Automatic driving test method and device, storage medium, processor and electronic device

Abstract

The application discloses an automatic driving test method and device, a storage medium, a processor and an electronic device. The method comprises the following steps: acquiring the distance between a measured vehicle and a target vehicle, wherein the measured vehicle is placed on a vehicle transmission platform, and the target vehicle is a preceding vehicle of the measured vehicle; in response to the distance between the measured vehicle and the target vehicle being less than a first preset threshold, activating an automatic emergency braking function of the measured vehicle; and in response to the automatic emergency braking function being in an activated state, testing the automatic emergency braking function based on the distance between the measured vehicle and the target vehicle, and obtaining a test result, wherein the test result is used to indicate whether the measured vehicle successfully brakes. The application solves the technical problem of low test accuracy caused by outdoor automatic driving test in the related art.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving, and more specifically, to an autonomous driving testing method, apparatus, storage medium, processor, and electronic device. Background Technology

[0002] With the rapid development of autonomous driving technology, the performance of Advanced Driving Assistance Systems (ADAS) is also gradually improving. ADAS can collect relevant data on the vehicle's surrounding environment and traffic flow based on onboard sensors to assist the driver in partially controlling the vehicle.

[0003] To further improve the performance of ADAS, it is necessary to continuously conduct real-vehicle tests to verify its performance. However, real-vehicle tests in related technologies are often conducted in outdoor test tracks. Due to the remoteness of test sites and the scarcity of site resources, time and labor costs are increased. Furthermore, the uncertainty of outdoor weather conditions can also have a significant impact on the tests, making it difficult to maintain consistency in the results of repeated tests.

[0004] Therefore, the accuracy of autonomous driving testing methods in related technologies is low and the cost is high.

[0005] There is currently no effective solution to the above problems. Summary of the Invention

[0006] This invention provides an autonomous driving testing method, apparatus, storage medium, processor, and electronic device to at least solve the technical problem of low testing accuracy caused by conducting autonomous driving tests outdoors in related technologies.

[0007] According to one embodiment of the present invention, an autonomous driving testing method is provided, comprising: acquiring the distance between a vehicle under test and a target vehicle, wherein the vehicle under test is placed on a vehicle transmission platform and the target vehicle is the vehicle preceding the vehicle under test; activating the automatic emergency braking function of the vehicle under test in response to the distance between the vehicle under test and the target vehicle being less than a first preset threshold; and testing the automatic emergency braking function based on the distance between the vehicle under test and the target vehicle in response to the automatic emergency braking function being activated, thereby obtaining a test result, wherein the test result is used to indicate whether the vehicle under test has successfully braked.

[0008] Optionally, before obtaining the distance between the tested vehicle and the target vehicle, the autonomous driving test method further includes: controlling the tested vehicle to travel in a first direction of travel and obtaining first operating state information, wherein the first operating state information is used to represent the operating state of the tested vehicle and includes vehicle speed information, vehicle acceleration information, and vehicle position information of the tested vehicle; controlling the vehicle transmission platform to rotate in a second direction of travel based on the first operating state information so that the position of the tested vehicle relative to the ground remains unchanged, wherein the second direction of travel is opposite to the first direction of travel; controlling the target vehicle to travel in the second direction of travel based on the first operating state information and obtaining second operating state information, wherein the second operating state information is used to represent the operating state of the target vehicle and includes vehicle speed information, vehicle acceleration information, and vehicle position information of the target vehicle.

[0009] Optionally, controlling the vehicle transmission platform to rotate in the second direction based on the first operating state information includes: determining a first driving force based on the first operating state information; and controlling the vehicle transmission platform to rotate in the second direction based on the first driving force.

[0010] Optionally, the autonomous driving test method further includes: acquiring a first braking force, wherein the first braking force is used to represent the braking force generated by the vehicle under test after the automatic emergency braking function is activated; updating a first driving force based on the first braking force and first operating state information to obtain a second driving force; and controlling the vehicle transmission platform to rotate based on the second driving force so that the position of the vehicle under test relative to the ground remains unchanged.

[0011] Optionally, controlling the target vehicle to travel in the second direction based on the first operating state information includes: determining the desired speed of the target vehicle based on the first braking force and the first operating state information; and controlling the target vehicle to travel in the second direction at the desired speed.

[0012] Optionally, the automatic emergency braking function is tested based on the distance between the tested vehicle and the target vehicle, and the test results include: if the distance between the tested vehicle and the target vehicle is less than or equal to a second preset threshold, the test result is determined to be that the tested vehicle has failed to brake; if the distance between the tested vehicle and the target vehicle is greater than or equal to the second preset threshold and the target vehicle is stationary, the test result is determined to be that the tested vehicle has successfully braked.

[0013] According to one embodiment of the present invention, an autonomous driving testing device is also provided. The device includes: an acquisition module for acquiring the distance between a vehicle under test and a target vehicle, wherein the vehicle under test is placed on a vehicle transmission platform and the target vehicle is the vehicle in front of the vehicle under test; an activation module for activating the automatic emergency braking function of the vehicle under test in response to the distance between the vehicle under test and the target vehicle being less than a first preset threshold; and a testing module for testing the automatic emergency braking function based on the distance between the vehicle under test and the target vehicle in response to the automatic emergency braking function being activated, and obtaining a test result, wherein the test result is used to indicate whether the vehicle under test has successfully braked.

[0014] Optionally, the autonomous driving testing device further includes: a control module, configured to control the vehicle under test to travel in a first direction of travel and acquire first operating status information, wherein the first operating status information is used to represent the operating status of the vehicle under test and includes vehicle speed information, vehicle acceleration information, and vehicle position information of the vehicle under test; based on the first operating status information, control the vehicle transmission platform to rotate in a second direction of travel so that the position of the vehicle under test relative to the ground remains unchanged, wherein the second direction of travel is opposite to the first direction of travel; based on the first operating status information, control the target vehicle to travel in the second direction of travel and acquire second operating status information, wherein the second operating status information is used to represent the operating status of the target vehicle and includes vehicle speed information, vehicle acceleration information, and vehicle position information of the target vehicle.

[0015] Optionally, the control module is also used to determine a first driving force based on the first operating state information; and to control the vehicle transmission platform to rotate in a second operating direction based on the first driving force.

[0016] Optionally, the acquisition module is also used to acquire a first braking force, wherein the first braking force is used to represent the braking force generated by the vehicle under test after the automatic emergency braking function is activated; the autonomous driving test device also includes an update module, used to update the first driving force based on the first braking force and the first operating state information to obtain a second driving force; the control module is also used to control the vehicle transmission platform to rotate based on the second driving force so that the position of the vehicle under test relative to the ground remains unchanged.

[0017] Optionally, the control module is also used to determine the desired speed of the target vehicle based on the first braking force and the first operating state information; and to control the target vehicle to travel in the second operating direction at the desired speed.

[0018] Optionally, the test module is further configured to determine the test result as a braking failure of the test vehicle when the distance between the test vehicle and the target vehicle is less than or equal to a second preset threshold; and to determine the test result as a braking success of the test vehicle when the distance between the test vehicle and the target vehicle is greater than or equal to the second preset threshold and the target vehicle is stationary.

[0019] According to one embodiment of the present invention, a non-volatile storage medium is also provided, wherein a computer program is stored in the storage medium, and the computer program is configured to execute the autonomous driving test method described above when running.

[0020] According to one embodiment of the present invention, a processor is also provided, the processor being used to run a program, wherein the program is configured to execute any of the above-mentioned autonomous driving test methods during runtime.

[0021] According to one embodiment of the present invention, an electronic device is also provided, including a memory and a processor, wherein the memory stores a computer program and the processor is configured to run the computer program to perform the autonomous driving test method described above.

[0022] In this embodiment of the invention, by obtaining the distance between the vehicle under test and the target vehicle, and then in response to the distance between the vehicle under test and the target vehicle being less than a first preset threshold, the automatic emergency braking function of the vehicle under test is activated. Finally, in response to the automatic emergency braking function being activated, the automatic emergency braking function is tested based on the distance between the vehicle under test and the target vehicle, and the test result is obtained. This achieves the purpose of conducting autonomous driving tests on vehicles indoors, thereby improving the technical effect of testing accuracy and solving the technical problem of low testing accuracy caused by conducting autonomous driving tests outdoors in related technologies. Attached Figure Description

[0023] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0024] Figure 1 This is a flowchart of an autonomous driving testing method according to one embodiment of the present invention;

[0025] Figure 2 This is a schematic diagram of an autonomous driving test device according to one embodiment of the present invention;

[0026] Figure 3 This is a schematic diagram of an autonomous driving test system according to one embodiment of the present invention;

[0027] Figure 4This is a structural block diagram of an autonomous driving test device according to one embodiment of the present invention. Detailed Implementation

[0028] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0029] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0030] According to an embodiment of the present invention, an embodiment of an autonomous driving testing method is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0031] This method embodiment can be executed in an electronic device or similar computing device that includes a memory and a processor. Taking operation on a vehicle terminal as an example, the vehicle terminal may include one or more processors (processors may include, but are not limited to, central processing units (CPUs), graphics processing units (GPUs), digital signal processing (DSP) chips, microcontroller units (MCUs), field-programmable gate arrays (FPGAs), neural network processors (NPUs), tensor processors (TPUs), artificial intelligence (AI) type processors, etc.) and a memory for storing data. Optionally, the vehicle terminal may also include transmission devices, input / output devices, and display devices for communication functions. Those skilled in the art will understand that the above structural description is merely illustrative and does not limit the structure of the vehicle terminal. For example, the vehicle terminal may include more or fewer components than described above, or have a different configuration than described above.

[0032] The memory can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the autonomous driving test method in this embodiment of the invention. The processor executes various functional applications and data processing by running the computer program stored in the memory, thereby realizing the aforementioned autonomous driving test method. The memory may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory may further include memory remotely located relative to the processor, and these remote memories can be connected to the mobile terminal via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0033] The transmission device is used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by the mobile terminal's communication provider. In one example, the transmission device includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission device may be a Radio Frequency (RF) module, used for wireless communication with the Internet.

[0034] Display devices can be, for example, touchscreen liquid crystal displays (LCDs) and touch displays (also referred to as "touchscreens" or "touch displays"). The LCD allows users to interact with the user interface of the mobile terminal. In some embodiments, the mobile terminal has a graphical user interface (GUI), which allows users to interact with the GUI through finger contact and / or gestures on a touch-sensitive surface. Optional human-computer interaction functions include: creating web pages, drawing, word processing, creating electronic documents, playing games, video conferencing, instant messaging, sending and receiving emails, call interfaces, playing digital video, playing digital music, and / or web browsing, etc. Executable instructions for performing the above human-computer interaction functions are configured / stored in one or more processor-executable computer program products or readable storage media.

[0035] According to an embodiment of the present invention, an autonomous driving testing method is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0036] Figure 1 This is a flowchart of an autonomous driving testing method according to one embodiment of the present invention, such as... Figure 1 As shown, the method includes the following steps:

[0037] Step S12: Obtain the distance between the tested vehicle and the target vehicle, wherein the tested vehicle is placed on the vehicle transmission platform and the target vehicle is the vehicle in front of the tested vehicle.

[0038] In step S12 above, the distance between the tested vehicle and the target vehicle can be obtained.

[0039] Figure 2 This is a schematic diagram of an autonomous driving test device according to one embodiment of the present invention, such as... Figure 2As shown, the autonomous driving test device mainly includes a target vehicle, a vehicle under test, and a vehicle transmission platform. The vehicle under test is placed on the vehicle transmission platform, and the target vehicle is located at a certain distance in front of the vehicle under test (for example, the target vehicle is 50m in front of the vehicle under test).

[0040] The aforementioned test vehicle is an autonomous driving vehicle that needs to be tested. The test vehicle is equipped with ADAS function algorithms, which can collect motion state signals of the target vehicle through on-board sensors, and then generate control signals based on the collected motion state signals of the target vehicle. Finally, the control signals can be converted into mechanical or electrical signals to realize the warning and braking of the test vehicle.

[0041] The target vehicle is equipped with a driving robot that can control the target vehicle to travel at a certain speed to reach the desired position. For example, when the test vehicle is traveling at a constant speed of 20 km / h towards a stationary target vehicle, the test vehicle can be controlled to move forward at a constant speed of 20 km / h, while the running belt in the vehicle's transmission platform is controlled to rotate at a speed of 20 km / h in the opposite direction to the target vehicle's travel direction. This keeps the test vehicle in motion but its position relative to the ground unchanged, remaining relatively stationary. Then, based on the speed and acceleration information of the test vehicle, the desired speed of the target vehicle is determined to be -20 km / h, where the negative sign indicates that the target vehicle's travel direction is opposite to the target vehicle's travel direction. Finally, the driving robot in the target vehicle reverses at a speed of 20 km / h, thus simulating the test vehicle traveling at a constant speed of 20 km / h towards the stationary target vehicle.

[0042] The aforementioned vehicle transmission platform mainly includes a drive motor, an electronic controller, rollers, and a running belt. The electronic controller controls the operation of the drive motor, which in turn drives the running belt to rotate based on the friction between the running belt and the rollers. The running belt is made of a tough material and can be considered as a continuously moving road surface, with adhesion close to real road conditions.

[0043] The aforementioned vehicle transmission platform also includes a main frame, which is the basic framework of the entire vehicle transmission platform. It is used to support the assembly and operation of various components and has the characteristics of high strength, high density and strong stability, and can support the aforementioned vehicle under test.

[0044] In addition, the connection between the running belt and the main frame in the vehicle transmission platform is a flexible connection, and shock-absorbing pads are laid under the running belt to buffer and reduce shocks.

[0045] Step S14: In response to the distance between the tested vehicle and the target vehicle being less than a first preset threshold, the automatic emergency braking function of the tested vehicle is activated.

[0046] In step S14 above, when the distance between the tested vehicle and the target vehicle is less than the first preset threshold, the automatic emergency braking function of the tested vehicle is activated.

[0047] For example, when the distance between the test vehicle and the target vehicle is less than 15m, the test vehicle needs to brake suddenly to avoid a collision. Therefore, the automatic emergency braking function of the test vehicle needs to be activated in order to test the automatic emergency braking function of the test vehicle.

[0048] Step S16: In response to the automatic emergency braking function being activated, the automatic emergency braking function is tested based on the distance between the tested vehicle and the target vehicle to obtain the test result, wherein the test result is used to indicate whether the tested vehicle has successfully braked.

[0049] In step S16 above, after the automatic emergency braking function of the vehicle under test is activated, the automatic emergency braking function of the vehicle under test can be tested based on the distance between the vehicle under test and the target vehicle, thereby obtaining the test result.

[0050] Specifically, the test results can be used to determine whether the vehicle under test has successfully braked in an emergency, thereby determining whether the automatic emergency braking function of the vehicle under test is normal.

[0051] Based on steps S12 to S16 above, by obtaining the distance between the vehicle under test and the target vehicle, and then in response to the distance between the vehicle under test and the target vehicle being less than a first preset threshold, the automatic emergency braking function of the vehicle under test is activated. Finally, in response to the automatic emergency braking function being activated, the automatic emergency braking function is tested based on the distance between the vehicle under test and the target vehicle, and the test results are obtained. This achieves the purpose of conducting autonomous driving tests on vehicles indoors, thereby improving the technical effect of testing accuracy and solving the technical problem of low testing accuracy caused by conducting autonomous driving tests outdoors in related technologies.

[0052] Optionally, before obtaining the distance between the tested vehicle and the target vehicle, the autonomous driving testing method further includes the following steps:

[0053] Step S111: Control the vehicle under test to travel in the first direction of travel and acquire the first operating status information, wherein the first operating status information is used to represent the operating status of the vehicle under test, and the first operating status information includes the vehicle speed information, vehicle acceleration information and vehicle position information of the vehicle under test.

[0054] In step S111 above, before obtaining the distance between the tested vehicle and the target vehicle, the tested vehicle can be controlled to travel in the first direction of travel, and the first operating status information can be obtained.

[0055] Specifically, the aforementioned first operating state information is used to represent the operating state of the tested vehicle, and the first operating state information includes the vehicle's speed information, vehicle acceleration information, and vehicle position information. For example, such as Figure 2 As shown, the test vehicle can be controlled to travel in the first direction of travel (left), and the speed, acceleration and position of the test vehicle can be obtained.

[0056] Step S112: Based on the first operating status information, control the vehicle transmission platform to rotate in the second operating direction so that the position of the tested vehicle relative to the ground remains unchanged, wherein the second operating direction is opposite to the first operating direction.

[0057] In step S112 above, after obtaining the first operating status information, the vehicle transmission platform can be controlled to rotate in the second operating direction based on the first operating status information so that the position of the tested vehicle relative to the ground remains unchanged.

[0058] Specifically, the second direction of travel is opposite to the first direction of travel. For example, the speed of the tested vehicle is obtained as 20 m / h and 0 m / s. 2 The vehicle accelerates to the left, and then the vehicle transmission platform can be controlled to rotate to the right based on the speed, acceleration and position of the vehicle being tested, so that the position of the vehicle being tested relative to the ground remains unchanged.

[0059] Step S113: Based on the first operating status information, control the target vehicle to travel in the second operating direction and obtain the second operating status information, wherein the second operating status information is used to represent the operating status of the target vehicle, and the second operating status information includes the target vehicle's vehicle speed information, vehicle acceleration information and vehicle position information.

[0060] In step S113 above, the target vehicle can be controlled to travel in the second direction based on the first operating status information, and the second operating status information can be obtained.

[0061] Specifically, when the vehicle under test is traveling in the first direction of travel and the vehicle transmission platform is rotating in the second direction of travel, so that the position of the vehicle under test relative to the ground remains unchanged, the target vehicle can be controlled to travel in the second direction of travel based on the speed, acceleration and position of the vehicle under test, and the speed, acceleration and position of the target vehicle can be obtained.

[0062] For example, when the vehicle under test is moving to the left and the vehicle transmission platform is rotating to the right so that the position of the vehicle under test relative to the ground remains unchanged, the target vehicle can be controlled to move to the right based on the speed, acceleration and position of the vehicle under test, and the speed, acceleration and position of the target vehicle can be obtained.

[0063] Based on the above steps S111 to S113, by controlling the vehicle under test to travel in the first direction of travel and obtaining the first operating status information, and then controlling the vehicle transmission platform to rotate in the second direction of travel based on the first operating status information, so that the position of the vehicle under test relative to the ground remains unchanged, and finally controlling the target vehicle to travel in the second direction of travel based on the first operating status information and obtaining the second operating status information, it is possible to control the target vehicle to travel indoors by cooperating with the rotation of the vehicle transmission platform to keep the position of the vehicle under test relative to the ground unchanged, and at the same time, it is possible to control the travel of the target vehicle based on the operating status information of the vehicle under test.

[0064] Optionally, in step S112 above, controlling the vehicle transmission platform to rotate in the second direction based on the first operating state information includes:

[0065] Step S1121: Determine the first driving force based on the first operating state information.

[0066] In step S1121 above, the rotational speed and acceleration of the vehicle transmission platform can be determined based on the speed and acceleration of the vehicle under test, and then the driving force required by the vehicle transmission platform can be determined based on the required rotational speed and acceleration of the vehicle transmission platform.

[0067] For example, when the speed of the vehicle being tested is 20 m / h, the direction of travel is left, and the acceleration is 0 m / s², 2 At that time, the required rotational speed of the vehicle's transmission platform is 20 m / h, the rotation direction is to the right, and the acceleration is 0 m / s². 2 Therefore, based on the required rotational speed of 20m / h, rotation direction to the right, and acceleration of 0m / s² for the vehicle's transmission platform. 2 Determine the required driving force for the vehicle transmission platform so that the drive motor of the vehicle transmission platform can generate the corresponding driving force to make the running belt operate at a speed of 20m / h and 0m / s. 2 The acceleration causes it to rotate to the right.

[0068] Step S1122: Based on the first driving force, control the vehicle transmission platform to rotate in the second running direction.

[0069] In step S1122 above, after determining the first driving force based on the first operating state information, the vehicle transmission platform can be controlled to rotate in the second operating direction based on the first driving force.

[0070] Based on the above steps S1121 to S1122, by determining the first driving force based on the first operating state information, and then controlling the vehicle transmission platform to rotate in the second operating direction based on the first driving force, the vehicle transmission platform can rotate in conjunction with the vehicle under test indoors, so that the position of the vehicle under test relative to the ground remains unchanged, thereby enabling the testing of the vehicle's autonomous driving function indoors.

[0071] Optionally, the autonomous driving testing method also includes:

[0072] Step S151: Obtain the first braking force, wherein the first braking force is used to represent the braking force generated by the tested vehicle after the automatic emergency braking function is activated.

[0073] In step S151 above, as the distance between the tested vehicle and the target vehicle gets closer and closer until the distance between the two vehicles reaches the first preset threshold, the tested vehicle will automatically perform emergency braking. At this time, the tested vehicle will generate a certain braking force, which can be obtained.

[0074] Step S152: Update the first driving force based on the first braking force and the first operating state information to obtain the second driving force.

[0075] In step S152 above, after obtaining the first braking force, the first driving force can be updated based on the first braking force and the first operating state information to obtain the second driving force.

[0076] Specifically, after the vehicle under test performs automatic emergency braking, a certain braking force is generated, and the speed of the vehicle under test will change. Therefore, the rotation speed of the vehicle transmission platform should also change accordingly. Then, the driving force of the vehicle transmission platform can be updated according to the braking force generated and the speed and acceleration of the vehicle under test to obtain a new driving force so that the rotation speed of the vehicle transmission platform can match the vehicle under test after emergency braking, that is, so that the position of the vehicle under test relative to the ground remains unchanged.

[0077] Step S153: Control the vehicle transmission platform to rotate based on the second driving force so that the position of the tested vehicle relative to the ground remains unchanged.

[0078] In step S153 above, after updating the first driving force based on the first braking force and the first operating state information to obtain the second driving force, the vehicle transmission platform can be controlled to rotate based on the second driving force so that the position of the tested vehicle relative to the ground remains unchanged.

[0079] Based on the above steps S151 to S153, by acquiring the first braking force, and then updating the first driving force based on the first braking force and the first operating state information, the second driving force is obtained. Finally, the vehicle transmission platform is controlled to rotate based on the second driving force so that the position of the vehicle under test relative to the ground remains unchanged. This allows the position of the vehicle under test relative to the ground to remain stationary, so that the autonomous driving function of the vehicle under test can be tested indoors.

[0080] Optionally, in step S113 above, controlling the target vehicle to travel in the second direction based on the first operating status information includes:

[0081] Step S1131: Determine the desired speed of the target vehicle based on the first braking force and the first operating state information.

[0082] In step S1131 above, when controlling the target vehicle to travel in the second direction based on the first operating state information, the desired speed of the target vehicle can be determined based on the first braking force and the first operating state information.

[0083] Specifically, when controlling the target vehicle to travel in the second direction of travel based on the speed, acceleration and position of the vehicle under test, it is also necessary to consider the braking force generated when the vehicle under test performs automatic emergency braking. Therefore, the desired speed of the target vehicle can be determined based on the braking force generated when the vehicle under test performs automatic emergency braking and the speed, acceleration and position of the vehicle under test, so as to control the target vehicle to travel in the second direction of travel at the desired speed.

[0084] For example, if the tested vehicle does not automatically brake, and its speed is 20 m / h, its direction of travel is left, and its acceleration is 0 m / s², then the test is conducted in a scenario where the vehicle does not automatically brake, its speed is 20 m / h, its direction of travel is left, and its acceleration is 0 m / s². 2 At this time, the desired speed of the target vehicle can be determined to be -20m / h, and the negative sign indicates that the driving direction is to the right. Therefore, the target vehicle can be controlled to drive to the right at the desired speed of -20m / h.

[0085] For another example, the speed of the vehicle being tested is 20 m / h, the direction of travel is left, and the acceleration is 0 m / s². 2 When the tested vehicle performs automatic emergency braking, it will generate a certain braking force. Based on the braking force, speed and acceleration of the tested vehicle, the desired speed of the target vehicle can be re-determined, and the target vehicle can be controlled to travel at the desired speed.

[0086] Step S1132: Control the target vehicle to travel in the second direction of travel at the desired speed.

[0087] In step S1132 above, after determining the desired speed of the target vehicle based on the first braking force and the first operating state information, the target vehicle can be controlled to travel in the second operating direction at the desired speed.

[0088] Based on the above steps S1131 to S1132, the desired speed of the target vehicle is determined based on the first braking force and the first operating state information, and then the target vehicle is controlled to travel in the second operating direction at the desired speed. By controlling the target vehicle to travel in the second operating direction and keeping the position of the vehicle under test relative to the ground constant, the working condition of the vehicle under test traveling towards the target vehicle stopped a certain distance ahead can be simulated indoors, thereby enabling the automatic emergency braking function of the vehicle under test to be tested.

[0089] Optionally, in step S16 above, the automatic emergency braking function is tested based on the distance between the tested vehicle and the target vehicle, and the test results include:

[0090] Step S161: In response to the distance between the tested vehicle and the target vehicle being less than or equal to the second preset threshold, the test result is determined to be a braking failure of the tested vehicle.

[0091] In step S161 above, when the distance between the tested vehicle and the target vehicle is less than or equal to the second preset threshold, it can be determined that the tested vehicle has failed to brake, that is, the automatic emergency braking function of the tested vehicle has a problem.

[0092] For example, when the distance between the tested vehicle and the target vehicle is less than or equal to 0, that is, when the two vehicles collide, it can be determined that the tested vehicle's braking has failed, meaning that the tested vehicle's automatic emergency braking function has a problem.

[0093] In step S162, in response to the distance between the tested vehicle and the target vehicle being greater than or equal to the second preset threshold, and the target vehicle being stationary, the test result is determined to be that the tested vehicle has successfully braked.

[0094] In step S162 above, when the distance between the tested vehicle and the target vehicle is greater than or equal to the second preset threshold, and the target vehicle is stationary, the test result is determined to be that the tested vehicle has successfully braked, that is, the automatic emergency braking function of the tested vehicle is normal.

[0095] For example, when the distance between the tested vehicle and the target vehicle is greater than or equal to 0, that is, when the two vehicles do not collide and the target vehicle is stationary, the test result is determined to be that the tested vehicle braked successfully, that is, the automatic emergency braking function of the tested vehicle is normal.

[0096] Based on the above steps S161 to S162, the test result is determined to be a braking failure of the vehicle under test when the distance between the vehicle under test and the target vehicle is less than or equal to the second preset threshold, and the test result is determined to be a successful braking of the vehicle under test when the distance between the vehicle under test and the target vehicle is greater than or equal to the second preset threshold and the target vehicle is stationary. This allows the automatic emergency braking function of the vehicle under test to be tested.

[0097] Figure 3 This is a schematic diagram of an autonomous driving test system according to one embodiment of the present invention, such as... Figure 3 As shown, the autonomous driving test system mainly includes the target vehicle, the vehicle under test, the virtual simulation subsystem, the power control subsystem, and the transmission platform.

[0098] The target vehicle is equipped with a driving robot. The data acquisition module on the target vehicle can collect motion state information such as the actual acceleration, speed, and position of the target vehicle and send it to the virtual simulation subsystem to achieve data closure.

[0099] The data acquisition module in the vehicle under test can collect all CAN signals, including the vehicle's speed, acceleration, position, and automatic emergency braking requests. These signals will be sent to the virtual simulation subsystem for processing.

[0100] The electronic controller in the aforementioned vehicle transmission platform is responsible for receiving data sent by the virtual simulation subsystem and sending corresponding instructions to the drive motor to control the vehicle transmission platform, so that the running belt generates corresponding force to cooperate with the movement of the vehicle under test.

[0101] In the aforementioned virtual simulation system, ADAS function test and verification scenarios are constructed using simulation software. The simulation software receives real-time operating status data from the vehicle under test and the target vehicle. It can also calculate the expected relative lateral and longitudinal positions of the two vehicles at that moment and send them to the driving robot of the target vehicle to achieve control of the target vehicle. Simultaneously, based on the driving or braking force required by the vehicle under test, it sends force signal requests to the electronic controller of the vehicle's transmission platform to achieve control of the vehicle's transmission platform.

[0102] The vehicle under test is placed on the vehicle transmission platform, and the target vehicle is placed a certain distance in front of the vehicle under test. After the vehicle under test begins to move, the data acquisition module sends the collected vehicle motion state signal to the virtual simulation subsystem. After calculation, the virtual simulation subsystem sends the force signal required by the vehicle transmission platform to the electronic controller to ensure that the running belt rotates synchronously in the opposite direction while the vehicle under test is moving, so that the vehicle under test is in motion but its position relative to the ground does not change, and it remains relatively stationary with respect to the ground. At the same time, the calculated desired relative speed between the vehicle under test and the target vehicle is sent to the driving robot in the target vehicle to realize the speed control of the target vehicle.

[0103] The autonomous driving testing method of this invention, based on a stable test bench, ensures the feasibility and effectiveness of real-vehicle testing in a laboratory environment through real-time data exchange between systems. By appropriately adding or removing corresponding hardware and software modules to meet the requirements of different ADAS functional scenarios, the smooth progress of relevant projects can be guaranteed.

[0104] In addition, the autonomous driving test method of the present invention can save test site resources and costs such as manpower and time, avoid test data errors caused by interference from external environmental factors that delay the test process, and achieve the purpose of conducting autonomous driving tests on vehicles indoors, thereby achieving the technical effect of improving test accuracy. At the same time, the method also has the advantages of being convenient, safe, repeatable, and highly accurate.

[0105] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0106] This invention also provides an autonomous driving testing device for implementing the above embodiments and preferred embodiments, which will not be repeated hereafter. As used below, the term "module" can refer to a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0107] Figure 4 This is a structural block diagram of an autonomous driving test device according to one embodiment of the present invention, such as... Figure 4 As shown, the device includes: an acquisition module 401, used to acquire the distance between the vehicle under test and the target vehicle, wherein the vehicle under test is placed on a vehicle transmission platform and the target vehicle is the vehicle in front of the vehicle under test; an activation module 402, used to activate the automatic emergency braking function of the vehicle under test in response to the distance between the vehicle under test and the target vehicle being less than a first preset threshold; and a testing module 403, used to test the automatic emergency braking function based on the distance between the vehicle under test and the target vehicle in response to the automatic emergency braking function being activated, and obtain a test result, wherein the test result is used to indicate whether the vehicle under test has successfully braked.

[0108] Optionally, the autonomous driving testing device further includes: a control module 404, used to control the test vehicle to travel in a first direction of travel and acquire first operating status information, wherein the first operating status information is used to represent the operating status of the test vehicle and includes vehicle speed information, vehicle acceleration information and vehicle position information of the test vehicle; based on the first operating status information, controlling the vehicle transmission platform to rotate in a second direction of travel so that the position of the test vehicle relative to the ground remains unchanged, wherein the second direction of travel is opposite to the first direction of travel; based on the first operating status information, controlling the target vehicle to travel in the second direction of travel and acquiring second operating status information, wherein the second operating status information is used to represent the operating status of the target vehicle and includes vehicle speed information, vehicle acceleration information and vehicle position information of the target vehicle.

[0109] Optionally, the control module 404 is further configured to determine a first driving force based on the first operating state information; and control the vehicle transmission platform to rotate in a second operating direction based on the first driving force.

[0110] Optionally, the acquisition module 401 is further configured to acquire a first braking force, wherein the first braking force represents the braking force generated by the vehicle under test after the automatic emergency braking function is activated; the autonomous driving test device further includes an update module 405, configured to update the first driving force based on the first braking force and the first operating status information to obtain a second driving force; the control module 404 is further configured to control the vehicle transmission platform to rotate based on the second driving force so that the position of the vehicle under test relative to the ground remains unchanged.

[0111] Optionally, the control module 404 is also used to determine the desired speed of the target vehicle based on the first braking force and the first operating state information; and to control the target vehicle to travel in the second operating direction at the desired speed.

[0112] Optionally, the test module 403 is further configured to determine the test result as a braking failure of the test vehicle when the distance between the test vehicle and the target vehicle is less than or equal to a second preset threshold; and to determine the test result as a braking success of the test vehicle when the distance between the test vehicle and the target vehicle is greater than or equal to the second preset threshold and the target vehicle is stationary.

[0113] It should be noted that the above modules can be implemented by software or hardware. For the latter, they can be implemented in the following ways, but are not limited to: all the above modules are located in the same processor; or, the above modules are located in different processors in any combination.

[0114] According to one embodiment of the present invention, a non-volatile storage medium is also provided, wherein a computer program is stored in the storage medium, and the computer program is configured to execute the steps in any of the above method embodiments when running.

[0115] Optionally, in this embodiment, the storage medium may be configured to store a computer program for performing the following steps:

[0116] Step S1: Obtain the distance between the vehicle under test and the target vehicle, wherein the vehicle under test is placed on the vehicle transmission platform and the target vehicle is the vehicle in front of the vehicle under test.

[0117] Step S2: In response to the distance between the tested vehicle and the target vehicle being less than a first preset threshold, the automatic emergency braking function of the tested vehicle is activated.

[0118] Step S3: In response to the automatic emergency braking function being activated, the automatic emergency braking function is tested based on the distance between the tested vehicle and the target vehicle to obtain the test result, wherein the test result is used to indicate whether the tested vehicle has successfully braked.

[0119] Optionally, in this embodiment, the storage medium may include, but is not limited to, various media capable of storing computer programs, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0120] According to one embodiment of the present invention, a processor is also provided, the processor being used to run a program, wherein the program is configured to execute the steps in any of the above method embodiments when running.

[0121] Optionally, in this embodiment, the processor can be configured to perform the following steps via a computer program:

[0122] Step S1: Obtain the distance between the vehicle under test and the target vehicle, wherein the vehicle under test is placed on the vehicle transmission platform and the target vehicle is the vehicle in front of the vehicle under test.

[0123] Step S2: In response to the distance between the tested vehicle and the target vehicle being less than a first preset threshold, the automatic emergency braking function of the tested vehicle is activated.

[0124] Step S3: In response to the automatic emergency braking function being activated, the automatic emergency braking function is tested based on the distance between the tested vehicle and the target vehicle to obtain the test result, wherein the test result is used to indicate whether the tested vehicle has successfully braked.

[0125] According to one embodiment of the present invention, an electronic device is also provided, including a memory and a processor, wherein the memory stores a computer program and the processor is configured to run the computer program to perform the steps in any of the above method embodiments.

[0126] Optionally, in this embodiment, the processor can be configured to perform the following steps via a computer program:

[0127] Step S1: Obtain the distance between the vehicle under test and the target vehicle, wherein the vehicle under test is placed on the vehicle transmission platform and the target vehicle is the vehicle in front of the vehicle under test.

[0128] Step S2: In response to the distance between the tested vehicle and the target vehicle being less than a first preset threshold, the automatic emergency braking function of the tested vehicle is activated.

[0129] Step S3: In response to the automatic emergency braking function being activated, the automatic emergency braking function is tested based on the distance between the tested vehicle and the target vehicle to obtain the test result, wherein the test result is used to indicate whether the tested vehicle has successfully braked.

[0130] Optionally, specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementations, and will not be repeated here.

[0131] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0132] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0133] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0134] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0135] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0136] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0137] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. An autonomous driving testing method, characterized in that, The method includes: The distance between the tested vehicle and the target vehicle is obtained, wherein the tested vehicle is placed on a vehicle transmission platform and the target vehicle is the vehicle in front of the tested vehicle; In response to the distance between the tested vehicle and the target vehicle being less than a first preset threshold, the automatic emergency braking function of the tested vehicle is activated. In response to the automatic emergency braking function being activated, the automatic emergency braking function is tested based on the distance between the vehicle under test and the target vehicle to obtain a test result, wherein the test result is used to indicate whether the vehicle under test has successfully braked. Before obtaining the distance between the tested vehicle and the target vehicle, the method further includes: controlling the tested vehicle to travel in a first direction of travel and obtaining first operating status information, wherein the first operating status information is used to represent the operating status of the tested vehicle, and the first operating status information includes vehicle speed information, vehicle acceleration information, and vehicle position information of the tested vehicle; determining a first driving force based on the first operating status information; controlling the vehicle transmission platform to rotate in a second direction of travel based on the first driving force so that the position of the tested vehicle relative to the ground remains unchanged, wherein the second direction of travel is opposite to the first direction of travel; obtaining a first braking force, wherein the first braking force is used to represent the distance between the tested vehicle and the target vehicle. After the automatic emergency braking function is activated, the braking force generated by the vehicle under test is obtained; the first driving force is updated based on the first braking force and the first operating status information to obtain the second driving force; the vehicle transmission platform is controlled to rotate based on the second driving force so that the position of the vehicle under test relative to the ground remains unchanged; the desired speed of the target vehicle is determined based on the first braking force and the first operating status information; the target vehicle is controlled to travel in the second operating direction at the desired speed, and the second operating status information is obtained, wherein the second operating status information is used to represent the operating status of the target vehicle, and the second operating status information includes the vehicle speed information, vehicle acceleration information and vehicle position information of the target vehicle.

2. The autonomous driving testing method according to claim 1, characterized in that, The automatic emergency braking function is tested based on the distance between the tested vehicle and the target vehicle, and the test results include: In response to the distance between the tested vehicle and the target vehicle being less than or equal to a second preset threshold, the test result is determined to be that the tested vehicle has failed to brake. In response to the distance between the tested vehicle and the target vehicle being greater than or equal to a second preset threshold, and the target vehicle being stationary, the test result is determined to be that the tested vehicle has successfully braked.

3. An autonomous driving testing device, characterized in that, The device includes: The acquisition module is used to acquire the distance between the vehicle under test and the target vehicle, wherein the vehicle under test is placed on a vehicle transmission platform and the target vehicle is the vehicle in front of the vehicle under test; An activation module is used to activate the automatic emergency braking function of the vehicle under test in response to the distance between the vehicle under test and the target vehicle being less than a first preset threshold. The testing module is used to test the automatic emergency braking function based on the distance between the vehicle under test and the target vehicle in response to the automatic emergency braking function being activated, and to obtain a test result, wherein the test result is used to indicate whether the vehicle under test has successfully braked. Before acquiring the distance between the tested vehicle and the target vehicle, the device further controls the tested vehicle to travel in a first direction of travel and acquires first operating status information, wherein the first operating status information represents the operating status of the tested vehicle and includes vehicle speed information, vehicle acceleration information, and vehicle position information; determines a first driving force based on the first operating status information; controls the vehicle transmission platform to rotate in a second direction of travel based on the first driving force so that the position of the tested vehicle relative to the ground remains unchanged, wherein the second direction of travel is opposite to the first direction of travel; and acquires a first braking force, wherein the first braking force represents the distance between the tested vehicle and the target vehicle. After the emergency braking function is activated, the braking force generated by the vehicle under test is obtained; the first driving force is updated based on the first braking force and the first operating status information to obtain the second driving force; the vehicle transmission platform is controlled to rotate based on the second driving force so that the position of the vehicle under test relative to the ground remains unchanged; the desired speed of the target vehicle is determined based on the first braking force and the first operating status information; the target vehicle is controlled to travel in the second operating direction at the desired speed, and the second operating status information is obtained, wherein the second operating status information is used to represent the operating status of the target vehicle, and the second operating status information includes the vehicle speed information, vehicle acceleration information and vehicle position information of the target vehicle.

4. A non-volatile storage medium, characterized in that, The storage medium stores a computer program, wherein the computer program is configured to execute the autonomous driving test method according to any one of claims 1 to 2 when it is run.

5. A processor, characterized in that, The processor is used to run a program, wherein the program is configured to execute the autonomous driving test method according to any one of claims 1 to 2 at runtime.

6. An electronic device comprising a memory and a processor, characterized in that, The memory stores a computer program, and the processor is configured to run the computer program to perform the autonomous driving test method as described in any one of claims 1 to 2.

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