Autonomous driving test method, system, vehicle and storage medium

Abstract

An automatic driving test method, system, vehicle and storage medium, wherein the vehicle (100) comprises: a vehicle platform (10), a first driving system (11) and a second driving system (12); the first driving system (11) and the second driving system (12) are connected with the vehicle platform (10), the first driving system (11) is used for enabling a first driver to drive the vehicle through the first driving system (11); the second driving system (12) is used for enabling a second driver to drive the vehicle through the second driving system (12); the first driving system (11) can send a first automatic driving instruction triggered by the first driver to the first driving system (11) to the second driving system (12), so that the second driver can drive the vehicle (100) through the second driving system (12).

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and in particular to an autonomous driving testing method, an autonomous driving testing system, a vehicle, and a storage medium. Background Technology

[0002] Autonomous driving refers to a system where the vehicle operates automatically without driver intervention, relying on sensors to collect environmental information and drive accordingly. However, in certain situations, such as hardware or software malfunctions or external environmental interference, a driver may still need to take over. Therefore, it is necessary to conduct research on autonomous driving systems before development, including studying driver behavior during operation. This research provides crucial data for the human-machine interface design, safety logic development, and user experience of the autonomous driving system. However, current methods for studying driver behavior during autonomous driving system operation are not ideal. For example, they often rely on questionnaires and driving simulators, but these methods cannot simulate real vehicles, resulting in inaccurate and unrealistic representations of driver behavior. Summary of the Invention

[0003] This application provides an autonomous driving test system, an autonomous driving test method, a vehicle, and a storage medium to improve the realism and accuracy of autonomous driving tests.

[0004] In a first aspect, embodiments of this application provide a vehicle, the vehicle comprising:

[0005] Vehicle platform;

[0006] A first driving system, connected to the vehicle platform, is used to enable a first driver to drive the vehicle via the first driving system;

[0007] A second driving system, connected to the vehicle platform, is used to enable a second driver to drive the vehicle via the second driving system;

[0008] The first driving system can send a first autonomous driving command triggered by the first driver to the second driving system, so that the second driver can drive the vehicle through the second driving system.

[0009] Secondly, embodiments of this application also provide an autonomous driving test system, which is used to be installed in a vehicle, and the autonomous driving test system includes:

[0010] A first driving system is configured to connect to the vehicle platform of the vehicle, enabling a first driver to drive the vehicle via the first driving system;

[0011] A second driving system is used to connect to the vehicle platform, enabling a second driver to drive the vehicle through the second driving system.

[0012] The first driving system can send a first autonomous driving command triggered by the first driver to the second driving system, so that the second driver can drive the vehicle through the second driving system.

[0013] Thirdly, embodiments of this application also provide an autonomous driving testing method, the testing method comprising:

[0014] A first autonomous driving command triggered by a first driver based on a first driving system is obtained, wherein the first driving system is configured to be installed in the vehicle and is used by the first driver to drive the vehicle through the first driving system; the vehicle further includes a vehicle platform and a second driving system, both the first driving system and the second driving system are connected to the vehicle platform, and the second driving system is used by the second driver to drive the vehicle through the second driving system;

[0015] The first autonomous driving command is sent to the second driving system so that the second driver can drive the vehicle through the second driving system.

[0016] Fourthly, embodiments of this application also provide an autonomous driving testing method, the testing method comprising:

[0017] The system receives a first autonomous driving instruction sent by the first driving system, wherein the first autonomous driving instruction is triggered by the first driver based on the first driving system. The first driving system is configured to be installed in the vehicle and is used by the first driver to drive the vehicle through the first driving system. The vehicle also includes a vehicle platform and a second driving system, both of which are connected to the vehicle platform. The second driving system is used by the second driver to drive the vehicle through the second driving system.

[0018] Based on the first autonomous driving instruction, the second driver is prompted to drive the vehicle through the second driving system to simulate autonomous driving.

[0019] Fifthly, embodiments of this application also provide a computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to implement the autonomous driving test method as described in any of the embodiments of this application.

[0020] The autonomous driving testing method, autonomous driving testing system, vehicle, and storage medium disclosed in this application can collect behavioral data of the test subjects on real roads, improving the accuracy and authenticity of the test, thereby providing data support for the development of autonomous driving systems and enhancing the competitiveness of autonomous driving system products.

[0021] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0022] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of a vehicle provided in an embodiment of this application;

[0024] Figure 2 This is a schematic block diagram of a vehicle provided in an embodiment of this application;

[0025] Figure 3 This is a schematic block diagram of a first driving system provided in an embodiment of this application;

[0026] Figure 4 This is a schematic block diagram of another first driving system provided in the embodiments of this application;

[0027] Figure 5 This is a schematic block diagram of an autonomous driving human-machine interaction device provided in an embodiment of this application;

[0028] Figure 6 This is a schematic block diagram of a driver monitoring device provided in an embodiment of this application;

[0029] Figure 7 This is a schematic block diagram of a second driving system provided in an embodiment of this application;

[0030] Figure 8 This is a schematic block diagram of another second driving system provided in the embodiments of this application;

[0031] Figure 9 This is a schematic diagram of the vehicle structure provided in the embodiments of this application;

[0032] Figure 10 This is a schematic diagram illustrating the location of a driving system setting according to an embodiment of this application;

[0033] Figure 11This is a schematic diagram of another driving system setting location provided in an embodiment of this application;

[0034] Figure 12 This is a schematic block diagram of another vehicle provided in an embodiment of this application;

[0035] Figure 13 This is a schematic block diagram of an autonomous driving test system provided in an embodiment of this application;

[0036] Figure 14 This is a schematic block diagram of another autonomous driving test system provided in the embodiments of this application;

[0037] Figure 15 This is a schematic flowchart of an autonomous driving testing method provided in an embodiment of this application;

[0038] Figure 16a and Figure 16b This is a schematic diagram illustrating an application scenario of the autonomous driving testing method provided in the embodiments of this application;

[0039] Figure 17 This is a schematic flowchart of another autonomous driving testing method provided in the embodiments of this application. Detailed Implementation

[0040] 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.

[0041] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0042] It should also be further understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0043] The flowchart shown in the attached diagram is for illustrative purposes only and does not necessarily include all content and operations / steps, nor does it necessarily have to be performed in the order described. For example, some operations / steps can be broken down, combined, or partially merged, so the actual execution order may change depending on the actual situation.

[0044] With the development of science and technology and the application of artificial intelligence, autonomous driving technology has developed rapidly and been widely applied. Based on the level of vehicle driving automation, the existing SAE J3016 standard divides driving automation into six levels, namely L0-L5: No Automation (L0), Driver Assistance (L1), Partial Automation (L2), Conditional Automation (L3), High Automation (L4), and Full Automation (L5). As the level of driving automation continues to increase, the degree of human involvement in driving activities decreases. It is foreseeable that more autonomous vehicles will be on the road in the future, resulting in a situation where autonomous vehicles and manually driven vehicles coexist on the road.

[0045] Among them, when the Level 0-3 autonomous driving system is working, the driver still needs to take over the driving task under specific circumstances, which involves very complex human-computer interaction, driving control handover and other processes. At the same time, due to the existence of problems such as software and hardware failures, external environmental interference and system performance limitations, when the autonomous driving system malfunctions, the controllability assessment of the vehicle is also a problem that must be solved in the development and safety assessment of the autonomous driving system.

[0046] The inventors understand that the aforementioned issues require in-depth research into autonomous driving systems and driver behavior during their operation, particularly in the early stages of system development. This includes, but is not limited to, the interaction between the driver and the autonomous driving system under normal operating conditions (such as system activation and deactivation, driving parameter settings, etc.) and the driver's takeover behavior under abnormal conditions (such as the driver's reaction to takeover signals, operation of the steering wheel, brake pedal, accelerator pedal, and system shutdown behavior, etc.). Based on this research into driver behavior, crucial data support can be provided for the human-machine interaction design, safety logic development, and user experience of autonomous driving systems, thereby enhancing the product competitiveness of autonomous driving systems.

[0047] However, through creative thinking, the inventors realized that current methods, primarily expert brainstorming and user surveys, are mainly used for qualitative discussions of the aforementioned issues and cannot provide effective support for the design of autonomous driving systems. Alternatively, driving simulators can be used for the development and testing of intelligent driving systems and human-machine interfaces (HMIs). These simulators address the need to study and evaluate HMI characteristics in the early stages of research and design, enabling testing and evaluation of usability, comfort, and system-level aspects of HMI systems, including driver display information, driver input devices, and driver fatigue and status detection. In intelligent driving development, it is impossible to place drivers or passengers in conditions closely resembling real-world road environments to test and understand the complex relationships between humans, vehicles, and road infrastructure, resulting in insufficiently realistic and accurate behavioral data collection.

[0048] In addition, compact driving simulators, full-vehicle driving simulators, or high-performance driving simulators can also be used. Among them, compact driving simulators use a simulated driver's seat and are generally equipped with an LCD screen, manual or automatic transmission, handbrake, and steering wheel with force feedback; full-vehicle driving simulators use real vehicles, are equipped with a six-degree-of-freedom motion platform, and use a ring display system; high-performance driving simulators use real vehicles or parts of real vehicles, are equipped with a high-speed motion system to simulate vehicle movement, and use a ring display system.

[0049] However, none of these solutions can realistically simulate the human-machine interaction system of a real vehicle, and the driver's behavior will not be realistic and accurate enough. Even with complex and expensive six-degree-of-freedom or more-degree-of-freedom drive devices, it is impossible to simulate the driver's feelings on a real road. Furthermore, they are only suitable for driver behavior simulation tests after the functions have been developed to a relatively complete stage, and cannot be tested in the early stages.

[0050] Therefore, embodiments of this application provide an autonomous driving test system, an autonomous driving test method, a vehicle, and a storage medium, which can simulate the driver's feelings in real roads, making the collected driver behavior more realistic and accurate, thereby improving the user experience and competitiveness of the autonomous driving system.

[0051] Please see Figure 1 , Figure 1 A schematic diagram of a vehicle structure provided in an embodiment of this application is shown. For example... Figure 1 As shown, the vehicle 100 includes a vehicle platform 10, which includes various equipment and components of the vehicle body.

[0052] In the embodiments of this application, vehicle 100 may be a vehicle with an autonomous driving system or a vehicle without an autonomous driving system, such as a Level 0 vehicle. Here, an autonomous driving system refers to a system composed of hardware and software capable of continuously executing all dynamic driving tasks, regardless of whether there are limitations in operating conditions. For example, an autonomous driving system refers to a system composed of hardware and software capable of continuously executing some or all of the dynamic driving tasks.

[0053] The Dynamic Driving Task refers to the perception, decision-making, and execution required to drive a vehicle. This includes all real-time operational and tactical functions while driving a road vehicle, but excludes planning functions such as trip planning, destination and route selection.

[0054] For example, dynamic driving tasks include, but are not limited to, the following tasks: controlling the lateral movement of the vehicle, controlling the longitudinal movement of the vehicle, monitoring the driving environment and preparing to respond by detecting, identifying and classifying targets and events, and controlling the vehicle's lighting and signaling devices.

[0055] Generally, when the system fails outside the Operational Design Domain (ODD) or when the dynamic driving task-related system malfunctions, it is necessary to switch from autonomous driving to manual driving, whereby the driver takes over the driving task. The Operational Design Domain plays a crucial role in autonomous driving and typically includes factors such as geographical location, road type, speed range, weather, and time.

[0056] like Figure 2 As shown in the embodiments of this application, the vehicle 100 further includes a first driving system 11 and a second driving system 12, wherein the first driving system 11 and the second driving system 12 are both connected to the vehicle platform 10, and the first driving system 11 and the vehicle platform 10 constitute a complete vehicle; the second driving system 12 and the vehicle platform 10 also constitute a complete vehicle.

[0057] It is understood that a complete vehicle refers to a vehicle that can be driven or works normally, that is, the first driving system 11 can be used to enable the first driver to drive the vehicle 100 through the first driving system 11, and the second driving system 12 can be used to enable the second driver to drive the vehicle 100 through the second driving system 12.

[0058] The first driving system 11 is also used to generate a first vehicle control command based on the first driver's trigger operation to control the vehicle platform 10. The first vehicle control command includes one or more of the following: steering command, braking command, acceleration command, and driving command.

[0059] In some embodiments, the second driving system 12 is used by a second driver to drive the vehicle 100, specifically, for example, the second driver drives the vehicle 100 according to the autonomous driving function definition to simulate autonomous driving.

[0060] In some embodiments, the second driver needs to undergo autonomous driving training before driving the vehicle. Only after the second driver has fully mastered the driving skills to simulate autonomous driving functions can they use the second driving system 12 to simulate autonomous driving. For example, specifically, the training can be based on the functional definition of the autonomous driving system to simulate the second driver driving the vehicle according to the autonomous driving function definition.

[0061] The second driver operates the vehicle via the second driving system 12. Specifically, based on the functional definition and / or operating instructions of the autonomous driving system under test, the second driver generates second vehicle control commands to control the vehicle platform. The functional definition of the autonomous driving system under test includes autonomous driving levels and / or autonomous driving conditions.

[0062] In some embodiments, the second vehicle control command may also include one or more of the following: steering command, braking command, acceleration command, and driving command.

[0063] In some embodiments, in order to obtain more types of driver behavior and thus provide data support for the development of the autonomous driving system, the first driver (the person being tested) can be informed of the function usage of the autonomous driving system through a user manual, so that he / she can request the autonomous driving functions according to the function usage of the autonomous driving system, so that the second driver can drive the vehicle 100 through the second driving system 12 to achieve the first driver's request.

[0064] It should be noted that the first driving system 11 can be, for example, an autonomous driving system. Of course, the first driving system 11 can also be, for example, an autonomous driving system in the research and development stage, that is, an autonomous driving system that has not yet been officially put into use. It can be understood that an autonomous driving system in the research and development stage means that it includes some usable autonomous driving functions, and some autonomous driving functions are still under development. The autonomous driving functions under development need to be verified or require driver behavior data as support to complete the research and development.

[0065] When using the vehicle 100, specifically, the first driver triggers and generates a first automatic driving command through the first driving system 11. The first driving system 11 can send the first automatic driving command triggered by the first driver to the second driving system 12, so that the second driver can drive the vehicle 100 through the second driving system 12.

[0066] The second driving system 12 enables simulated autonomous driving functions, making it suitable for various stages of autonomous driving systems. Examples include collecting driver behavior data for autonomous driving systems in their early development stages, collecting driver behavior under anticipated autonomous driving functions, and verifying the functionality of autonomous driving systems under development. This can improve the design and competitiveness of autonomous driving systems and products.

[0067] In some embodiments, the second driving system 12 can prompt the second driver to drive the vehicle 100 through the second driving system 12 to simulate autonomous driving. For example, it can output voice prompts, text prompts, etc. to prompt the second driver to drive the vehicle 100 through the second driving system 12 to simulate autonomous driving.

[0068] In some embodiments, the second driver is prompted to drive the vehicle 100 through the second driving system 12. Specifically, when the second driving system 12 receives the first automatic driving instruction triggered by the first driving system 11, it outputs driving prompt information to prompt the second driver to drive the vehicle 100 according to the automatic driving function definition to simulate automatic driving. At this time, the first driver is in an automatic driving state.

[0069] Specifically, the first driving system 11 is used to acquire a first operation by the first driver on the first driving system 11, and the first operation is used to trigger a first autonomous driving instruction to control the vehicle operation; the second driving system 12 is used to acquire a second operation by the second driver on the second driving system 12, and the second operation is used to trigger a second autonomous driving instruction to control the vehicle operation; the first driving system 11 can send the first autonomous driving instruction to the second driving system 12 to prompt the second driver to perform a second operation on the second driving system 12 to simulate autonomous driving.

[0070] It should be noted that the second autonomous driving command is a command generated when the second driver operates the second driving system, used to simulate autonomous driving functions. Specifically, the second autonomous driving command may include second vehicle operation commands, autonomous driving takeover commands, and autonomous driving alarm commands, etc.

[0071] In some embodiments, the first operation includes at least one of: autonomous driving activation, autonomous driving deactivation, autonomous driving takeover, autonomous driving customization settings, and overriding operation. Correspondingly, the first autonomous driving instruction includes at least one of: autonomous driving activation instruction, autonomous driving deactivation instruction, autonomous driving takeover instruction, autonomous driving customization settings instruction, and overriding instruction; wherein the overriding instruction includes an instruction allowing a user to control the vehicle in a preset direction, the preset direction including lateral or longitudinal movement.

[0072] In some embodiments, the second operation may be based on the functional definition of the autonomous driving system under test and / or the operation of the autonomous driving system under test, specifically including: steering operation, braking operation, acceleration operation, etc.

[0073] For example, if the first driver activates the autonomous driving function on the first driving system, the first driving system generates an autonomous driving activation command and sends it to the second driving system. The second driving system outputs a prompt message to the second driver: "The first driver has activated the autonomous driving function through the first driving system and needs the vehicle to perform autonomous driving." After receiving the prompt message, the second driver can control the vehicle to simulate autonomous driving through the second driving system. Thus, the first driver believes that the vehicle is currently controlled by the autonomous driving system.

[0074] In some embodiments, the vehicle 100 can perform autonomous driving function testing, such as collecting the behavior of the first driver. The behavior of the first driver can provide data support for the human-computer interaction design and safety logic development of the autonomous driving system, thereby improving the competitiveness of the autonomous driving system product.

[0075] The first driver's behavior includes one or more of the following: driving behavior, activating autonomous driving, deactivating autonomous driving, setting autonomous driving, behavior during autonomous driving, and reaction behavior to a warning to take over autonomous driving.

[0076] It should be noted that the first driving system 11 sends instructions (such as a first autonomous driving instruction) to the second driving system 12, which can be achieved through a communication connection between the first driving system 11 and the second driving system 12, such as a wired or wireless communication connection. Alternatively, the first driving system 11 can establish a communication connection with the second driving system 12 through the vehicle platform 10, that is, the first driving system 11 sends instructions or information to the vehicle platform 10, and the vehicle platform 10 then sends the instructions or information to the second driving system 12. It should also be noted that the second driving system 12 can send instructions or information to the first driving system 11 in the same way.

[0077] The vehicle provided in the above embodiments can not only collect behavioral data of test subjects on real roads, thus providing data support for the development of autonomous driving systems, but also enable testing of autonomous driving systems during the development phase, such as conducting preliminary research and testing of in-vehicle driver behavior for L4 and L5 level autonomous driving systems that have not yet been released. At the same time, it can reduce costs compared to six-degree-of-freedom drive devices.

[0078] In some embodiments, specifically as follows Figure 3As shown, the first driving system 11 includes at least one of a first steering device 111, a first braking device 112, a first acceleration device 113, a first shifting device 114, and a first human-machine interaction device 115. The first steering device 111 is used to control the vehicle's steering, such as controlling the vehicle's steering wheel assembly; the first braking device 112 is used to control the vehicle's deceleration and stopping during driving, and can be a vehicle's braking assembly, such as a foot brake or handbrake; the first acceleration device 113 is used to control the vehicle's acceleration or deceleration, such as a vehicle's accelerator pedal; the first shifting device 114 is used to control the vehicle's gear shifting, such as a vehicle's gear shift lever; and the first human-machine interaction device 115 is used for information interaction between the first driver and the vehicle, such as a service braking device and vehicle instruments.

[0079] In some embodiments, such as Figure 4 As shown, the first driving system 11 further includes: an autonomous driving human-machine interaction device 116 and / or a driver monitoring device 117. The autonomous driving human-machine interaction device 116 facilitates the first driver in triggering and generating a first autonomous driving command, thereby realizing the corresponding autonomous driving function. The driver monitoring device 117 collects the behavior of the first driver, specifically in real-time or periodically.

[0080] The first driver is the person being tested, who can be a regular driver who has used the autonomous driving system before, or a tester or developer of the autonomous driving system. The first driver's behavior includes one or more of the following: driving behavior, activating autonomous driving, deactivating autonomous driving, setting autonomous driving parameters, behavior during autonomous driving, and reaction behavior to autonomous driving takeover warnings. Collecting the first driver's behavior data serves as a reference for autonomous driving system development, thereby improving the competitiveness of autonomous driving system products.

[0081] In some embodiments, such as Figure 5 As shown, the autonomous driving human-machine interaction device 116 includes one or more of the following: an autonomous driving activation / deactivation device 1161, an autonomous driving customization setting device 1162, and an autonomous driving alarm device 1163. The autonomous driving activation / deactivation device 1161 is used to activate the autonomous driving system function, and the autonomous driving customization setting device 1162 is used to set corresponding functions according to user needs, such as customizing the cruise speed, cruise following distance, or the activation or deactivation of other sub-functions in the autonomous driving function.

[0082] In some embodiments, such as Figure 6As shown, the driver monitoring device 117 includes a camera device 1171 and / or a sensor 1172, wherein the sensor 1172 is positioned to capture the behavior of the first driver. The camera device 1171 is used to capture images or videos of the first driver for monitoring the first driver's behavior; the sensor is also used to capture the first driver's behavior, for example, a sensor positioned on the steering wheel to monitor whether the first driver operates the steering wheel during autonomous driving, or a sensor positioned on the brake pedal to monitor whether the first driver brakes the vehicle during autonomous driving.

[0083] In some embodiments, sensor 1172 includes a pressure sensor that can be disposed on at least one of the first steering device, first braking device, first acceleration device, first shifting device, and first human-machine interaction device, and detects the behavior of the first driver by collecting pressure signals.

[0084] In some embodiments, such as Figure 7 As shown, the second driving system 12 includes at least one of a second steering device 121, a second braking device 122, a second acceleration device 123, a second shifting device 124, and a second human-machine interaction device 125.

[0085] The second steering device 121 is used to control the vehicle's steering, the second braking device 122 is used to control the vehicle's deceleration and stopping during driving, the second acceleration device 123 is used to control the vehicle's acceleration or deceleration, the second gear shifting device 124 is used to control the vehicle's gear shifting, and the second human-machine interaction device 115 is used for information interaction between the second driver and the vehicle.

[0086] In some embodiments, such as Figure 8 As shown, the second driving system 12 may also include one or more of the following: a status prompting device 126, an environment acquisition device 127, a scene display device 128, and a driver monitoring device 129.

[0087] The status prompt device 126 is used to output the control command triggered by the first driver received by the autonomous driving human-machine interaction device 116, such as the first autonomous driving command. Specifically, it can be a sound output device, such as a speaker, or a display device, such as a display screen. The environment acquisition device 127 is used to acquire the traffic scene around the vehicle 100, such as vehicles and / or road conditions, and can be a camera or radar device, such as a lidar. The scene display device 128 is used to display the traffic scene around the vehicle 100, and the scene display device 128 can be a display screen. The driver monitoring device 129 can also include a camera to monitor the behavior of the second driver.

[0088] In some embodiments, the second driving system 12 can also collect the attitude of the vehicle platform 10 and the state of the target vehicle in the surrounding traffic scene in real time, and display them on the scene display device 128 in real time. The second driver determines the state of the vehicle and the surrounding environment based on the scene display device 128. For example, the second driver determines the following distance based on information such as the vehicle speed, the distance to the target vehicle, and the speed of the target vehicle.

[0089] In some embodiments, to enhance the autonomous driving experience for the test subject (first driver) and improve the accuracy and realism of behavior data collection, the first driving system 11 and the second driving system 12 can be positioned at different locations on the vehicle platform 10. The aim is to prevent the first driver from being unaware that the autonomous driving function they have activated is being simulated by the second driver through the second driving system.

[0090] In some embodiments, specifically as follows Figure 9 As shown, the vehicle platform 10 includes a driver's seat 101 and passenger seats, namely a front passenger seat 102 and a rear passenger seat 103. Therefore, the first driving system 11 can be set in the driver's seat 101 of the vehicle platform 10, and / or the second driving system 12 can be set in the passenger seat. Specifically, the second driving system 12 is set in the front passenger seat 102 or the rear passenger seat 103. Furthermore, isolation is provided between the passenger seat and the driver's seat, thereby ensuring that the first driver cannot perceive that the autonomous driving function is simulated by the second driver through the second driving system. This allows for more accurate and realistic monitoring of the first driver's behavior.

[0091] In some embodiments, the isolation between the passenger seat and the driver's seat can be achieved through an isolation device, that is, the isolation device is placed between the passenger seat of the second driving system 12 and the driver's seat equipped with the first driving system 11. Specifically, as shown in the figure... Figure 10 As shown, the isolation device may include a partition 104, which is disposed on the passenger seat 103 equipped with the second driving system 12, for isolating it from the driver seat 101 equipped with the first driving system 11.

[0092] In some embodiments, to achieve the first driver's unawareness and the accuracy and authenticity of the monitored behavior, such as Figure 11 As shown, the first driving system 11 can also be set in the driver's seat 101 of the vehicle platform 10, and the second driving system 12 can be set in a position outside the vehicle platform 10 and connected to the vehicle platform 10 via wireless communication.

[0093] In some embodiments, such as Figure 12As shown, the vehicle 100 also includes a signal control system 13, which receives a first control command sent by the first driving system 11 and sends the first control command to the second driving system 12 or the vehicle platform 10 accordingly, based on the type of the first control command. The first control command includes at least a first autonomous driving command and a first vehicle control command; the first autonomous driving command needs to be sent to the second driving system 12, and the first vehicle control command needs to be sent to the vehicle platform 10. This allows the first driver to have higher authority, thereby improving the user (first driver) experience.

[0094] In some embodiments, such as Figure 12 As shown, the vehicle 100 also includes a signal control system 13, which is used to receive a second control command sent by the second driving system 12; wherein, the type of the second control command includes at least a second autonomous driving command and a second vehicle manipulation command, and the second control command needs to be sent to the vehicle platform; during simulated autonomous driving, when the vehicle's signal control system obtains the second control command, it sends the second control command to the vehicle platform.

[0095] In some embodiments, to improve the realism and accuracy of autonomous driving tests, when it is determined that the operating environment of the vehicle platform 10 meets the conditions for autonomous driving, the first driving system prompts the first driver to activate the autonomous driving function and generates the first autonomous driving command. Specifically, a prompt message may be output to prompt the first driver to perform a first operation on the first driving system, and the first autonomous driving command may be generated based on the first operation.

[0096] Specifically, determining that the operating environment of the vehicle platform 10 meets the conditions for autonomous driving can be achieved by the vehicle currently meeting the operating design domain, which means that the operating environment of the vehicle platform 10 can be considered to meet the conditions for autonomous driving.

[0097] In some embodiments, when it is determined that the operating environment of the vehicle platform 10 does not meet the conditions for autonomous driving, the first driving system prompts the first driver to take over the driving task. Specifically, an autonomous driving takeover command may be generated, and the first driver may be prompted to take over the driving task based on the autonomous driving takeover command.

[0098] In some embodiments, the second driving system 12 generates a driving takeover command based on the triggering action of the second driver and sends the driving takeover command to the first driving system 11. The first driving system 11 then prompts the first driver to take over the driving task based on the driving takeover command. This allows for monitoring the first driver's behavior of taking over the driving task in autonomous driving mode, such as prompting the user about the takeover time, i.e., indicating how long after taking over the task can be done.

[0099] In some embodiments, the second driving system 12 outputs instruction prompt information to the second driver, the instruction prompt information being used to prompt the second driver when the first driving system generates a first control instruction; wherein, the first control instruction includes an automatic driving instruction or a first vehicle manipulation instruction.

[0100] In some embodiments, the second driving system 12 is further configured to collect and display the surrounding environment information of the vehicle platform 10, so that the second driver can drive the vehicle based on the surrounding environment information. Specifically, the scene display device 128 can be used to display the surrounding environment information for the second driver to observe.

[0101] In some embodiments, the second driving system 12 is further configured to acquire attitude information of the vehicle platform 10 and collect state information of targets around the vehicle platform 10, and display the attitude information and the state information of the targets to assist the second driver in simulating autonomous driving.

[0102] The attitude information of the vehicle platform 10 includes the operating speed of the vehicle platform 10 and the distance between the vehicle platform 10 and the target object, while the state information of the target object includes the operating speed of the target object. The target object may be, for example, a target vehicle or a pedestrian.

[0103] In some embodiments, the first driving system 11 may also be located in the passenger seat of the vehicle platform 10, and / or the second driving system 12 may be located in the driver's seat. The first driving system 11 located in the passenger seat further includes a display device for displaying the driving status of the vehicle platform 10 for the first driver to view. This can enhance the first driver's real-world experience of the autonomous driving function.

[0104] In some embodiments, when it is determined that the first driver's takeover of the driving task has failed, the second driving system 12 outputs an autonomous driving takeover warning, and / or controls the vehicle platform according to a preset control strategy. The preset control strategy includes at least one of: reducing vehicle speed, reducing vehicle speed and stopping, stopping within the current lane, and changing lanes to a safe area to stop. This can improve the safety of driving the vehicle.

[0105] Please see Figure 13 , Figure 13 A schematic block diagram of an autonomous driving test system provided in an embodiment of this application is shown. The autonomous driving test system 200 is used to be installed in a vehicle, that is, the autonomous driving test system 200 can be installed in the vehicle 100 to realize autonomous driving test of the vehicle 100, specifically to simulate autonomous driving, which can improve the accuracy and realism of autonomous driving test, and the autonomous driving test system 200 can also be applied to different stages of the autonomous driving system.

[0106] The autonomous driving test system 200 includes: a first driving system 11 and a second driving system 12.

[0107] The first driving system 11 is used to connect to the vehicle platform 10 of the vehicle 100, so that the first driver can drive the vehicle 100 through the first driving system 11; the second driving system 12 is used to connect to the vehicle platform 10, so that the second driver can drive the vehicle 100 through the second driving system 12.

[0108] The first driving system 11 can send the first autonomous driving command triggered by the first driver to the second driving system 12 to prompt the second driver to drive the vehicle 100 through the second driving system 12 to simulate autonomous driving.

[0109] By combining the first and second driving systems, behavioral data of test subjects can be collected on real roads, improving the accuracy and authenticity of the test. Since the second driving system is used to simulate autonomous driving, this autonomous driving test system can be applied to all stages of autonomous driving system development, thereby providing data support for the development of autonomous driving systems and enhancing the competitiveness of autonomous driving system products.

[0110] In some embodiments, such as Figure 14 As shown, the autonomous driving test system 200 further includes a signal control system 13, which receives a first control command sent by the first driving system 11 and sends the first control command to the second driving system 12 or the vehicle platform 10 accordingly based on the type of the first control command. The first control command includes at least a first autonomous driving command and a first vehicle control command; the first autonomous driving command needs to be sent to the second driving system 12, and the first vehicle control command needs to be sent to the vehicle platform 10.

[0111] In some embodiments, the signal control system 13 is used to receive a second control command sent by the second driving system 12, wherein the type of the second control command includes at least a second autonomous driving command and a second vehicle control command, and the second control command needs to be sent to the vehicle platform 10; and during simulated autonomous driving, when the signal control system obtains the second control command, it sends the second control command to the vehicle platform 10. The signal control system enables the first driver to have higher authority, thereby improving the user (first driver) experience.

[0112] It should be noted that the specific descriptions of the first driving system 11 and the second driving system 12 can refer to the specific descriptions of the above embodiments. For example, the setting positions of the first driving system 11 and the second driving system 12, as well as their working methods, can refer to the specific descriptions of the above embodiments, and will not be described in detail here.

[0113] This autonomous driving testing system can perform autonomous driving function testing. For example, it can test autonomous driving functions that are not yet fully developed or collect the behavior of the first driver. Specifically, the first driver's behavior includes one or more of the following: driving behavior, activating autonomous driving, deactivating autonomous driving, setting autonomous driving, behavior during autonomous driving, and reaction behavior to autonomous driving takeover warnings.

[0114] In some embodiments, when it is determined that the first driver's takeover of the driving task has failed, the second driving system outputs an autonomous driving takeover warning, and / or controls the vehicle platform according to a preset control strategy. The preset control strategy includes at least one of: reducing vehicle speed, reducing vehicle speed and stopping, stopping within the current lane, and changing lanes to a safe area to stop. This preset control strategy can improve the safety of vehicle driving.

[0115] Please see Figure 15 , Figure 15 This illustration shows a schematic flow of an autonomous driving testing method provided in an embodiment of this application. This autonomous driving testing method can be applied to the vehicles or autonomous driving testing systems described in the above embodiments, and can be used to test autonomous driving systems at various stages, including undeveloped autonomous driving systems, autonomous driving systems under development, and autonomous driving systems that have already been developed.

[0116] It should be noted that, in this embodiment, the autonomous driving test method is applied to the first driving system, specifically, as follows: Figure 15 As shown, the autonomous driving test method includes steps S101 and S102.

[0117] S101: Obtain a first autonomous driving instruction triggered by a first driver based on a first driving system, wherein the first driving system is configured in the vehicle and is used by the first driver to drive the vehicle through the first driving system; the vehicle also includes a vehicle platform and a second driving system, both the first driving system and the second driving system are connected to the vehicle platform, and the second driving system is used by the second driver to drive the vehicle through the second driving system.

[0118] S102: Send the first autonomous driving command to the second driving system so that the second driver can drive the vehicle through the second driving system.

[0119] In practical applications, specifically as follows: Figure 16aAs shown, when it is necessary to complete the autonomous driving function test, for example, it is necessary to collect the behavior of the test subject (specifically the first driver A) for the study of the driver's behavior under the autonomous driving system. The first driver A sits in the driver's seat as the test subject, and the first driving system 11 is installed in the driver's seat. The second driver B sits in the passenger seat, and the second driving system 12 is installed in the passenger seat.

[0120] First driver A drives vehicle 100. He can trigger a first autonomous driving command through the first driving system 11. For example, if he wants to activate the autonomous driving system, he can trigger the generation of an autonomous driving system activation command through the autonomous driving activation / deactivation device of the first driving system 11. The first driving system 11 obtains the first autonomous driving command triggered by the first driver based on the first driving system and sends the first autonomous driving command to the second driving system 12 to prompt the second driver B to drive vehicle 100 through the second driving system 12 to simulate autonomous driving. This enables the testing of autonomous driving functions.

[0121] For example, in testing autonomous driving functions, the behavior of the person under test, specifically the behavior of the first driver, can be collected. Specifically, when the second driver, B, is driving the vehicle 100 via the second driving system 12, the driver monitoring device of the first driving system 11 can monitor the behavior of the first driver, A. For instance, if the second driver, B, triggers an autonomous driving takeover command via the second driving system 12, sending it to the first driving system 11, the first driving system 11 can prompt the first driver, A, to take over the driving task. At this time, the first driver's reaction to the autonomous driving takeover warning can be monitored, such as the time it takes to complete the takeover, to statistically analyze the takeover time and facilitate the development of the autonomous driving system. Because this testing method can be tested on real roads, the obtained test data is more accurate and realistic, thereby improving the competitiveness of autonomous driving products.

[0122] It should be noted that, in order to improve the autonomous driving experience for the test subject (first driver) and thus enhance the accuracy and realism of behavior data collection, the first driving system 11 and the second driving system 12 can be positioned at different locations on the vehicle platform 10. The aim is to prevent the first driver from being unaware that the autonomous driving function they are activating is being simulated by the second driver through the second driving system. For example, an isolation device can be used to separate the passenger seat and the driver's seat; that is, the isolation device can be placed between the passenger seat of the second driving system 12 and the driver's seat where the first driving system 11 is located. Alternatively, other methods can be used... Figure 16b In this method, the first driver A sits inside the vehicle and operates the first driving system 11, while the second driver B sits outside the vehicle (such as in the control room, where the second driving system is located) and observes the vehicle's status through a display and operates the second driving system 12 to achieve simulated autonomous driving.

[0123] In some embodiments, the first driving system generates a first control command based on the operation of the first driver and sends the first control command to the signal control system. The signal control system then sends the first control command to the second driving system or the vehicle platform accordingly, based on the type of the first control command. The type of the first control command includes at least a first autonomous driving command and a first vehicle control command. The first autonomous driving command needs to be sent to the second driving system, and the first vehicle control command needs to be sent to the vehicle platform. This enhances the first driver's operational authority and thus improves the user experience.

[0124] In some embodiments, the signal control system is used to receive a second control command sent by a second driving system; wherein the type of the second control command includes at least a second autonomous driving command and a second vehicle manipulation command, and the second control command needs to be sent to the vehicle platform; during simulated autonomous driving, when the vehicle's signal control system obtains the second control command, it sends the second control command to the vehicle platform.

[0125] In some embodiments, the first driving system acquires a first operation performed by the first driver on the first driving system. The first operation is used to trigger a first autonomous driving instruction to control the operation of the vehicle, and can send the first autonomous driving instruction to the second driving system to prompt the second driver to perform a second operation on the second driving system to simulate autonomous driving.

[0126] In some embodiments, this autonomous driving testing method can perform autonomous driving function testing, such as collecting the behavior of the first driver, who is the test subject. The first driver's behavior includes one or more of the following: driving behavior, activating autonomous driving, deactivating autonomous driving, setting autonomous driving, behavior during autonomous driving, and reaction behavior to autonomous driving takeover warnings.

[0127] In some embodiments, a second driver drives the vehicle via the second driving system. Specifically, based on the functional definition and / or operating instructions of the autonomous driving system under test, a second vehicle control command is generated to control the vehicle platform. The functional definition of the autonomous driving system under test includes autonomous driving levels and / or autonomous driving conditions.

[0128] In some embodiments, the second driving system can prompt the second driver to drive the vehicle through the second driving system to simulate autonomous driving, such as by outputting voice prompts, text prompts, etc., to prompt the second driver to drive the vehicle through the second driving system to simulate autonomous driving.

[0129] In some embodiments, the first driving system may generate a first vehicle control command based on a triggering operation by a first driver to control the vehicle platform. The first vehicle control command may include one or more of a steering command, a braking command, an acceleration command, and a driving command.

[0130] In some embodiments, when it is determined that the operating environment of the vehicle platform meets the conditions for autonomous driving, the first driving system may further prompt the first driver to activate the autonomous driving function and generate the first autonomous driving command. Alternatively, when it is determined that the operating environment of the vehicle platform does not meet the conditions for autonomous driving, the first driving system prompts the first driver to take over the driving task. By prompting the first driver to activate the autonomous driving function or take over the task, the user experience and safety are improved.

[0131] Specifically, the first driving system receives a driving takeover command sent by the second driving system and prompts the first driver to take over the driving task according to the driving takeover command; wherein, the driving takeover command is a command generated by the second driving system based on the triggering action of the second driver.

[0132] Please see Figure 17 , Figure 17 This illustration shows a schematic flow of another autonomous driving testing method provided in an embodiment of this application. This autonomous driving testing method can be applied to the vehicles or autonomous driving testing systems described in the above embodiments, and can be used to test autonomous driving systems at various stages, including undeveloped autonomous driving systems, autonomous driving systems under development, and autonomous driving systems that have already been developed.

[0133] It should be noted that, in this embodiment, the autonomous driving test method is applied to the second driving system, specifically, as follows: Figure 17 As shown, the autonomous driving test method includes steps S201 and S202.

[0134] S201: Receive a first automatic driving instruction sent by a first driving system, wherein the first automatic driving instruction is triggered by a first driver based on the first driving system;

[0135] S202: According to the first automatic driving instruction, the second driver drives the vehicle through the second driving system.

[0136] Specifically, the first driving system 11 is used to acquire a first operation performed by the first driver on the first driving system 11, the first operation being used to trigger a first automatic driving instruction to control the vehicle 100 to operate; the second driving system 12 is used to acquire a second operation performed by the second driver on the second driving system 12, the second operation being used to trigger a second automatic driving instruction to control the vehicle to operate. The first driving system 11 can send the first automatic driving instruction to the second driving system 12 to prompt the second driver to perform a second operation on the second driving system 12 to simulate automatic driving.

[0137] The first operation includes at least one of the following: autonomous driving activation, autonomous driving deactivation, autonomous driving takeover, autonomous driving custom settings, and overtaking operation. Correspondingly, the first autonomous driving instruction includes at least one of the following: autonomous driving activation instruction, autonomous driving deactivation instruction, autonomous driving takeover instruction, autonomous driving custom settings instruction, and overtaking instruction; the overtaking instruction includes an instruction allowing the user to control the vehicle in a preset direction, where the preset direction includes lateral or longitudinal movement.

[0138] Specifically, this autonomous driving testing method is used to test autonomous driving functions, such as collecting the behavior of the first driver. The first driver's behavior includes one or more of the following: driving behavior, activating autonomous driving, deactivating autonomous driving, setting autonomous driving, behavior during autonomous driving, and reaction behavior to autonomous driving takeover warnings.

[0139] In some embodiments, a second driver drives the vehicle via a second driving system. Specifically, based on the functional definition and / or operating instructions of the autonomous driving system under test, a second vehicle control command is generated to control the vehicle platform. The functional definition of the autonomous driving system under test includes autonomous driving levels and / or autonomous driving conditions.

[0140] In some embodiments, the second driving system generates a driving takeover command based on the triggering action of the second driver and sends the driving takeover command to the first driving system. The first driving system prompts the first driver to take over the driving task based on the driving takeover command.

[0141] In some embodiments, the second driving system can prompt the second driver to drive the vehicle through the second driving system to simulate autonomous driving, such as by outputting voice prompts, text prompts, etc., to prompt the second driver to drive the vehicle through the second driving system to simulate autonomous driving.

[0142] In some embodiments, the second driving system outputs instruction prompt information to the second driver, the instruction prompt information being used to prompt the second driver when the first driving system generates a first control instruction; wherein, the first control instruction includes an autonomous driving instruction or a first vehicle manipulation instruction.

[0143] In some embodiments, the second driving system collects and displays information about the surrounding environment of the vehicle platform, allowing a second driver to drive the vehicle based on this information. This improves safety during simulated autonomous driving.

[0144] In some embodiments, the second driving system is further configured to acquire attitude information of the vehicle platform and collect state information of targets around the vehicle platform, and display the attitude information and the state information of the targets to assist the second driver in simulating autonomous driving. The attitude information of the vehicle platform includes the operating speed of the vehicle platform and the distance from the vehicle platform to the target, and the state information of the target includes the operating speed of the target. This improves the safety of simulated autonomous driving.

[0145] In some embodiments, when it is determined that the first driver's takeover of the driving task has failed, the second driving system outputs an autonomous driving takeover warning, and / or controls the vehicle platform according to a preset control strategy. The preset control strategy includes at least one of: reducing vehicle speed, reducing vehicle speed and stopping, stopping within the current lane, and changing lanes to stop in a safe area.

[0146] In some embodiments, the second driving system may also receive a first control command sent by the signal control system; wherein the first control command is sent by the first driving system to the signal control system, and the signal control system sends the first control command to the second driving system or the vehicle platform accordingly based on the type of the first control command; the type of the first control command includes at least a first autonomous driving command and a first vehicle control command, the first autonomous driving command needs to be sent to the second driving system, and the first vehicle control command needs to be sent to the vehicle platform.

[0147] In some embodiments, the second driving system may also send a second control command to the signal control system; wherein the type of the second control command includes at least a second autonomous driving command and a second vehicle manipulation command, and the second control command needs to be sent to the vehicle platform; during simulated autonomous driving, when the signal control system obtains the second control command, it sends the second control command to the vehicle platform.

[0148] The autonomous driving testing method provided in the above embodiments can collect behavioral data of the test subjects on real roads, improving the accuracy and authenticity of the test, thereby providing data support for the development of autonomous driving systems and thus improving the competitiveness of autonomous driving system products.

[0149] It should be noted that the autonomous driving test method of this application can realize the corresponding functions of the first driving system 11 and the second driving system 12, which will not be described in detail here.

[0150] Furthermore, embodiments of this application also provide a computer-readable storage medium storing a computer program, the computer program including program instructions, and the processor executing the program instructions to implement the steps of any of the autonomous driving testing methods provided in the above embodiments.

[0151] The computer-readable storage medium may be an internal storage unit of the vehicle as described in any of the foregoing embodiments, such as the vehicle's memory or RAM. Alternatively, the computer-readable storage medium may be an external storage device of the vehicle, such as a plug-in hard drive, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card.

[0152] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A vehicle characterized by comprising: The vehicles include: Vehicle platform; A first driving system, connected to the vehicle platform, is used to enable a first driver to drive the vehicle via the first driving system; A second driving system, connected to the vehicle platform, is used to enable a second driver to drive the vehicle via the second driving system; The first driving system and the second driving system are connected by communication. The first driving system can send the first autonomous driving command triggered by the first driver to the second driving system, so that the second driver can drive the vehicle according to the functional definition and / or the operation command of the autonomous driving system under test through the second driving system to simulate autonomous driving. The deployment location of the second driving system is such that the first driver is unaware that the simulated autonomous driving is achieved by the second driver through the second driving system; The first driving system includes a driver monitoring device for collecting the behavior of the first driver while the second driver is driving the vehicle.

2. The vehicle according to claim 1, characterized in that, The vehicle also includes: A signal control system is configured to receive a first control command sent by the first driving system and, according to the type of the first control command, send the first control command to the second driving system or vehicle platform accordingly. The first control command includes at least a first autonomous driving command and a first vehicle control command. The first autonomous driving command needs to be sent to the second driving system, and the first vehicle control command needs to be sent to the vehicle platform.

3. The vehicle according to claim 1, characterized in that, The vehicle also includes: A signal control system, wherein the signal control system is configured to receive a second control command sent by the second driving system; The second control command includes at least a second autonomous driving command and a second vehicle control command, and the second control command needs to be sent to the vehicle platform. During simulated autonomous driving, when the vehicle's signal control system receives the second control command, it sends the second control command to the vehicle platform.

4. The vehicle according to claim 1, characterized in that, The first driving system includes at least one of the following: a first steering device, a first braking device, a first acceleration device, a first shifting device, and a first human-machine interaction device.

5. The vehicle according to claim 4, characterized in that, The first driving system also includes: an autonomous driving human-machine interaction device.

6. The vehicle according to claim 5, characterized in that, The autonomous driving human-machine interaction device includes one or more of the following: an autonomous driving activation / deactivation device, an autonomous driving customization setting device, and an autonomous driving alarm device.

7. The vehicle according to claim 5, characterized in that, The driver monitoring device includes: Camera devices and / or sensors; The sensor is positioned at a location capable of collecting the behavior of the first driver.

8. The vehicle according to claim 7, characterized in that, The sensor includes a pressure sensor, which can be installed on at least one of the first steering device, first braking device, first acceleration device, first shifting device, and first human-machine interaction device.

9. The vehicle according to claim 1, characterized in that, The second driving system includes at least one of the following: a second steering device, a second braking device, a second acceleration device, a second shifting device, and a second human-machine interaction device.

10. The vehicle according to claim 9, characterized in that, The second driving system also includes one or more of the following: a status prompting device, an environmental acquisition device, a scene display device, and a driver monitoring device.

11. The vehicle according to claim 1, characterized in that, The first driving system and the second driving system are located at different positions on the vehicle platform.

12. The vehicle according to claim 11, characterized in that, The first driving system is located in the driver's seat of the vehicle platform, and / or the second driving system is located in the passenger seat.

13. The vehicle according to claim 12, characterized in that, The second driving system is located in the front passenger seat or the rear passenger seat.

14. The vehicle according to claim 12, characterized in that, An isolation device is provided between the passenger seat equipped with the second driving system and the driver's seat equipped with the first driving system.

15. The vehicle according to claim 14, characterized in that, The isolation device includes: A partition is provided in the passenger seat where the second driving system is installed, for the purpose of isolating the passenger seat from the driver seat where the first driving system is installed.

16. The vehicle according to claim 1, characterized in that, The first driving system is located in the driver's seat of the vehicle platform, and the second driving system is located outside the vehicle platform and is connected to the vehicle platform via wireless communication.

17. The vehicle according to claim 1, characterized in that, The first driving system is used to acquire a first operation of the first driver on the first driving system, and the first operation is used to trigger the first automatic driving instruction to control the operation of the vehicle; The second driving system is used to acquire a second operation by the second driver on the second driving system, and the second operation is used to trigger a second automatic driving command to control the operation of the vehicle; The first driving system can send the first autonomous driving command to the second driving system to prompt the second driver to perform the second operation on the second driving system to simulate autonomous driving.

18. The vehicle according to claim 17, characterized in that, The first operation includes at least one of the following: autonomous driving activation operation, autonomous driving deactivation operation, autonomous driving takeover operation, autonomous driving custom setting operation, and over-control operation.

19. The vehicle according to claim 17, characterized in that, The first autonomous driving instruction includes at least one of the following: autonomous driving activation instruction, autonomous driving deactivation instruction, autonomous driving takeover instruction, autonomous driving custom setting instruction, and over-control instruction; The overdrive command includes instructions that allow the user to control the vehicle in a preset direction, which may be lateral or longitudinal.

20. The vehicle according to claim 1, characterized in that, The first driver's behavior includes one or more of the following: driving behavior, activating autonomous driving, deactivating autonomous driving, setting autonomous driving, behavior during autonomous driving, and reaction behavior to a warning to take over autonomous driving.

21. The vehicle according to claim 1, characterized in that, The second driver drives the vehicle according to the functional definition and / or operating instructions of the autonomous driving system under test through the second driving system to simulate autonomous driving, including: Based on the functional definition and / or operating instructions of the autonomous driving system under test, a second vehicle control instruction is generated to control the vehicle platform to simulate autonomous driving.

22. The vehicle according to claim 21, characterized in that, The functional definition of the autonomous driving system under test includes autonomous driving level and / or autonomous driving conditions.

23. The vehicle according to claim 1, characterized in that, The first driving system is used to generate a first vehicle control command based on a first driver's trigger operation to control the vehicle platform.

24. The vehicle according to claim 23, characterized in that, The first vehicle control command includes one or more of the following: steering command, braking command, acceleration command, and driving command.

25. The vehicle according to any one of claims 1-24, characterized in that, When the operating environment of the vehicle platform is determined to meet the conditions for autonomous driving, the first driving system prompts the first driver to activate the autonomous driving function and generates the first autonomous driving command.

26. The vehicle according to any one of claims 1-24, characterized in that, When it is determined that the operating environment of the vehicle platform does not meet the conditions for autonomous driving, the first driving system prompts the first driver to take over the driving task.

27. The vehicle according to claim 26, characterized in that, The second driving system generates a driving takeover command based on the second driver's trigger action and sends the driving takeover command to the first driving system. The first driving system prompts the first driver to take over the driving task based on the driving takeover command.

28. The vehicle according to any one of claims 1-24, characterized in that, The second driving system can prompt the second driver to drive the vehicle through the second driving system to simulate autonomous driving.

29. The vehicle according to any one of claims 1-24, characterized in that, The second driving system outputs instruction prompt information to the second driver, and the instruction prompt information is used to prompt the second driver when the first driving system generates the first control instruction; The first control command includes an autonomous driving command or a first vehicle control command.

30. The vehicle according to claim 1, characterized in that, The second driving system is also used to collect and display the surrounding environment information of the vehicle platform, so that the second driver can drive the vehicle based on the surrounding environment information; and / or, The second driving system is also used to acquire the attitude information of the vehicle platform and collect the status information of the target objects around the vehicle platform, and display the attitude information and the status information of the target objects to assist the second driver in simulating autonomous driving.

31. The vehicle according to claim 30, characterized in that, The attitude information of the vehicle platform includes the operating speed of the vehicle platform and the distance from the vehicle platform to the target object, and the state information of the target object includes the operating speed of the target object.

32. The vehicle according to claim 11, characterized in that, The first driving system is located in the passenger seat of the vehicle platform, and / or the second driving system is located in the driver's seat; The first driving system also includes a display device for displaying the driving status of the vehicle platform for the first driver to view.

33. The vehicle according to claim 1, characterized in that, When the first driver fails to take over the driving task, the second driving system outputs an automatic driving takeover warning and / or controls the vehicle platform according to a preset control strategy.

34. The vehicle according to claim 33, characterized in that, The preset control strategy includes: Reduce speed, reduce speed and stop, stop in this lane, or change lanes to stop in a safe area.

35. An autonomous driving testing system, characterized in that, The autonomous driving test system is installed in the vehicle, and the autonomous driving test system includes: A first driving system is configured to connect to the vehicle platform of the vehicle, enabling a first driver to drive the vehicle via the first driving system; A second driving system is used to connect to the vehicle platform, enabling a second driver to drive the vehicle through the second driving system. The first driving system and the second driving system are connected by communication. The first driving system can send the first autonomous driving command triggered by the first driver to the second driving system, so that the second driver can drive the vehicle according to the functional definition and / or the operation command of the autonomous driving system under test through the second driving system to simulate autonomous driving. The deployment location of the second driving system is such that the first driver is unaware that the simulated autonomous driving is achieved by the second driver through the second driving system; The first driving system includes a driver monitoring device for collecting the behavior of the first driver while the second driver is driving the vehicle.

36. The autonomous driving test system according to claim 35, characterized in that, Also includes: A signal control system is configured to receive a first control command sent by the first driving system and, according to the type of the first control command, send the first control command to the second driving system or vehicle platform accordingly. The first control command includes at least a first autonomous driving command and a first vehicle control command. The first autonomous driving command needs to be sent to the second driving system, and the first vehicle control command needs to be sent to the vehicle platform.

37. The autonomous driving test system according to claim 35, characterized in that, The vehicle also includes: A signal control system, wherein the signal control system is configured to receive a second control command sent by the second driving system; The second control command includes at least a second autonomous driving command and a second vehicle control command, and the second control command needs to be sent to the vehicle platform. During simulated autonomous driving, when the signal control system receives the second control command, it sends the second control command to the vehicle platform.

38. The autonomous driving test system according to claim 35, characterized in that, The first driving system includes at least one of the following: a first steering device, a first braking device, a first acceleration device, a first shifting device, and a first human-machine interaction device.

39. The autonomous driving test system according to claim 38, characterized in that, The first driving system also includes: an autonomous driving human-machine interaction device.

40. The autonomous driving test system according to claim 39, characterized in that, The autonomous driving human-machine interaction device includes one or more of the following: an autonomous driving activation / deactivation device, an autonomous driving customization setting device, and an autonomous driving alarm device.

41. The autonomous driving test system according to claim 39, characterized in that, The driver monitoring device includes: Camera device and / or sensor: wherein the sensor is positioned at a location capable of capturing the behavior of the first driver.

42. The autonomous driving test system according to claim 41, characterized in that, The sensor includes a pressure sensor, which can be installed on at least one of the first steering device, first braking device, first acceleration device, first shifting device, and first human-machine interaction device.

43. The autonomous driving test system according to claim 35, characterized in that, The second driving system includes at least one of the following: a second steering device, a second braking device, a second acceleration device, a second shifting device, and a second human-machine interaction device.

44. The autonomous driving test system according to claim 43, characterized in that, The second driving system also includes one or more of the following: a status prompting device, an environmental acquisition device, a scene display device, and a driver monitoring device.

45. The autonomous driving test system according to claim 35, characterized in that, The first driving system and the second driving system are located at different positions on the vehicle platform.

46. ​​The autonomous driving test system according to claim 45, characterized in that, The first driving system is located in the driver's seat of the vehicle platform, and / or the second driving system is located in the passenger seat.

47. The autonomous driving test system according to claim 46, characterized in that, The second driving system is located in the front passenger seat or the rear passenger seat.

48. The autonomous driving test system according to claim 46, characterized in that, An isolation device is provided between the passenger seat equipped with the second driving system and the driver's seat equipped with the first driving system.

49. The autonomous driving test system according to claim 48, characterized in that, The isolation device includes: A partition is provided in the passenger seat where the second driving system is installed, for the purpose of isolating the passenger seat from the driver seat where the first driving system is installed.

50. The autonomous driving test system according to claim 35, characterized in that, The first driving system is located in the driver's seat of the vehicle platform, and the second driving system is located outside the vehicle platform and is connected to the vehicle platform via wireless communication.

51. The autonomous driving test system according to claim 35, characterized in that, The first driving system is used to acquire a first operation of the first driver on the first driving system, and the first operation is used to trigger the first automatic driving instruction to control the operation of the vehicle; The second driving system is used to acquire a second operation by the second driver on the second driving system, and the second operation is used to trigger a second automatic driving command to control the operation of the vehicle; The first driving system can send the first autonomous driving command to the second driving system to prompt the second driver to perform the second operation on the second driving system to simulate autonomous driving.

52. The autonomous driving test system according to claim 51, characterized in that, The first operation includes at least one of the following: autonomous driving activation operation, autonomous driving deactivation operation, autonomous driving takeover operation, autonomous driving custom setting operation, and over-control operation.

53. The autonomous driving test system according to claim 51, characterized in that, The first autonomous driving instruction includes at least one of the following: autonomous driving activation instruction, autonomous driving deactivation instruction, autonomous driving takeover instruction, autonomous driving custom setting instruction, and over-control instruction; The overdrive command includes instructions that allow the user to control the vehicle in a preset direction, which may be lateral or longitudinal.

54. The autonomous driving test system according to claim 35, characterized in that, The first driver's behavior includes one or more of the following: driving behavior, activating autonomous driving, deactivating autonomous driving, setting autonomous driving, behavior during autonomous driving, and reaction behavior to a warning to take over autonomous driving.

55. The autonomous driving test system according to claim 35, characterized in that, The second driver drives the vehicle according to the functional definition and / or operating instructions of the autonomous driving system under test through the second driving system to simulate autonomous driving, including: Based on the functional definition and / or operating instructions of the autonomous driving system under test, a second vehicle control instruction is generated to control the vehicle platform to simulate autonomous driving.

56. The autonomous driving test system according to claim 55, characterized in that, The functional definition of the autonomous driving system under test includes autonomous driving level and / or autonomous driving conditions.

57. The autonomous driving test system according to claim 35, characterized in that, The first driving system is used to generate a first vehicle control command based on a first driver's trigger operation to control the vehicle platform.

58. The autonomous driving test system according to claim 57, characterized in that, The first vehicle control command includes one or more of the following: steering command, braking command, acceleration command, and driving command.

59. The autonomous driving test system according to any one of claims 35-58, characterized in that, When the operating environment of the vehicle platform is determined to meet the conditions for autonomous driving, the first driving system prompts the first driver to activate the autonomous driving function and generates the first autonomous driving command.

60. The autonomous driving test system according to any one of claims 35-58, characterized in that, When it is determined that the operating environment of the vehicle platform does not meet the conditions for autonomous driving, the first driving system prompts the first driver to take over the driving task.

61. The autonomous driving test system according to claim 60, characterized in that, The second driving system generates a driving takeover command based on the second driver's trigger action and sends the driving takeover command to the first driving system. The first driving system prompts the first driver to take over the driving task based on the driving takeover command.

62. The autonomous driving test system according to any one of claims 35-58, characterized in that, The second driving system can prompt the second driver to drive the vehicle through the second driving system to simulate autonomous driving.

63. The autonomous driving test system according to any one of claims 35-58, characterized in that, The second driving system outputs instruction prompt information to the second driver, and the instruction prompt information is used to prompt the second driver when the first driving system generates the first control instruction; The first control command includes an autonomous driving command or a first vehicle control command.

64. The autonomous driving test system according to claim 35, characterized in that, The second driving system is also used to collect and display the surrounding environment information of the vehicle platform, so that the second driver can drive the vehicle based on the surrounding environment information; and / or, The second driving system is also used to acquire the attitude information of the vehicle platform and collect the status information of the target objects around the vehicle platform, and display the attitude information and the status information of the target objects to assist the second driver in simulating autonomous driving.

65. The autonomous driving test system according to claim 64, characterized in that, The attitude information of the vehicle platform includes the operating speed of the vehicle platform and the distance from the vehicle platform to the target object, and the state information of the target object includes the operating speed of the target object.

66. The autonomous driving test system according to claim 45, characterized in that, The first driving system is located in the passenger seat of the vehicle platform, and / or the second driving system is located in the driver's seat: The first driving system also includes a display device for displaying the driving status of the vehicle platform for the first driver to view.

67. The autonomous driving test system according to claim 35, characterized in that, When the first driver fails to take over the driving task, the second driving system outputs an automatic driving takeover warning and / or controls the vehicle platform according to a preset control strategy.

68. The autonomous driving test system according to claim 67, characterized in that, The preset control strategy includes at least one of the following: reducing vehicle speed, reducing vehicle speed and stopping, stopping in the current lane, and changing lanes to stop in a safe area.

69. An autonomous driving testing method, characterized in that, The testing method includes: A first autonomous driving command triggered by a first driver based on a first driving system is obtained. The first driving system is installed in the vehicle and is used by the first driver to drive the vehicle. The vehicle also includes a vehicle platform and a second driving system. Both the first driving system and the second driving system are connected to the vehicle platform. The second driving system is used by the second driver to drive the vehicle. The first driving system and the second driving system are communicatively connected. The first autonomous driving instruction is sent to the second driving system so that the second driver can drive the vehicle according to the functional definition and / or the operation instructions of the autonomous driving system under test through the second driving system to simulate autonomous driving. The deployment location of the second driving system is such that the first driver is unaware that the simulated autonomous driving is achieved by the second driver through the second driving system; It also includes: collecting the behavior of the first driver while the second driver is driving the vehicle.

70. The autonomous driving testing method according to claim 69, characterized in that, The testing method also includes: Generate a first control command and send the first control command to the signal control system so that the signal control system sends the first control command to the second driving system or vehicle platform accordingly based on the type of the first control command; The first control command includes at least a first autonomous driving command and a first vehicle control command. The first autonomous driving command needs to be sent to the second driving system, and the first vehicle control command needs to be sent to the vehicle platform.

71. The autonomous driving test method according to claim 70, characterized in that, The signal control system is used to receive a second control command sent by the second driving system; The second control command includes at least a second autonomous driving command and a second vehicle control command, and the second control command needs to be sent to the vehicle platform; during simulated autonomous driving, when the vehicle's signal control system receives the second control command, it sends the second control command to the vehicle platform.

72. The autonomous driving testing method according to claim 69, characterized in that, The testing method includes: The system acquires a first operation performed by a first driver on the first driving system. The first operation is used to trigger a first autonomous driving instruction to control the operation of the vehicle, and can send the first autonomous driving instruction to the second driving system to prompt the second driver to perform a second operation on the second driving system to simulate autonomous driving.

73. The autonomous driving testing method according to claim 69, characterized in that, The first driver's actions included: One or more of the following: driving behavior, activating autonomous driving, deactivating autonomous driving, setting autonomous driving, behavior during autonomous driving, and reaction to a warning to take over autonomous driving.

74. The autonomous driving test method according to claim 69, characterized in that, The second driver drives the vehicle according to the functional definition and / or operating instructions of the autonomous driving system under test through the second driving system to simulate autonomous driving, including: Based on the functional definition and / or operating instructions of the autonomous driving system under test, a second vehicle control instruction is generated to control the vehicle platform to simulate autonomous driving.

75. The autonomous driving testing method according to claim 74, characterized in that, The functional definition of the autonomous driving system under test includes autonomous driving level and / or autonomous driving conditions.

76. The autonomous driving testing method according to claim 69, characterized in that, The testing method also includes: A first vehicle control command is generated based on the first driver's trigger operation to control the vehicle platform.

77. The autonomous driving testing method according to claim 76, characterized in that, The first vehicle control command includes one or more of the following: steering command, braking command, acceleration command, and driving command.

78. The autonomous driving testing method according to claim 69, characterized in that, The testing method also includes: When it is determined that the operating environment of the vehicle platform meets the conditions for autonomous driving, the first driver is prompted to activate the autonomous driving function, and the first autonomous driving command is generated.

79. The autonomous driving testing method according to claim 69, characterized in that, The testing method also includes: If it is determined that the operating environment of the vehicle platform does not meet the conditions for autonomous driving, the first driver is prompted to take over the driving task.

80. The autonomous driving testing method according to claim 69, characterized in that, The testing method also includes: Receive a driving takeover command sent by the second driving system, and prompt the first driver to take over the driving task according to the driving takeover command; The driving takeover command is a command generated by the second driving system based on the triggering action of the second driver.

81. An autonomous driving testing method, characterized in that, The testing method includes: The system receives a first autonomous driving instruction sent by a first driving system, wherein the first autonomous driving instruction is triggered by a first driver based on the first driving system. The first driving system is configured to be installed in the vehicle and is used by the first driver to drive the vehicle. The vehicle also includes a vehicle platform and a second driving system, both of which are connected to the vehicle platform. The second driving system is used by the second driver to drive the vehicle. The first driving system and the second driving system are communicatively connected. According to the first autonomous driving instruction, the second driver is prompted to drive the vehicle through the second driving system in accordance with the functional definition and / or the operation instructions of the autonomous driving system under test, so as to simulate autonomous driving. The deployment location of the second driving system is such that the first driver is unaware that the simulated autonomous driving is achieved by the second driver through the second driving system; It also includes: collecting the behavior of the first driver while the second driver is driving the vehicle.

82. The autonomous driving testing method according to claim 81, characterized in that, The testing method includes: Receive the first control command sent by the signal control system; Wherein, the first control command is sent by the first driving system to the signal control system, and the signal control system sends the first control command to the second driving system or vehicle platform accordingly based on the type of the first control command; The first control command includes at least a first autonomous driving command and a first vehicle control command. The first autonomous driving command needs to be sent to the second driving system, and the first vehicle control command needs to be sent to the vehicle platform.

83. The autonomous driving testing method according to claim 81, characterized in that, The testing method includes: Send a second control command to the signal control system; The second control command includes at least a second autonomous driving command and a second vehicle control command, and the second control command needs to be sent to the vehicle platform. During simulated autonomous driving, when the signal control system receives the second control command, it sends the second control command to the vehicle platform.

84. The autonomous driving testing method according to claim 81, characterized in that, The first driving system is used to acquire a first operation of the first driver on the first driving system, and the first operation is used to trigger the first automatic driving instruction to control the operation of the vehicle; The second driving system is used to acquire a second operation by the second driver on the second driving system, and the second operation is used to trigger a second automatic driving command to control the operation of the vehicle; The first driving system can send the first autonomous driving command to the second driving system to prompt the second driver to perform the second operation on the second driving system to simulate autonomous driving.

85. The autonomous driving testing method according to claim 84, characterized in that, The first operation includes at least one of the following: autonomous driving activation operation, autonomous driving deactivation operation, autonomous driving takeover operation, autonomous driving custom setting operation, and over-control operation.

86. The autonomous driving testing method according to claim 84, characterized in that, The first autonomous driving instruction includes at least one of the following: autonomous driving activation instruction, autonomous driving deactivation instruction, autonomous driving takeover instruction, autonomous driving custom setting instruction, and over-control instruction; The overdrive command includes instructions that allow the user to control the vehicle in a preset direction, which may be lateral or longitudinal.

87. The autonomous driving testing method according to claim 81, characterized in that, The first driver's behavior includes one or more of the following: driving behavior, activating autonomous driving, deactivating autonomous driving, setting autonomous driving, behavior during autonomous driving, and reaction behavior to a warning to take over autonomous driving.

88. The autonomous driving testing method according to claim 81, characterized in that, The second driver drives the vehicle according to the functional definition and / or operating instructions of the autonomous driving system under test through the second driving system to simulate autonomous driving, including: Based on the functional definition and / or operating instructions of the autonomous driving system under test, a second vehicle control instruction is generated to control the vehicle platform to simulate autonomous driving.

89. The autonomous driving testing method according to claim 88, characterized in that, The functional definition of the autonomous driving system under test includes autonomous driving level and / or autonomous driving conditions.

90. The autonomous driving testing method according to claim 81, characterized in that, The testing method also includes: A driving takeover command is generated based on the second driver's trigger action, and the driving takeover command is sent to the first driving system. The first driving system prompts the first driver to take over the driving task based on the driving takeover command.

91. The autonomous driving testing method according to claim 81, characterized in that, The testing method also includes: It can prompt the second driver to drive the vehicle through the second driving system to simulate autonomous driving.

92. The autonomous driving test method according to claim 81, characterized in that, The testing method also includes: The system outputs a prompt message to the second driver, the prompt message being used to prompt the second driver when the first driving system generates a first control command; The first control command includes an autonomous driving command or a first vehicle control command.

93. The autonomous driving test method according to claim 81, characterized in that, The testing method also includes: Collect and display the surrounding environment information of the vehicle platform so that the second driver can drive the vehicle based on the surrounding environment information; and / or, The vehicle platform's attitude information and the status information of surrounding objects are acquired and displayed to assist the second driver in simulating autonomous driving.

94. The autonomous driving test method according to claim 93, characterized in that, The attitude information of the vehicle platform includes the operating speed of the vehicle platform and the distance from the vehicle platform to the target object, and the state information of the target object includes the operating speed of the target object.

95. The autonomous driving testing method according to claim 81, characterized in that, The testing method further includes: when it is determined that the first driver's takeover of the driving task has failed, outputting an autonomous driving takeover warning, and / or controlling the vehicle platform according to a preset control strategy.

96. The autonomous driving testing method according to claim 95, characterized in that, The preset control strategy includes at least one of the following: reducing vehicle speed, reducing vehicle speed and stopping, stopping in the current lane, and changing lanes to stop in a safe area.

97. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, causes the processor to implement the autonomous driving test method as described in any one of claims 69 to 80, or the autonomous driving test method as described in any one of claims 81 to 96.

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