A method and device for testing the impact of road manhole covers on autonomous driving

Abstract

The present application relates to a method and device for testing the degree of influence of road manhole covers on autonomous driving. Lane information and manhole cover information can be collected from any actual road, and processed to form modeling data; then a simulation test scene about the actual road is formed. When the vehicle simulates the simulation test scene, the adhesion coefficient is changed accordingly according to different manhole covers, and the initial parameters of the vehicle passing through the manhole cover are set, and then the motion parameters of the vehicle passing through the manhole cover are recorded to obtain evaluation data, and analysis is performed based on the evaluation data. While meeting the distribution characteristics of the actual road, the adhesion coefficient can be changed corresponding to different manhole covers, and the simulation test scene is changed; then the manhole cover information and the changed adhesion coefficient are associated with the vehicle dynamics, thereby improving the simulation accuracy of the autonomous driving vehicle dynamics and improving the credibility of the autonomous driving test.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving simulation testing, and in particular to a method and device for testing the degree of influence of road manhole covers on autonomous driving. Background Art

[0002] At present, the detection of autonomous driving vehicles mainly adopts a three-level structure of simulation testing, closed road testing and open road testing. The closed field test mainly reproduces typical actual road environment scenes to test the vehicle's recognition and response performance to different scenes. Manhole pits and manhole covers are typical scene elements in road structures and accessories in autonomous driving scenes. The correct recognition and response of road manhole pits and manhole covers by autonomous driving vehicles is crucial for autonomous driving vehicles to complete planning decisions and control, so testing of this scene is also essential.

[0003] In some related technologies, manhole covers are arranged on real roads, especially in urban roads and town roads, and because the manhole covers are not installed at the same time as the road surface, the surface of the manhole covers and the road surface are not on the same plane; the manhole covers and the road surface are not on the same plane, and there is a height difference, which causes impact during vehicle driving, and then affects the speed and steering of the vehicle; the manhole covers are usually metal, and the road surface is usually non-metal such as asphalt, cement, gravel, etc. The materials are different, and the friction coefficient is different, and there is a sudden change in the friction coefficient during vehicle driving.

[0004] However, the study of the impact of manhole covers on autonomous driving cannot be conducted in closed areas, because the manhole covers in closed areas cannot meet the distribution characteristics of actual roads. On actual roads, autonomous driving vehicles are currently only tested on specific roads in specific areas, which cannot meet the test of a large number of different manhole cover distributions, resulting in low accuracy of the final simulation test results.

[0005] Among them, the current virtual simulation test scenario is a fixed friction coefficient, and does not involve research on the impact of the distribution, material, protrusions, etc. of manhole covers on autonomous driving. Summary of the invention

[0006] The embodiments of the present application provide a method and device for testing the degree of influence of road manhole covers on autonomous driving, so as to solve the problem in the related art that manhole covers in closed areas cannot meet the distribution characteristics on actual roads, resulting in low test accuracy of simulation results.

[0007] In a first aspect, a method for testing the impact of road manhole covers on autonomous driving is provided, which comprises the following steps:

[0008] Collect the manhole cover information on the actual road and process it to form modeling data;

[0009] Based on the modeling data, a simulation test scenario on an actual road is constructed;

[0010] Conduct a vehicle autonomous driving simulation test in a simulation test scenario and record the vehicle motion parameters when the vehicle passes through all manhole covers to obtain evaluation data;

[0011] An evaluation analysis is performed based on the evaluation data.

[0012] In some embodiments, the manhole cover information includes the manhole lane position, the number of manhole covers arranged in the driving direction of the lane, the height difference between the upper edge of the manhole cover and the road surface, the material of the manhole cover, the complexity level of the manhole cover surface texture, the radius of the manhole cover, the longitudinal angle of the center of the manhole cover relative to the road surface, and the transverse angle of the center of the manhole cover relative to the road surface; the height difference between the upper edge of the manhole cover and the road surface is a positive value or a complex value, a positive value indicates that the manhole cover is raised relative to the road surface, and a negative value indicates that the manhole cover is sunken relative to the road surface;

[0013] The manhole cover information is recorded in the following manner:

[0014] RX0-X1-DX2-FX3-X4-X5-X6, or LX0-X1-DX2-FX3-X4-X5-X6;

[0015] Among them, L is the left lane, R is the right lane, X0 is the lane number, X1 is the number of the manhole cover arranged in the driving direction of the corresponding lane, DX2 is the height difference between the upper edge of the manhole cover and the road surface, F represents the material of the manhole cover, X3 is the complexity level of the surface texture of the manhole cover, X4 is the longitudinal angle of the center of the manhole cover relative to the road surface; X5 is the transverse angle of the center of the manhole cover relative to the road surface; X6 is the radius of the manhole cover.

[0016] In some embodiments, performing a vehicle autonomous driving simulation test in a simulation test scenario includes the following steps:

[0017] Setting a trigger area at the location of each manhole cover in the simulation test scenario;

[0018] When the vehicle drives to the trigger area of ​​the manhole cover, the manhole cover information corresponding to the trigger area is obtained, and the adhesion coefficient of the manhole cover is calculated;

[0019] Based on the adhesion coefficient and in combination with the manhole cover information corresponding to the trigger area, vehicle dynamics calculation is performed to obtain initial vehicle motion parameters;

[0020] The initial parameters of the vehicle are input into the simulation test scenario to pass through the manhole cover corresponding to the trigger area.

[0021] In some embodiments, when the vehicle travels to the triggering area of ​​the manhole cover, in addition to calculating the adhesion coefficient of the manhole cover, the following steps are also included: according to the radius of the manhole cover, calculating the estimated time to pass through the manhole cover;

[0022] In the simulation test scenario, if the test time for testing the initial parameters of the vehicle is greater than the estimated time, the non-manhole cover test mode is entered.

[0023] In some embodiments, the trigger area is an annular area, which is concentrically arranged with the manhole cover, and the outer diameter of the annular area is a designed multiple of the diameter of the manhole cover.

[0024] In some embodiments, the initial vehicle parameters include the vehicle's position, four-wheel height, speed, acceleration, and steering angle.

[0025] In some embodiments, the vehicle motion parameters include: the longitudinal, lateral and vertical displacement change values ​​of the vehicle when passing through the manhole cover, the instantaneous change value of the vehicle's speed when passing through the manhole cover, the steering angle change value of the vehicle when passing through the manhole cover, and the driving smoothness of the vehicle when passing through the manhole cover.

[0026] In a second aspect, a simulation test device for the influence of a road manhole cover on autonomous driving is provided, which includes:

[0027] The first module is used to collect lane information and manhole cover information of actual roads and form modeling data;

[0028] A second module is used to build a simulation test scenario on an actual road based on the modeling data;

[0029] The third module is used to perform a simulation test of the vehicle's autonomous driving in a simulation test scenario, and record the vehicle motion parameters of the vehicle passing through all manhole covers to obtain evaluation data;

[0030] The fourth module is used to perform evaluation analysis based on the evaluation data.

[0031] In some embodiments, a road adhesion coefficient calculation module and a vehicle dynamics calculation module are also included;

[0032] The road adhesion coefficient module calculation module is used to calculate the adhesion coefficient of the manhole cover according to the manhole cover information corresponding to the trigger area;

[0033] The vehicle dynamics calculation module is used to obtain the initial parameters of vehicle motion based on the adhesion coefficient and the manhole cover information corresponding to the trigger area.

[0034] In a third aspect, a computer-readable storage medium is provided, on which a computer program is stored, and the program is executed by a processor to implement a method for testing the degree of influence of road manhole covers on autonomous driving.

[0035] The beneficial effects of the technical solution provided by this application include:

[0036] The embodiments of the present application provide a method and device for testing the degree of influence of road manhole covers on autonomous driving. Lane information and manhole cover information can be collected for any actual road and processed to form modeling data, wherein the material, diameter, depression or protrusion height and position of the manhole cover relative to the road surface are digitized and not directly converted into image information; then a simulation test scene about the actual road is formed, and when the vehicle simulates the simulation test scene, the adhesion coefficient is changed accordingly according to different manhole covers, and the initial parameters of the vehicle passing through the manhole cover are set, and then the motion parameters of the vehicle passing through the manhole cover are recorded to obtain evaluation data, and analysis is performed based on the evaluation data. Therefore, a test scenario can be built based on the distribution characteristics of the manhole covers themselves on the road to meet the distribution characteristics of the actual roads; the adhesion coefficient can be changed to correspond to different manhole covers, and the simulation test scenario can be changed; then the manhole cover information and the changed adhesion coefficient can be associated with the vehicle dynamics to obtain the initial parameters of the vehicle before the vehicle passes through the manhole cover, which can be input into the simulation test scenario for testing, and the changes in the vehicle motion parameters passing through the manhole cover can be accurately obtained, thereby improving the simulation accuracy of the autonomous driving vehicle dynamics and improving the credibility of the autonomous driving test. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0038] Figure 1 The general process of the testing method for the impact of road manhole covers on autonomous driving provided in the embodiment of the present application. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0040] In actual autonomous driving tests, two methods are generally used for testing, including:

[0041] The first method is to install manhole covers on a closed and dedicated test road for actual testing. However, there are the following problems: due to limited space, general existing roads are not allowed to conduct tests, resulting in the data obtained not covering the actual situation and being unable to meet the distribution characteristics of actual roads; if the number and distribution of manhole covers in the test site are constantly changed, it will increase costs.

[0042] The second method is to conduct virtual simulation testing to solve the problem of the first method mentioned above. However, it has the following problem. Since the current virtual simulation test scenario is a fixed friction coefficient, it does not take into account the impact of the distribution position, size and material of the manhole cover on autonomous driving, resulting in inaccurate and comprehensive evaluation data collected by the test, which leads to inaccurate final test results.

[0043] Therefore, this application proposes a method and device for testing the impact of road manhole covers on autonomous driving, in order to solve the problem in the related art that manhole covers in closed areas cannot meet the distribution characteristics on actual roads, resulting in low test accuracy of simulation results.

[0044] See also Figure 1 A method for testing the influence of road manhole covers on autonomous driving comprises the following steps:

[0045] S01. Collecting manhole cover information on actual roads and processing it to form modeling data;

[0046] S02. Building a simulation test scenario on an actual road based on the modeling data;

[0047] S03. Conduct a simulation test of autonomous driving in a simulation test scenario, and record the vehicle motion parameters of the vehicle passing through all manhole covers to obtain evaluation data; the vehicle motion parameters include: longitudinal, lateral and vertical displacement change values ​​of the vehicle passing through the manhole cover, instantaneous speed change value of the vehicle passing through the manhole cover, steering angle change value of the vehicle passing through the manhole cover, and driving smoothness of the vehicle passing through the manhole cover.

[0048] S04. Performing evaluation analysis based on the evaluation data.

[0049] The manhole cover information includes the manhole cover position, the number of manhole covers arranged in the driving direction of the lane, the height difference between the upper edge of the manhole cover and the road surface, the material of the manhole cover, the complexity level of the manhole cover surface texture, the radius of the manhole cover, the longitudinal angle of the center of the manhole cover relative to the road surface, and the transverse angle of the center of the manhole cover relative to the road surface; the height difference between the upper edge of the manhole cover and the road surface is a positive value or a complex value, a positive value indicates that the manhole cover is raised relative to the road surface, and a negative value indicates that the manhole cover is sunken relative to the road surface;

[0050] When collecting and recording the manhole cover information of the actual road, the recording is performed in the following manner:

[0051] The manhole cover information is recorded in the following manner:

[0052] RX0-X1-DX2-FX3-X4-X5-X6, or LX0-X1-DX2-FX3-X4-X5-X6; where L is the left lane, R is the right lane, X0 is the lane number, X1 is the number of the manhole cover arranged in the driving direction of the corresponding lane, DX2 is the height difference between the upper edge of the manhole cover and the road surface, and the unit of the height difference is cm. F indicates that the manhole cover is made of iron, X3 is the complexity level of the surface texture of the manhole cover, X4 is the longitudinal angle of the center of the manhole cover relative to the road surface; X5 is the lateral angle of the center of the manhole cover relative to the road surface; X6 is the radius of the manhole cover, and the unit of the radius is cm.

[0053] For example, R2-002-D-8.32-F1-50-30-80 means the second manhole cover with a depression of 8.32 cm and a simple iron texture in the driving direction of the second lane on the right. The longitudinal angle of the center of the manhole cover relative to the road surface is 50°; the transverse angle of the center of the manhole cover relative to the road surface is 30°; the radius of the manhole cover is 80 cm.

[0054] Through the setting of the above steps, lane information and manhole cover information can be collected for any actual road, and processed to form modeling data, in which the material, diameter, height and position of the manhole cover relative to the road surface are digitized, and not directly converted into image information; then a simulation test scene about the actual road is formed, and when the vehicle simulates the simulation test scene, the adhesion coefficient is changed accordingly according to different manhole covers, and the initial parameters of the vehicle passing through the manhole cover are set, and then the motion parameters of the vehicle passing through the manhole cover are recorded, so as to obtain evaluation data, and analyze according to the evaluation data. Therefore, the test scene can be built according to the distribution characteristics of the manhole cover itself on the road to meet the distribution characteristics of the actual road, so that the final evaluation data is the same as the real manhole cover, solving the problem of limited site.

[0055] In some preferred embodiments, step S03, performing a vehicle autonomous driving simulation test in a simulation test scenario, is described in detail:

[0056] A trigger area is set at the location of each manhole cover in the simulation test scenario; the trigger area is an annular area, which is concentrically arranged with the manhole cover, and the outer diameter of the annular area is a designed multiple of the manhole cover diameter, that is, the trigger center is the center position of the manhole cover, and the trigger radius is an area formed by 2 times the radius of the manhole cover.

[0057] When the vehicle drives to the trigger area of ​​the manhole cover, the host computer is used to obtain the manhole cover information corresponding to the trigger area, that is, the lane information, number radius, etc. The host computer calculates the adhesion coefficient of the manhole cover based on the above information; the step of obtaining the adhesion coefficient of the manhole cover can be:

[0058] The pavement coefficients under different weather and road conditions, i.e., the adhesion coefficients of rainy, sunny, icy, asphalt pavement, ordinary pavement, and gravel pavement, are collected, and then a database is formed; after obtaining the manhole cover information, the required different weather and road conditions can be selected, and the corresponding adhesion coefficient can be selected to obtain the adhesion coefficient.

[0059] The host computer performs vehicle dynamics calculation based on the adhesion coefficient and in combination with the manhole cover information corresponding to the trigger area to obtain initial vehicle motion parameters; the initial vehicle parameters include the vehicle's position, four-wheel height, speed, acceleration, and steering angle.

[0060] The initial parameters of the vehicle are input into the simulation test scenario to pass through the manhole cover corresponding to the trigger area.

[0061] Through the above steps, it is realized that when the vehicle approaches the manhole cover, it needs to slow down, and then pass through the manhole cover in a decelerated state. This is also in line with the actual driving operation. If the manhole cover is passed at high speed, the data obtained is obviously inaccurate; therefore, it is necessary to set a trigger area, and after reaching the trigger area, adjust the vehicle's initial vehicle motion parameters; at the same time, the initial vehicle motion parameters are used as initial reference data, providing a clear comparison standard for subsequent evaluation of change parameters. For example, if the vehicle motion parameters of high-speed driving are selected, the impact of the manhole cover will be increased to a certain extent.

[0062] Furthermore, when the vehicle travels to the triggering area of ​​the manhole cover, in addition to calculating the adhesion coefficient of the manhole cover, the following steps are also included: according to the radius of the manhole cover, the estimated time to pass through the manhole cover is calculated;

[0063] In the simulation test scenario, if the test time for testing the initial parameters of the vehicle is greater than the estimated time, the non-manhole cover test mode is entered.

[0064] Through this step setting, the test of each manhole cover has an end judgment standard, so as to accurately obtain the longitudinal, lateral and vertical displacement changes of the vehicle passing through the manhole cover caused by each manhole cover, the instantaneous change value of the speed of the vehicle passing through the manhole cover, the change value of the steering angle of the vehicle passing through the manhole cover, and the change in the driving smoothness of the vehicle passing through the manhole cover.

[0065] To sum up, while meeting the distribution characteristics of actual roads, the adhesion coefficient can be changed to correspond to different manhole covers, and the simulation test scene can be changed. Then the manhole cover information and the changed adhesion coefficient are associated with the vehicle dynamics to obtain the initial parameters of the vehicle before the vehicle passes through the manhole cover, which are then input into the simulation test scene for testing, so as to accurately obtain the changes in vehicle motion parameters passing through each manhole cover, thereby improving the simulation accuracy of the autonomous driving vehicle dynamics and improving the credibility of the autonomous driving test.

[0066] In addition, by accurately determining the impact of manhole covers on vehicle autonomous driving, it can provide a certain reference for road administration units to build manhole covers that are compatible with autonomous driving during the early road construction process.

[0067] The present application also proposes a simulation test device for the impact of road manhole covers on autonomous driving, which includes:

[0068] The first module is used to collect lane information and manhole cover information of actual roads and form modeling data;

[0069] A second module is used to build a simulation test scenario on an actual road based on the modeling data;

[0070] The third module is used to perform a simulation test of the vehicle's autonomous driving in a simulation test scenario, and record the vehicle motion parameters of the vehicle passing through all manhole covers to obtain evaluation data;

[0071] The fourth module is used to perform evaluation analysis based on the evaluation data.

[0072] It also includes a road adhesion coefficient module calculation module and a vehicle dynamics calculation module;

[0073] The road adhesion coefficient module calculation module is used to calculate the adhesion coefficient of the manhole cover according to the manhole cover information corresponding to the trigger area; the vehicle dynamics calculation module is used to obtain the initial parameters of the vehicle motion based on the adhesion coefficient and combined with the manhole cover information corresponding to the trigger area.

[0074] The present application also proposes a computer-readable storage medium on which a computer program is stored. The program is executed by a processor to implement a method for testing the degree of impact of road manhole covers on autonomous driving.

[0075] The present invention has the following effects.

[0076] 1. The present invention can make the simulation test scene more in line with the actual driving road, improve the simulation accuracy of the autonomous driving vehicle dynamics, and improve the credibility of the autonomous driving test;

[0077] 2. The present invention can provide a road manhole cover simulation test library and provide test scenarios for common road manhole cover scenarios.

[0078] 3. The present invention can be used to change the corresponding adhesion coefficient according to different road manhole covers, thereby improving the accuracy of the evaluation data obtained for testing and evaluating the impact on autonomous driving.

[0079] 4. By accurately determining the impact of manhole covers on vehicle autonomous driving, we can provide a certain reference for road administration units to build manhole covers that are compatible with autonomous driving during the early road construction process.

[0080] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0081] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0082] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0083] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1A process or multiple processes and / or boxes Figure 1 The steps of the functions specified in the box or multiple boxes. In a typical configuration, the computing device includes one or more processors (CPU), input / output interfaces, network interfaces and memory. The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0084] Computer readable media include permanent and non-permanent, removable and non-removable media and can store information by any method or technology. The information can be computer readable instructions, data structures, program modules or other data.

[0085] Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory media such as modulated data signals and carrier waves. It should also be noted that the terms "comprises", "includes" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device that includes a list of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more constraints, an element defined by the phrase "comprises a ..." does not exclude the existence of additional identical elements in the process, method, product or apparatus comprising the element.

[0086] In the description of the present application, it should be noted that the terms "upper", "lower", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. Unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0087] It should be noted that, in this application, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0088] The above description is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest range consistent with the principles and novel features applied for herein.

Claims

1. A method for testing the impact of road manhole covers on autonomous driving, characterized in that: It includes the following steps: Collect the manhole cover information on the actual road and process it to form modeling data; Based on the modeling data, a simulation test scenario on an actual road is constructed; Conducting a vehicle autonomous driving simulation test in a simulation test scenario, and recording vehicle motion parameters of the vehicle passing through all manhole covers to obtain evaluation data; wherein conducting a vehicle autonomous driving simulation test in a simulation test scenario includes the following steps: A trigger area is set at the location of each manhole cover in the simulation test scenario; the trigger area is an annular area, the annular area is concentrically arranged with the manhole cover, and the outer diameter of the annular area is a design multiple of the manhole cover diameter; When the vehicle drives to the trigger area of ​​the manhole cover, the manhole cover information corresponding to the trigger area is obtained, and the adhesion coefficient of the manhole cover is calculated; the adhesion coefficient of the manhole cover is calculated, including the following steps: according to the required weather and road conditions, the corresponding adhesion coefficient is selected in the database, so as to obtain the adhesion coefficient of the manhole cover; the database includes the adhesion coefficients under different weather and road conditions; Based on the adhesion coefficient and in combination with the manhole cover information corresponding to the trigger area, vehicle dynamics calculation is performed to obtain initial vehicle motion parameters; Inputting the initial parameters of the vehicle into the simulation test scenario so that the vehicle passes through the manhole cover corresponding to the trigger area; An evaluation analysis is performed based on the evaluation data.

2. The method for testing the impact of road manhole covers on autonomous driving as claimed in claim 1, characterized in that: The manhole cover information includes the manhole cover position, the number of manhole covers arranged in the driving direction of the lane, the height difference between the upper edge of the manhole cover and the road surface, the material of the manhole cover, the complexity level of the manhole cover surface texture, the radius of the manhole cover, the longitudinal angle of the center of the manhole cover relative to the road surface, and the transverse angle of the center of the manhole cover relative to the road surface; the height difference between the upper edge of the manhole cover and the road surface is a positive value or a complex value, a positive value indicates that the manhole cover is convex relative to the road surface, and a negative value indicates that the manhole cover is concave relative to the road surface; The manhole cover information is recorded in the following manner: RX0-X1-DX2-FX3-X4-X5-X6, or LX0-X1-DX2-FX3-X4-X5-X6; Among them, L is the left lane, R is the right lane, X0 is the lane number, X1 is the number of the manhole cover arranged in the driving direction of the corresponding lane, DX2 is the height difference between the upper edge of the manhole cover and the road surface, F represents the material of the manhole cover, X3 is the complexity level of the surface texture of the manhole cover, X4 is the longitudinal angle of the center of the manhole cover relative to the road surface; X5 is the transverse angle of the center of the manhole cover relative to the road surface; X6 is the radius of the manhole cover.

3. The method for testing the influence of road manhole covers on autonomous driving as claimed in claim 1, characterized in that: When the vehicle drives to the triggering area of ​​the manhole cover, in addition to calculating the adhesion coefficient of the manhole cover, the following steps are also included: according to the radius of the manhole cover, the estimated time to pass through the manhole cover is calculated; In the simulation test scenario, if the test time for testing the initial parameters of the vehicle is greater than the estimated time, the non-manhole cover test mode is entered.

4. The method for testing the influence of road manhole covers on autonomous driving as claimed in claim 1, characterized in that: The vehicle initial parameters include the vehicle's position, four-wheel height, speed, acceleration, and steering angle.

5. The method for testing the influence of road manhole covers on autonomous driving as claimed in claim 1, characterized in that: The vehicle motion parameters include: the longitudinal, lateral and vertical displacement change values ​​of the vehicle passing through the manhole cover, the instantaneous change value of the speed of the vehicle passing through the manhole cover, the steering angle change value of the vehicle passing through the manhole cover, and the driving smoothness of the vehicle passing through the manhole cover.

6. A simulation test device for the impact of road manhole covers on autonomous driving, characterized in that: It includes: The first module is used to collect lane information and manhole cover information of actual roads and form modeling data; A second module is used to build a simulation test scenario on an actual road based on the modeling data; The third module is used to perform a vehicle autonomous driving simulation test in a simulation test scenario, and record the vehicle motion parameters of the vehicle passing through all manhole covers to obtain evaluation data; wherein, performing a vehicle autonomous driving simulation test in a simulation test scenario includes the following steps: A trigger area is set at the location of each manhole cover in the simulation test scenario; the trigger area is an annular area, the annular area is concentrically arranged with the manhole cover, and the outer diameter of the annular area is a design multiple of the manhole cover diameter; When the vehicle drives to the triggering area of ​​the manhole cover, the manhole cover information corresponding to the triggering area is obtained; the adhesion coefficient of the manhole cover is calculated by using the manhole cover information corresponding to the triggering area and combining with the road adhesion coefficient module; the calculation of the adhesion coefficient of the manhole cover includes the following steps: according to the required weather and road conditions, the corresponding adhesion coefficient is selected in the database to obtain the adhesion coefficient of the manhole cover; the database includes the adhesion coefficients under different weather and road conditions; Using a vehicle dynamics calculation module to perform vehicle dynamics calculation based on the adhesion coefficient and in combination with manhole cover information corresponding to the trigger area, to obtain initial vehicle motion parameters; Inputting the initial parameters of the vehicle into the simulation test scenario so that the vehicle passes through the manhole cover corresponding to the trigger area; The fourth module is used to perform evaluation analysis based on the evaluation data.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement a method for testing the degree of influence of road manhole covers on autonomous driving as described in any one of claims 1-5.

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