:
[0150] From the candidate vehicles, randomly select one as the second target vehicle; or...
[0151] From the candidate vehicles, a third target vehicle is selected, and the relative distance of the third target vehicle is less than a preset distance threshold; based on the selected third target vehicle, a second target vehicle is selected.
[0152] In another possible implementation, device 200 further includes:
[0153] The loop module is used to repeatedly execute the following steps when no interference success command is received from the second target vehicle within a preset time period: determining new other test vehicles based on the second target vehicle and other test vehicles; determining new second target vehicles based on the relative position information of the new other test vehicles; and sending interference commands to the new second target vehicles so that the new second target vehicles interfere with the first target vehicle, until an interference success command is received from the second target vehicle within the preset time period.
[0154] In another possible implementation, the device 200 further includes a preset duration determination module, which is used to determine the preset duration, specifically for:
[0155] When sending an interference command to the second target vehicle, obtain the speed of the first target vehicle and the speed of the second target vehicle;
[0156] Determine the relative speed based on the speed of the first target vehicle and the previous speed of the second target vehicle;
[0157] The preset duration is determined based on the relative distance and relative speed between the first target vehicle and the second target vehicle.
[0158] In another possible implementation, the preset duration determination module, when determining the relative speed based on the speed of the first target vehicle and the speed of the second target vehicle, is specifically used for:
[0159] When the speed of the first target vehicle is greater than the speed of the second target vehicle, the difference between the speeds of the first target vehicle and the second target vehicle is determined as the relative speed.
[0160] When the speed of the first target vehicle is not greater than the speed of the second target vehicle, a reference speed is determined based on the speed of the first target vehicle. The reference speed is used to send to the second target vehicle and cause the second target vehicle to travel at the reference speed. The relative speed is determined based on the speed of the first target vehicle and the reference speed, wherein the reference speed is less than the speed of the first target vehicle.
[0161] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.
[0162] This application also describes an electronic device from the perspective of a physical device, such as... Figure 3 As shown, Figure 3 The illustrated electronic device 300 includes a processor 301 and a memory 303. The processor 301 and the memory 303 are connected, for example, via a bus 302. Optionally, the electronic device 300 may also include a transceiver 304. It should be noted that in practical applications, the transceiver 304 is not limited to one type, and the structure of this electronic device 300 does not constitute a limitation on the embodiments of this application.
[0163] Processor 301 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. Processor 301 may also be a combination that implements computational functions, such as including one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc.
[0164] Bus 302 may include a pathway for transmitting information between the aforementioned components. Bus 302 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. Bus 302 can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 3 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.
[0165] The memory 303 may be a ROM (Read Only Memory) or other type of static storage device capable of storing static information and instructions, RAM (Random Access Memory) or other type of dynamic storage device capable of storing information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), CD-ROM (Compact Disc Read Only Memory) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto.
[0166] The memory 303 is used to store application code that executes the solution of this application, and its execution is controlled by the processor 301. The processor 301 is used to execute the application code stored in the memory 303 to implement the content shown in the foregoing method embodiments.
[0167] Among them, electronic devices include, but are not limited to: mobile terminals such as mobile phones, laptops, digital radio receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), and in-vehicle terminals (such as in-vehicle navigation terminals), as well as fixed terminals such as digital TVs and desktop computers, and can also be servers, etc. Figure 3 The electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.
[0168] This application provides a computer-readable storage medium storing a computer program that, when run on a computer, enables the computer to execute the corresponding content in the aforementioned method embodiments. In this application embodiment, by placing each vehicle under test in the same test scenario, each vehicle under test is tested within the same scenario. During testing, each vehicle under test is both the vehicle being tested and a test vehicle for testing other vehicles. Based on the obtained driving data corresponding to each vehicle under test, the performance of each vehicle under test is determined. This allows for testing of each vehicle under test while reducing the additional investment cost for specific vehicles, thus reducing testing costs. Furthermore, simultaneously testing multiple vehicles under test improves testing efficiency.
[0169] It should be understood that although the steps in the flowcharts of the accompanying figures are shown sequentially as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the accompanying figures may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.
[0170] The above are only some embodiments of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.
Claims
1. An autonomous driving testing method, characterized in that, include: Acquire test scenario information, which includes at least one detection point, each detection point corresponds to a vehicle under test, and each vehicle under test is used to perform testing at the corresponding detection point; When each vehicle under test arrives at the corresponding detection point, the first target vehicle and the second target vehicle corresponding to the current detection point are determined, and an interference command is sent to the second target vehicle so that the second target vehicle interferes with the first target vehicle at the current detection point. The first target vehicle is the vehicle under test corresponding to the current detection point, and the second target vehicle is a reference vehicle for interfering with the first target vehicle to detect the performance of the first target vehicle. The step of determining the first target vehicle and the second target vehicle when each vehicle to be tested arrives at the corresponding detection point includes: When the vehicle to be tested is detected to have arrived at the corresponding detection point, the vehicle to be tested at the current detection point is identified as the first target vehicle. Obtain the relative position information of other test vehicles and the first target vehicle, wherein the other test vehicles are test vehicles that do not belong to the first target vehicle; Based on the relative position information, a second target vehicle is determined from the other vehicles to be tested; The step of determining the second target vehicle from the other vehicles to be tested based on the relative position information includes: Based on the relative direction of each other test vehicle, candidate vehicles are determined from the other test vehicles. The relative direction of the candidate vehicle is the direction that indicates that the candidate vehicle is in front and the first target vehicle is behind. From the candidate vehicles, a second target vehicle is determined; Sending an interference command to the second target vehicle to cause the second target vehicle to interfere with the first target vehicle, and then further including: If no interference success command is received from the second target vehicle within the preset time period, the process of determining new other test vehicles based on the second target vehicle and the other test vehicles, determining a new second target vehicle based on the relative position information of the new other test vehicles, and sending an interference command to the new second target vehicle so that the new second target vehicle interferes with the first target vehicle is repeated until an interference success command is received from the second target vehicle within the preset time period. Acquire driving data for each vehicle under test; Based on the driving data, the performance of each vehicle under test is determined.
2. The method according to claim 1, characterized in that, The relative position also includes the relative distance, wherein determining the second target vehicle from the candidate vehicles includes: From the candidate vehicles, randomly select one as the second target vehicle; or... From the candidate vehicles, a third target vehicle is determined, the relative distance of which is less than a preset distance threshold; based on the determined third target vehicle, a second target vehicle is determined.
3. The method according to claim 1, characterized in that, The methods for determining the preset duration include: When an interference command is sent to the second target vehicle, the driving speed of the first target vehicle and the driving speed of the second target vehicle are obtained. The relative speed is determined based on the speed of the first target vehicle and the speed of the second target vehicle previously traveling. The preset duration is determined based on the relative distance and relative speed between the first target vehicle and the second target vehicle.
4. The method according to claim 3, characterized in that, Determining the relative speed based on the speed of the first target vehicle and the previous speed of the second target vehicle includes: If the speed of the first target vehicle is greater than the speed of the second target vehicle, then the difference between the speed of the first target vehicle and the speed of the second target vehicle is determined as the relative speed. If the speed of the first target vehicle is not greater than the speed of the second target vehicle, a reference speed is determined based on the speed of the first target vehicle. The reference speed is sent to the second target vehicle to cause the second target vehicle to travel at the reference speed. A relative speed is determined based on the speed of the first target vehicle and the reference speed, wherein the reference speed is less than the speed of the first target vehicle.
5. An autonomous driving testing device, characterized in that, include: The scene acquisition module is used to acquire test scene information, which includes at least one detection point, each detection point corresponds to a vehicle under test, and each vehicle under test is used to perform testing at the corresponding detection point. The target vehicle determination module is used to determine the first target vehicle and the second target vehicle corresponding to the current detection point when each vehicle under test arrives at the corresponding detection point, and send an interference command to the second target vehicle so that the second target vehicle interferes with the first target vehicle at the current detection point. The first target vehicle is the vehicle under test corresponding to the current detection point, and the second target vehicle is a reference vehicle for interfering with the first target vehicle to detect the performance of the first target vehicle. When the target vehicle determination module detects that each vehicle to be tested has arrived at the corresponding detection point, it determines the first target vehicle and the second target vehicle, specifically by: When the vehicle to be tested is detected to have arrived at the corresponding detection point, the vehicle to be tested at the current detection point is identified as the first target vehicle. Obtain the relative position information of other test vehicles and the first target vehicle, wherein the other test vehicles are test vehicles that do not belong to the first target vehicle; Based on the relative position information, a second target vehicle is determined from the other vehicles to be tested; The relative position information includes relative direction, wherein, when the target vehicle determination module determines the second target vehicle from the other vehicles to be tested based on the relative position information, it is specifically used for: Based on the relative direction of each other test vehicle, candidate vehicles are determined from the other test vehicles. The relative direction of the candidate vehicle is the direction that indicates that the candidate vehicle is in front and the first target vehicle is behind. From the candidate vehicles, a second target vehicle is determined; The device further includes: The loop module is used to repeatedly execute the following steps when no interference success command is received from the second target vehicle within a preset time period: determining new other test vehicles based on the second target vehicle and the other test vehicles; determining a new second target vehicle based on the relative position information of the new other test vehicles; and sending an interference command to the new second target vehicle so that the new second target vehicle interferes with the first target vehicle, until an interference success command is received from the second target vehicle within the preset time period. The data acquisition module is used to acquire driving data for each vehicle under test; The performance determination module is used to determine the performance of each vehicle under test based on the driving data.
6. An electronic device, characterized in that, The electronic device includes: At least one processor; Memory; At least one application, wherein the at least one application is stored in memory and configured to be executed by at least one processor, said at least one application being configured to: perform the autonomous driving test method according to any one of claims 1 to 4.
7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed in the computer, the computer is instructed to perform an autonomous driving test method according to any one of claims 1 to 4.