A method, device, vehicle and storage medium for active safety testing of autonomous driving

Abstract

Embodiments of the present invention provide an active safety test method, device, vehicle and storage medium for autonomous driving; the method comprises: in response to a test vehicle control instruction, intercepting a signal of the autonomous driving controller; generating a test pre-condition parameter according to the test vehicle control instruction; sending the test pre-condition parameter to the condition controller, the condition controller being used to control the vehicle to reach a test pre-condition according to the test pre-condition parameter; under the test pre-condition, in response to an active safety control request sent by the autonomous driving controller, forwarding the active safety control request to the condition controller so that the condition controller executes an operation corresponding to the active safety control request; the embodiments of the present invention can achieve active safety testing of a vehicle without relying on an execution robot, thereby reducing testing costs.

Description

Technical Field

[0001] The present invention relates to the field of vehicle testing technology, and in particular to an automatic driving active safety testing method, an automatic driving active safety testing device, a vehicle and a storage medium. Background Art

[0002] With the promotion of autonomous driving functions, consumers are paying more and more attention to the active safety of vehicles. During the development of active safety of vehicles, a large number of tests and verifications will be carried out. In the current industry-recognized test and evaluation process, a considerable number of working conditions require precise control of the direction and speed of the vehicle to meet the relevant test preconditions of the test and evaluation procedures. For example, in the head-on collision test of the automatic emergency braking function, the vehicle is required to maintain a straight line and a constant speed. The lateral displacement deviation and longitudinal speed deviation of the vehicle cannot exceed the specified threshold, which makes control difficult.

[0003] The current general implementation and application scheme in the industry is to add peripherals such as driving robots (brake, throttle and steering robots, etc.) to the test vehicle to accurately control the vehicle's brake pedal and throttle opening, as well as the steering rate and steering angle, so as to accurately control the vehicle's longitudinal and lateral running state, and ensure that the vehicle's expected longitudinal speed and lateral offset are within the evaluation procedures. However, the driving robot is highly complex, large in size and weight, complicated to install and debug, and expensive, which leads to high testing costs. Summary of the invention

[0004] In view of the above problems, embodiments of the present invention are proposed to provide an active safety testing method for autonomous driving, an active safety testing device for autonomous driving, a vehicle, and a storage medium that overcome the above problems or at least partially solve the above problems.

[0005] In order to solve the above problems, in a first aspect of the present invention, an embodiment of the present invention discloses an active safety test method for autonomous driving, which is applied to a vehicle control system, wherein the vehicle control system is connected to an autonomous driving controller and a working condition controller of a vehicle, and the autonomous driving controller and the working condition controller interact with each other through the vehicle control system. The method includes:

[0006] In response to a test vehicle control instruction, intercepting a signal of the automatic driving controller;

[0007] Generate test pre-condition parameters according to the test vehicle control instruction;

[0008] The pre-test operating condition parameters are sent to the operating condition controller, and the operating condition controller is used to control the vehicle to reach the pre-test operating condition according to the pre-test operating condition parameters;

[0009] Under the pre-test working condition, in response to the active safety control request sent by the automatic driving controller, the active safety control request is forwarded to the working condition controller so that the working condition controller performs the operation corresponding to the active safety control request.

[0010] Optionally, the method further comprises:

[0011] Under the test precondition, receiving a simulated human driving control request;

[0012] The simulated human driving control request and the active safety control request are sent to the operating condition controller.

[0013] Optionally, the method further comprises:

[0014] Collecting control data of the working condition controller executing the active safety control request;

[0015] Test information is generated according to the control data.

[0016] Optionally, the test vehicle control instruction includes a target position point and a target speed; and the step of generating a test pre-operating condition parameter according to the test vehicle control instruction includes:

[0017] Determining a steering wheel angle according to the target position point;

[0018] Determining acceleration and throttle opening according to the target speed;

[0019] The steering wheel angle, the acceleration and the throttle opening are determined as test pre-condition parameters.

[0020] Optionally, the operating condition controller includes a steering control electronic unit, a body stability control electronic unit and a core control electronic unit; the steering control electronic unit is used to execute the steering wheel angle; the body stability control electronic unit is used to execute the acceleration; and the core control electronic unit is used to execute the throttle opening.

[0021] Optionally, before the step of sending the test pre-operating condition parameters to the operating condition controller, the method further includes:

[0022] A handshake signal state is sent to the operating condition controller; and the operating condition controller feeds back a handshake response signal based on the handshake signal state.

[0023] Optionally, the method further comprises:

[0024] Forward the handshake response signal to the automatic driving controller.

[0025] In a second aspect of the present invention, an embodiment of the present invention discloses an active safety test device for autonomous driving, which is applied to a vehicle control system. The vehicle control system is connected to an autonomous driving controller and a working condition controller of a vehicle. The autonomous driving controller and the working condition controller interact with each other through the vehicle control system. The device includes:

[0026] A first response module, configured to intercept a signal of the automatic driving controller in response to a test vehicle control instruction;

[0027] A working condition determination module, used to generate pre-test working condition parameters according to the test vehicle control instruction;

[0028] A first sending module, used for sending the pre-test operating condition parameters to the operating condition controller, and the operating condition controller is used for controlling the vehicle to reach the pre-test operating condition according to the pre-test operating condition parameters;

[0029] The first execution module is used to respond to the active safety control request sent by the automatic driving controller under the pre-test condition and forward the active safety control request to the working condition controller so that the working condition controller performs the operation corresponding to the active safety control request.

[0030] In the third aspect of the present invention, an embodiment of the present invention discloses a vehicle, including a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program, when executed by the processor, implements the active safety testing method for autonomous driving as described above.

[0031] In a fourth aspect of the present invention, an embodiment of the present invention discloses a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the active safety testing method for autonomous driving as described above is implemented.

[0032] The embodiments of the present invention include the following advantages:

[0033] The embodiment of the present invention intercepts the signal of the automatic driving controller by responding to the test vehicle control instruction; generates the test pre-condition parameters according to the test vehicle control instruction; sends the test pre-condition parameters to the condition controller, and the condition controller is used to control the vehicle to reach the test pre-condition according to the test pre-condition parameters; under the test pre-condition, in response to the active safety control request sent by the automatic driving controller, forward the active safety control request to the condition controller, so that the condition controller performs the operation corresponding to the active safety control request. By intercepting the signal of the automatic driving controller based on the vehicle control system and controlling the condition controller based on the test pre-condition parameters, the situation of human driving the vehicle is simulated, and when the test scene is reached, the vehicle control system exits the control of the vehicle, and the condition controller directly performs the operation corresponding to the active safety control request, so that the response action of the automatic driving controller is directly operated, the driving behavior of the automatic driving controller in terms of active safety is tested, and the active safety test of the vehicle is completed. The whole process does not require the installation of a driving robot, which reduces the testing cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 is a flowchart of steps of an embodiment of an active safety test method for autonomous driving of the present invention;

[0035] Figure 2 is a flowchart of another embodiment of an active safety test method for autonomous driving of the present invention;

[0036] Figure 3 It is a schematic diagram of the architecture of an embodiment of an active safety test method for autonomous driving of the present invention;

[0037] Figure 4 is a test schematic diagram of an example of an active safety test method for autonomous driving of the present invention;

[0038] Figure 5 is a structural block diagram of an embodiment of an active safety test device for autonomous driving of the present invention;

[0039] Figure 6 is a structural block diagram of a vehicle provided by an embodiment of the present invention;

[0040] Figure 7 It is a structural block diagram of a storage medium provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0041] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0042] Reference Figure 1, showing a step flow chart of an embodiment of an active safety test method for autonomous driving of the present invention, wherein the active safety test method for autonomous driving is applied to a vehicle control system, wherein the vehicle control system is connected to an autonomous driving controller and an operating condition controller of the vehicle, and the autonomous driving controller and the operating condition controller interact through the vehicle control system.

[0043] In an embodiment of the present invention, the vehicle control system is located between the automatic driving controller and the working condition controller in the data control closed loop, and is connected to the automatic driving controller and the working condition controller respectively. The data interaction between the automatic driving controller and the working condition controller is realized through the vehicle control system, that is, the vehicle control system can forward the data between the automatic driving controller and the working condition controller in both directions. Among them, the automatic driving controller refers to the main controller when the vehicle performs automatic driving (or assisted driving). The working condition controller refers to the controller that controls the operation of the actuator on the vehicle. Such as the controller that controls the steering of the vehicle, the controller that controls the speed of the vehicle, and so on.

[0044] The autonomous driving active safety test method may specifically include the following steps:

[0045] Step 101, in response to a test vehicle control instruction, intercepting a signal of the automatic driving controller;

[0046] After the vehicle enters the test environment, it can stand still in the test environment. After the vehicle is powered on and running, when it is necessary to start testing, the tester can send a test control command to the vehicle control system on the vehicle through a mobile terminal or other device. The test control command is used to instruct the vehicle control system to start active safety testing. The vehicle control system can respond to the test control command and intercept the signal of the automatic driving controller.

[0047] Step 102, generating test pre-condition parameters according to the test vehicle control instruction;

[0048] According to the test condition target in the test vehicle control instruction, the pre-test condition parameters are generated. The pre-test condition parameters are used to characterize the conditions that the vehicle needs to achieve during the test.

[0049] Step 103, sending the pre-test operating condition parameters to the operating condition controller, the operating condition controller is used to control the vehicle to reach the pre-test operating condition according to the pre-test operating condition parameters;

[0050] After the pre-test operating condition parameters are generated, the pre-test operating condition parameters may be sent to the operating condition controller, which controls the vehicle to achieve the corresponding vehicle operating condition, namely the pre-test operating condition, according to the pre-test operating condition parameters.

[0051] Step 104, under the pre-test working condition, in response to the active safety control request sent by the automatic driving controller, forward the active safety control request to the working condition controller so that the working condition controller performs the operation corresponding to the active safety control request.

[0052] After the vehicle reaches the pre-test condition, active safety testing can be performed. When the autonomous driving controller detects that the active safety function needs to be triggered, an active safety control request is issued. For example, if the active braking function of the vehicle needs to be tested, an active safety control request can be issued when an obstacle is detected within a certain distance of the vehicle and active braking is required.

[0053] The vehicle control system can respond to the active safety control request sent by the automatic driving controller, forward the active safety control request to the working condition controller, the vehicle control system exits control, and the working condition controller executes the operation corresponding to the active safety control request to complete the active safety test.

[0054] The embodiment of the present invention intercepts the signal of the automatic driving controller by responding to the test vehicle control instruction; generates the test pre-condition parameters according to the test vehicle control instruction; sends the test pre-condition parameters to the condition controller, and the condition controller is used to control the vehicle to reach the test pre-condition according to the test pre-condition parameters; under the test pre-condition, in response to the active safety control request sent by the automatic driving controller, forward the active safety control request to the condition controller, so that the condition controller performs the operation corresponding to the active safety control request. By intercepting the signal of the automatic driving controller based on the vehicle control system and controlling the condition controller based on the test pre-condition parameters, the situation of human driving the vehicle is simulated, and when the test scene is reached, the vehicle control system exits the control of the vehicle, and the condition controller directly performs the operation corresponding to the active safety control request, so that the response action of the automatic driving controller is directly operated, the driving behavior of the automatic driving controller in terms of active safety is tested, and the active safety test of the vehicle is completed. The whole process does not require the installation of a driving robot, which reduces the testing cost.

[0055] Reference Figure 2 , showing a step flow chart of another embodiment of an active safety test method for autonomous driving of the present invention, wherein the active safety test method for autonomous driving is applied to a vehicle control system, wherein the vehicle control system is connected to an autonomous driving controller and an operating condition controller of the vehicle, and the autonomous driving controller and the operating condition controller interact through the vehicle control system.

[0056] For the architecture of the vehicle control system, autonomous driving controller, and operating condition controller, please refer to Figure 3The vehicle control system is connected in series between the automatic driving controller and the EPS (electric power steering system), ESC (body stability system), VCU (vehicle control electronic unit) controller and other working condition controllers. Figure 3 In normal human driving mode, the vehicle control system directly forwards the non-automatic driving status signal of the automatic driving controller on CAN (Controller Area Network) bus 1 to CAN bus 2 for EPS, ESC, and VCU controllers to receive, and also directly forwards the non-automatic driving status signal of the EPS, ESC, and VCU controllers on CAN bus 2 to CAN bus 1 for the automatic driving controller to receive, thereby realizing closed-loop control of the human driving mode.

[0057] The autonomous driving active safety test method may specifically include the following steps:

[0058] Step 201, in response to a test vehicle control instruction, intercepting a signal of the automatic driving controller;

[0059] When the vehicle reaches a certain position or state, the tester or remote driver can send a vehicle control command to the vehicle control system. The vehicle control system can respond to the test vehicle control command and intercept the signal of the automatic driving controller. Figure 3 As shown, the vehicle control system can intercept and not process the signal sent by the automatic driving controller to CAN bus 1.

[0060] Step 202, sending a handshake signal state to the operating condition controller; the operating condition controller feeds back a handshake response signal based on the handshake signal state;

[0061] When preparing for the test, the vehicle control system may first start simulating the automatic driving vehicle, generate a handshake signal state, and send the handshake signal state to the working condition controller. The working condition controller may feedback a handshake response signal based on the handshake signal state.

[0062] Step 203, forwarding the handshake response signal to the automatic driving controller;

[0063] After the vehicle control system receives the corresponding handshake response signal, the automatic driving handshake process with the working condition controller is completed. The handshake response signal can be set to a non-handshake state and then forwarded to the automatic driving controller. The automatic driving controller receives the post-handshake response signal in a non-handshake state. Due to the non-handshake state, the automatic driving controller does not cut into the control of the vehicle, that is, the vehicle remains in human driving mode.

[0064] Step 204, generating test pre-condition parameters according to the test vehicle control instruction;

[0065] The target value in the test vehicle control instruction can be analyzed to determine the corresponding test pre-condition parameters.

[0066] Specifically, the test vehicle control instruction includes a target position point and a target speed; the step of generating test pre-operating condition parameters based on the test vehicle control instruction includes: determining a steering wheel angle based on the target position point; determining an acceleration and a throttle opening based on the target speed; and determining the steering wheel angle, the acceleration and the throttle opening as test pre-operating condition parameters.

[0067] The test vehicle control command may include the target position point and target speed to be reached. The steering wheel angle may be determined based on the target position point so that the vehicle can be controlled to turn and drive to the corresponding target point. The acceleration and throttle opening may be determined based on the target speed so that the vehicle can be controlled to drive in a reasonable posture to reach the corresponding test speed. The steering wheel angle, acceleration and throttle opening are determined as the pre-test working condition parameters so that the vehicle can be controlled to reach the corresponding state.

[0068] Step 205, sending the pre-test operating condition parameters to the operating condition controller, the operating condition controller is used to control the vehicle to reach the pre-test operating condition according to the pre-test operating condition parameters;

[0069] In an embodiment of the present invention, the pre-test operating condition parameters may be sent to an operating condition controller, and the operating condition controller controls the vehicle to reach the pre-test operating condition according to the pre-test operating condition parameters.

[0070] Specifically, the working condition controller includes a steering control electronic unit, a body stability control electronic unit and a core control electronic unit; the steering control electronic unit is used to execute the steering wheel angle; the body stability control electronic unit is used to execute the acceleration; and the core control electronic unit is used to execute the throttle opening.

[0071] Step 206, under the pre-test working condition, in response to the active safety control request sent by the automatic driving controller, forward the active safety control request to the working condition controller so that the working condition controller performs the operation corresponding to the active safety control request.

[0072] When the pre-test conditions are met, the relative relationship between the vehicle and the obstacle or road changes, and the triggering conditions of the function to be tested are met, the automatic driving controller can issue an active safety control request. The automatic driving controller sends the active safety control request triggered by the function to be tested to the vehicle control system. The vehicle control system immediately exits the automatic driving state and sends the active safety control request to the EPS, ESC, VCU and other working condition controllers. After receiving the active safety control request, the EPS, ESC, VCU controllers immediately exit the automatic driving state and perform the operations corresponding to the active safety control request. EPS, ESC, VCU and other working condition controllers execute the operations corresponding to the active safety control request in real time and generate an execution status signal. And send the execution status signal to the vehicle control system. The vehicle control system receives the execution status signal and directly sends it to the automatic driving controller. The automatic driving controller performs the next action after receiving the execution status signal. This is done until the complete test process of the vehicle's function to be tested is completed.

[0073] In addition, since when the active safety function is triggered, it is always in an emergency and dangerous situation, people will also control the vehicle in an emergency. For example, during active braking, people may also brake. In order to make the active safety test closer to the actual situation. Under the pre-test working condition, a simulated human driving control request can be received; the simulated human driving control request and the active safety control request can be sent to the working condition controller.

[0074] By simulating the driver's driving control behavior under the pre-test working condition, receiving the simulated human driving control request, and sending the simulated human driving control request and the active safety control request to the working condition controller. The working condition controller executes the simulated human driving control request and the active safety control request at the same time to verify the execution of the active safety function when human driving behavior is involved.

[0075] In an optional embodiment of the present invention, the method further comprises:

[0076] Step S1, collecting control data of the operating condition controller executing the active safety control request;

[0077] In the embodiment of the present invention, control data generated when the operating condition controller executes an active safety control request may be used.

[0078] Step S2, generating test information according to the control data.

[0079] The obtained control data is summarized and analyzed to determine whether the test meets the established objectives and generate corresponding test information.

[0080] The embodiment of the present invention intercepts the signal of the automatic driving controller in response to the test vehicle control instruction; generates the test pre-condition parameter according to the test vehicle control instruction; sends the handshake signal status to the condition controller; the condition controller feeds back the handshake response signal based on the handshake signal status; forwards the handshake response signal to the automatic driving controller; sends the test pre-condition parameter to the condition controller, and the condition controller is used to control the vehicle to reach the test pre-condition according to the test pre-condition parameter; under the test pre-condition, in response to the active safety control request sent by the automatic driving controller, forwards the active safety control request to the condition controller, so that the condition controller performs the operation corresponding to the active safety control request. By intercepting the signal of the automatic driving controller based on the vehicle control system, simulating the handshake communication between the condition controller and the automatic driving controller, controlling the condition controller based on the test pre-condition parameter, simulating the situation of human driving the vehicle, ensuring that there is no automatic driving controller to control the vehicle before the test, so that the behavior before the active safety test is closer to human driving behavior. When the test scenario is reached, the vehicle control system exits the control of the vehicle, and the working condition controller directly performs the operation corresponding to the active safety control request, so that the response action of the automatic driving controller is directly operated, the driving behavior of the automatic driving controller in terms of active safety is tested, and the active safety test of the vehicle is completed. The whole process does not require the installation of a driving robot, which reduces the test cost.

[0081] In order to make the implementation process of the present invention clear to those skilled in the art, an example is used to illustrate the following:

[0082] You can refer to Figure 4 When the vehicle reaches point A, the vehicle control system responds to the test vehicle control command and intercepts the signal of the automatic driving controller. According to the straight line, curve radius R, target speed v and collision point requirements of the working condition, the curve equation of the planned path curve ABC is constructed through geometric relationships as y=f(x), where A is the starting point of the path, B is the intersection of the straight line and the turn, and C is the test collision point; in the AB straight line and BC curve stages, the actual vehicle speed v' is collected in real time, and the longitudinal speed closed-loop control is performed according to the target speed v requirement: if the actual speed v' is less than the target speed v, the VCU throttle opening request is controlled to increase and the braking deceleration request is 0; if the actual speed v' is greater than the target speed v, the VCU throttle opening request is controlled to be 0 and a certain target deceleration request is sent (such as -0.5m / s 2), thereby ensuring that the error between the actual vehicle speed and the target vehicle speed meets the test requirements; in the AB straight line and BC curve stages, the vehicle real-time position D output by the inertial navigation sensor on the vehicle is collected in real time, and the error ε between D and the nearest point on the y=f(x) curve is calculated, and the real-time steering wheel angle request is output according to the linear quadratic regulator LQR control method to ensure that the actual motion trajectory of the vehicle follows the planned curve y=f(x) as much as possible.

[0083] After reaching point C, in response to the active safety control request sent by the automatic driving controller, the active safety control request is forwarded to the working condition controller, and the working condition controller brakes based on the active safety control request, thereby completing the active test process.

[0084] It should be noted that, for the sake of simplicity, the method embodiments are described as a series of action combinations, but those skilled in the art should be aware that the embodiments of the present invention are not limited by the order of the actions described, because according to the embodiments of the present invention, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present invention.

[0085] Reference Figure 5 , shows a structural block diagram of an embodiment of an automatic driving active safety test device of the present invention, the automatic driving active safety test device is applied to a vehicle control system, the vehicle control system is connected to an automatic driving controller and a working condition controller of a vehicle, the automatic driving controller and the working condition controller interact through the vehicle control system, and the automatic driving active safety test device may specifically include the following modules:

[0086] A first response module 501 is used to intercept the signal of the automatic driving controller in response to the test vehicle control instruction;

[0087] The working condition determination module 502 is used to generate the pre-test working condition parameters according to the test vehicle control instruction;

[0088] A first sending module 503, used for sending the pre-test operating condition parameters to the operating condition controller, and the operating condition controller is used for controlling the vehicle to reach the pre-test operating condition according to the pre-test operating condition parameters;

[0089] The first execution module 504 is used to respond to the active safety control request sent by the automatic driving controller under the pre-test condition and forward the active safety control request to the operating condition controller so that the operating condition controller performs the operation corresponding to the active safety control request.

[0090] In an optional embodiment of the present invention, the device further comprises:

[0091] A receiving module, used for receiving a simulated human driving control request under the test pre-condition;

[0092] The second sending module is used to send the simulated human driving control request and the active safety control request to the working condition controller.

[0093] In an optional embodiment of the present invention, the device further comprises:

[0094] A collection module, used for collecting control data of the working condition controller executing the active safety control request;

[0095] A generating module is used to generate test information according to the control data.

[0096] In an optional embodiment of the present invention, the test vehicle control instruction includes a target position point and a target speed; the working condition determination module 502 includes:

[0097] A steering determination submodule, used to determine a steering wheel angle according to the target position point;

[0098] A power determination submodule, used to determine the acceleration and throttle opening according to the target speed;

[0099] The working condition determination submodule is used to determine the steering wheel angle, the acceleration and the throttle opening as test pre-working condition parameters.

[0100] In an optional embodiment of the present invention, the operating condition controller includes a steering control electronic unit, a body stability control electronic unit and a core control electronic unit; the steering control electronic unit is used to execute the steering wheel angle; the body stability control electronic unit is used to execute the acceleration; and the core control electronic unit is used to execute the throttle opening.

[0101] In an optional embodiment of the present invention, the device further comprises:

[0102] The first handshake module is used to send a handshake signal status to the working condition controller; the working condition controller feeds back a handshake response signal based on the handshake signal status.

[0103] In an optional embodiment of the present invention, the device further comprises:

[0104] The first handshake module is used to forward the handshake response signal to the automatic driving controller.

[0105] The embodiment of the present invention intercepts the signal of the automatic driving controller by responding to the test vehicle control instruction; generates the test pre-condition parameters according to the test vehicle control instruction; sends the test pre-condition parameters to the condition controller, and the condition controller is used to control the vehicle to reach the test pre-condition according to the test pre-condition parameters; under the test pre-condition, in response to the active safety control request sent by the automatic driving controller, forward the active safety control request to the condition controller, so that the condition controller performs the operation corresponding to the active safety control request. By intercepting the signal of the automatic driving controller based on the vehicle control system and controlling the condition controller based on the test pre-condition parameters, the situation of human driving the vehicle is simulated, and when the test scene is reached, the vehicle control system exits the control of the vehicle, and the condition controller directly performs the operation corresponding to the active safety control request, so that the response action of the automatic driving controller is directly operated, the driving behavior of the automatic driving controller in terms of active safety is tested, and the test of the active safety of the vehicle is completed. The whole process does not require the installation of a driving robot, which reduces the testing cost.

[0106] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0107] Reference Figure 6 , an embodiment of the present invention further provides a vehicle, comprising:

[0108] A processor 601 and a storage medium 602, wherein the storage medium 602 stores a computer program executable by the processor 601. When the vehicle is running, the processor 601 executes the computer program to implement the active safety testing method for autonomous driving as described in any one of the embodiments of the present invention.

[0109] The automatic driving active safety test method is applied to a vehicle control system, the vehicle control system is connected to an automatic driving controller and a working condition controller of a vehicle, the automatic driving controller and the working condition controller interact with each other through the vehicle control system, and the method includes:

[0110] In response to a test vehicle control instruction, intercepting a signal of the automatic driving controller;

[0111] Generate test pre-condition parameters according to the test vehicle control instruction;

[0112] The pre-test operating condition parameters are sent to the operating condition controller, and the operating condition controller is used to control the vehicle to reach the pre-test operating condition according to the pre-test operating condition parameters;

[0113] Under the pre-test working condition, in response to the active safety control request sent by the automatic driving controller, the active safety control request is forwarded to the working condition controller so that the working condition controller performs the operation corresponding to the active safety control request.

[0114] Optionally, the method further comprises:

[0115] Under the test precondition, receiving a simulated human driving control request;

[0116] The simulated human driving control request and the active safety control request are sent to the operating condition controller.

[0117] Optionally, the method further comprises:

[0118] Collecting control data of the working condition controller executing the active safety control request;

[0119] Test information is generated according to the control data.

[0120] Optionally, the test vehicle control instruction includes a target position point and a target speed; and the step of generating a test pre-operating condition parameter according to the test vehicle control instruction includes:

[0121] Determining a steering wheel angle according to the target position point;

[0122] Determining acceleration and throttle opening according to the target speed;

[0123] The steering wheel angle, the acceleration and the throttle opening are determined as test pre-condition parameters.

[0124] Optionally, the operating condition controller includes a steering control electronic unit, a body stability control electronic unit and a core control electronic unit; the steering control electronic unit is used to execute the steering wheel angle; the body stability control electronic unit is used to execute the acceleration; and the core control electronic unit is used to execute the throttle opening.

[0125] Optionally, before the step of sending the test pre-operating condition parameters to the operating condition controller, the method further includes:

[0126] A handshake signal state is sent to the operating condition controller; and the operating condition controller feeds back a handshake response signal based on the handshake signal state.

[0127] Optionally, the method further comprises:

[0128] Forward the handshake response signal to the automatic driving controller.

[0129] The embodiment of the present invention intercepts the signal of the automatic driving controller by responding to the test vehicle control instruction; generates the test pre-condition parameters according to the test vehicle control instruction; sends the test pre-condition parameters to the condition controller, and the condition controller is used to control the vehicle to reach the test pre-condition according to the test pre-condition parameters; under the test pre-condition, in response to the active safety control request sent by the automatic driving controller, forward the active safety control request to the condition controller, so that the condition controller performs the operation corresponding to the active safety control request. By intercepting the signal of the automatic driving controller based on the vehicle control system and controlling the condition controller based on the test pre-condition parameters, the situation of human driving the vehicle is simulated, and when the test scene is reached, the vehicle control system exits the control of the vehicle, and the condition controller directly performs the operation corresponding to the active safety control request, so that the response action of the automatic driving controller is directly operated, the driving behavior of the automatic driving controller in terms of active safety is tested, and the test of the active safety of the vehicle is completed. The whole process does not require the installation of a driving robot, which reduces the testing cost.

[0130] The memory may include a random access memory (RAM) or a non-volatile memory, such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the processor.

[0131] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0132] Reference Figure 7 An embodiment of the present invention further provides a computer-readable storage medium 701, on which a computer program is stored. When the computer program is run by a processor, the active safety testing method for autonomous driving as described in any one of the embodiments of the present invention is executed.

[0133] The automatic driving active safety test method is applied to a vehicle control system, the vehicle control system is connected to an automatic driving controller and a working condition controller of a vehicle, the automatic driving controller and the working condition controller interact with each other through the vehicle control system, and the method includes:

[0134] In response to a test vehicle control instruction, intercepting a signal of the automatic driving controller;

[0135] Generate test pre-condition parameters according to the test vehicle control instruction;

[0136] The pre-test operating condition parameters are sent to the operating condition controller, and the operating condition controller is used to control the vehicle to reach the pre-test operating condition according to the pre-test operating condition parameters;

[0137] Under the pre-test working condition, in response to the active safety control request sent by the automatic driving controller, the active safety control request is forwarded to the working condition controller so that the working condition controller performs the operation corresponding to the active safety control request.

[0138] Optionally, the method further comprises:

[0139] Under the test precondition, receiving a simulated human driving control request;

[0140] The simulated human driving control request and the active safety control request are sent to the operating condition controller.

[0141] Optionally, the method further comprises:

[0142] Collecting control data of the working condition controller executing the active safety control request;

[0143] Test information is generated according to the control data.

[0144] Optionally, the test vehicle control instruction includes a target position point and a target speed; and the step of generating a test pre-operating condition parameter according to the test vehicle control instruction includes:

[0145] Determining a steering wheel angle according to the target position point;

[0146] Determining acceleration and throttle opening according to the target speed;

[0147] The steering wheel angle, the acceleration and the throttle opening are determined as test pre-condition parameters.

[0148] Optionally, the operating condition controller includes a steering control electronic unit, a body stability control electronic unit and a core control electronic unit; the steering control electronic unit is used to execute the steering wheel angle; the body stability control electronic unit is used to execute the acceleration; and the core control electronic unit is used to execute the throttle opening.

[0149] Optionally, before the step of sending the test pre-operating condition parameters to the operating condition controller, the method further includes:

[0150] A handshake signal state is sent to the operating condition controller; and the operating condition controller feeds back a handshake response signal based on the handshake signal state.

[0151] Optionally, the method further comprises:

[0152] Forward the handshake response signal to the automatic driving controller.

[0153] The embodiment of the present invention intercepts the signal of the automatic driving controller by responding to the test vehicle control instruction; generates the test pre-condition parameters according to the test vehicle control instruction; sends the test pre-condition parameters to the condition controller, and the condition controller is used to control the vehicle to reach the test pre-condition according to the test pre-condition parameters; under the test pre-condition, in response to the active safety control request sent by the automatic driving controller, forward the active safety control request to the condition controller, so that the condition controller performs the operation corresponding to the active safety control request. By intercepting the signal of the automatic driving controller based on the vehicle control system and controlling the condition controller based on the test pre-condition parameters, the situation of human driving the vehicle is simulated, and when the test scene is reached, the vehicle control system exits the control of the vehicle, and the condition controller directly performs the operation corresponding to the active safety control request, so that the response action of the automatic driving controller is directly operated, the driving behavior of the automatic driving controller in terms of active safety is tested, and the active safety test of the vehicle is completed. The whole process does not require the installation of a driving robot, which reduces the testing cost.

[0154] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0155] It will be appreciated by those skilled in the art that the embodiments of the present invention may be provided as methods, devices, or computer program products. Therefore, the embodiments of the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the embodiments of the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0156] The embodiments of the present invention are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks 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 terminal device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal 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.

[0157] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including 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.

[0158] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0159] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0160] Finally, it should be noted that, in this article, relational terms such as first and second, etc. 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 terminal 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 terminal device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the elements.

[0161] The above is a detailed introduction to an active safety test method for autonomous driving, an active safety test device for autonomous driving, a vehicle and a storage medium provided by the present invention. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. An automatic driving active safety testing method, characterized in that: Applied to a vehicle control system, the vehicle control system is connected to an automatic driving controller and a working condition controller of a vehicle, the automatic driving controller and the working condition controller interact through the vehicle control system, and the method includes: In response to a test vehicle control instruction, intercepting a signal of the automatic driving controller; Generate test pre-condition parameters according to the test vehicle control instruction; The pre-test operating condition parameters are sent to the operating condition controller, and the operating condition controller is used to control the vehicle to reach the pre-test operating condition according to the pre-test operating condition parameters; Under the pre-test working condition, a simulated human driving control request is received, and in response to the active safety control request sent by the automatic driving controller, the active safety control request and the simulated human driving control request are forwarded to the working condition controller, so that the working condition controller performs operations corresponding to the active safety control request and the simulated human driving control request.

2. The method according to claim 1, characterized in that: The method further comprises: Collecting control data of the working condition controller executing the active safety control request; Test information is generated according to the control data.

3. The method according to claim 1, characterized in that The test vehicle control instruction includes a target position point and a target speed; the step of generating a test pre-operating condition parameter according to the test vehicle control instruction includes: Determining a steering wheel angle according to the target position point; Determining acceleration and throttle opening according to the target speed; The steering wheel angle, the acceleration and the throttle opening are determined as test pre-condition parameters.

4. The method according to claim 3, characterized in that The working condition controller includes a steering control electronic unit, a body stability control electronic unit and a core control electronic unit; the steering control electronic unit is used to execute the steering wheel angle; the body stability control electronic unit is used to execute the acceleration; and the core control electronic unit is used to execute the throttle opening.

5. The method according to claim 1, characterized in that Before the step of sending the test pre-condition parameters to the condition controller, the method further includes: A handshake signal state is sent to the operating condition controller; and the operating condition controller feeds back a handshake response signal based on the handshake signal state.

6. The method according to claim 5, characterized in that The method further comprises: Forward the handshake response signal to the automatic driving controller.

7. An automatic driving active safety test device, characterized in that: Applied to a vehicle control system, the vehicle control system is connected to an automatic driving controller and a working condition controller of a vehicle, the automatic driving controller and the working condition controller interact through the vehicle control system, and the device comprises: A first response module, configured to intercept a signal of the automatic driving controller in response to a test vehicle control instruction; A working condition determination module, used to generate pre-test working condition parameters according to the test vehicle control instruction; A first sending module, used for sending the pre-test operating condition parameters to the operating condition controller, and the operating condition controller is used for controlling the vehicle to reach the pre-test operating condition according to the pre-test operating condition parameters; The first execution module is used to receive a simulated human driving control request under the test pre-condition, and in response to the active safety control request sent by the automatic driving controller, forward the active safety control request and the simulated human driving control request to the working condition controller, so that the working condition controller executes operations corresponding to the active safety control request and the simulated human driving control request.

8. A vehicle, characterized in that: The method comprises a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program, when executed by the processor, implements the steps of the active safety testing method for autonomous driving as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the autonomous driving active safety testing method as described in any one of claims 1 to 6 are implemented.

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