Vehicle testing methods and apparatus

Abstract

A vehicle testing method and apparatus belong to the field of vehicle testing. The method includes: acquiring driving information of the autonomous vehicle during autonomous driving, the driving information including at least one of motion information or control information, the motion information being used to characterize the motion status of the autonomous vehicle, and the control information being used to control the motion of the autonomous vehicle; determining whether the autonomous vehicle has experienced an anomaly based on the driving information and a standard document, the standard document being used to record anomaly determination strategies based on the driving information; if an anomaly is determined, determining an anomaly handling strategy based on the driving information of the autonomous vehicle; and controlling the autonomous vehicle to drive according to the anomaly handling strategy. This application can better handle functional anomalies that occur in vehicles during the testing of autonomous driving functions.

Description

Technical Field

[0001] This application relates to the field of vehicle testing, and in particular to a vehicle testing method and apparatus. Background Technology

[0002] During the testing of autonomous driving functions, in order to ensure vehicle safety, it is necessary to deal with any abnormalities in the vehicle's functions in a timely manner to reduce the risk of traffic accidents.

[0003] Currently, during the testing of autonomous driving functions, a safety driver is usually on board the vehicle to handle any malfunctions, but the handling results are often poor. Summary of the Invention

[0004] This application provides a vehicle testing method and apparatus, which can better handle problems such as functional abnormalities that occur in vehicles during the testing of autonomous driving functions. The technical solution of this application is as follows.

[0005] Firstly, a vehicle testing method is provided, the method comprising:

[0006] During the autonomous driving process, the autonomous vehicle's driving information is acquired. The driving information includes at least one of motion information or control information. The motion information is used to characterize the motion status of the autonomous vehicle, and the control information is used to control the motion of the autonomous vehicle.

[0007] The autonomous vehicle is determined to have experienced an anomaly based on its driving information and a standard file, wherein the standard file is used to record anomaly detection strategies based on driving information.

[0008] If it is determined that the autonomous vehicle has malfunctioned, an malfunction handling strategy is determined based on the driving information of the autonomous vehicle.

[0009] The autonomous vehicle is controlled to drive according to the aforementioned exception handling strategy.

[0010] Optionally, the autonomous vehicle includes a motion controller, a motion detector, and an autonomous driving controller, wherein the motion detector is used to collect motion information of the autonomous vehicle;

[0011] The acquisition of the driving information of the autonomous vehicle includes at least one of the following:

[0012] The system receives motion messages sent by the motion controller, the motion messages carrying motion information of the autonomous vehicle, and the motion messages being generated by the motion controller based on motion information collected by the motion detector.

[0013] The system receives a control message sent by the autonomous driving controller. The control message carries control information of the autonomous vehicle. The control message is generated by the autonomous driving controller based on the control information. The control information is used by the motion controller to control the movement of the vehicle.

[0014] Optionally, determining whether the autonomous vehicle has malfunctioned based on the driving information and standard documents of the autonomous vehicle includes at least one of the following:

[0015] If the standard document does not record the driving information of the autonomous vehicle, it is determined that the autonomous vehicle has malfunctioned.

[0016] If the standard document records the driving information of the autonomous vehicle and the standard document indicates that the driving information is abnormal, it is determined that the autonomous vehicle has malfunctioned.

[0017] If the standard document records the driving information of the autonomous vehicle and the standard document indicates that the driving information is normal, it is determined that the autonomous vehicle has not experienced any abnormalities.

[0018] Optionally, determining the anomaly handling strategy based on the driving information of the autonomous vehicle includes:

[0019] If the driving information of the autonomous vehicle includes control information and the control information is abnormal, the abnormality handling strategy is determined to include cutting off the communication channel between the autonomous driving controller and the motion controller.

[0020] If the driving information of the autonomous vehicle includes motion information and the motion information is abnormal, the abnormality handling strategy is determined to include a motion control strategy.

[0021] Optionally, the motion information includes at least one of driving speed or acceleration.

[0022] Optionally, the motion message and the control message are Controller Area Network (CAN) messages;

[0023] The standard document mentioned is the CAN standard document.

[0024] Secondly, a vehicle testing apparatus is provided, the vehicle testing apparatus comprising:

[0025] The acquisition module is used to acquire driving information of the autonomous vehicle during the autonomous driving process. The driving information includes at least one of motion information or control information. The motion information is used to characterize the motion status of the autonomous vehicle, and the control information is used to control the motion of the autonomous vehicle.

[0026] The first determining module is used to determine whether the autonomous vehicle has experienced an anomaly based on the driving information and standard files of the autonomous vehicle, wherein the standard files are used to record anomaly determination strategies based on driving information.

[0027] The second determining module is used to determine an anomaly handling strategy based on the driving information of the autonomous vehicle when it is determined that an anomaly has occurred in the autonomous vehicle.

[0028] The control module is used to control the autonomous vehicle to drive according to the exception handling strategy.

[0029] Optionally, the autonomous vehicle includes a motion controller, a motion detector, and an autonomous driving controller, wherein the motion detector is used to collect motion information of the autonomous vehicle;

[0030] The acquisition module is configured to perform at least one of the following:

[0031] The system receives motion messages sent by the motion controller, the motion messages carrying motion information of the autonomous vehicle, and the motion messages being generated by the motion controller based on motion information collected by the motion detector.

[0032] The system receives a control message sent by the autonomous driving controller. The control message carries control information of the autonomous vehicle. The control message is generated by the autonomous driving controller based on the control information. The control information is used by the motion controller to control the movement of the vehicle.

[0033] Optionally, the first determining module is configured to perform at least one of the following:

[0034] If the standard document does not record the driving information of the autonomous vehicle, it is determined that the autonomous vehicle has malfunctioned.

[0035] If the standard document records the driving information of the autonomous vehicle and the standard document indicates that the driving information is abnormal, it is determined that the autonomous vehicle has malfunctioned.

[0036] If the standard document records the driving information of the autonomous vehicle and the standard document indicates that the driving information is normal, it is determined that the autonomous vehicle has not experienced any abnormalities.

[0037] Optionally, the second determining module is used for:

[0038] If the driving information of the autonomous vehicle includes control information and the control information is abnormal, the abnormality handling strategy is determined to include cutting off the communication channel between the autonomous driving controller and the motion controller.

[0039] If the driving information of the autonomous vehicle includes motion information and the motion information is abnormal, the abnormality handling strategy is determined to include a motion control strategy.

[0040] Optionally, the motion information includes at least one of driving speed or acceleration.

[0041] Optionally, the motion message and the control message are CAN messages;

[0042] The standard document mentioned is the CAN standard document.

[0043] Optionally, the vehicle testing device is connected to the communication channel between the autonomous driving controller and the motion controller.

[0044] Thirdly, a vehicle testing device is provided, including a memory and a processor;

[0045] The memory is used to store computer programs;

[0046] The processor is used to execute the computer program stored in the memory so that the vehicle testing apparatus performs the vehicle testing method provided as in the first aspect or any optional implementation thereof.

[0047] Fourthly, an autonomous vehicle is provided, including a vehicle testing apparatus as provided in the second aspect or any alternative implementation thereof, or including a vehicle testing apparatus as provided in the third aspect.

[0048] Fifthly, a computer-readable storage medium is provided, wherein a computer program is stored therein, and when executed, the computer program implements the vehicle testing method provided as described in the first aspect or any alternative method of the first aspect.

[0049] In a sixth aspect, a computer program product is provided, the computer program product comprising a program or code, which, when executed, implements the vehicle testing method provided as described in the first aspect or any alternative method of the first aspect.

[0050] The beneficial effects of the technical solution provided in this application are:

[0051] This application provides a vehicle testing method and apparatus. The vehicle testing method is performed by a vehicle testing device deployed in an autonomous vehicle. During the autonomous driving process, the vehicle testing device acquires the driving information of the autonomous vehicle. Based on the driving information and standard documents, the vehicle testing device determines whether the autonomous vehicle has experienced an anomaly. If an anomaly is determined, the vehicle testing device determines an anomaly handling strategy based on the driving information and controls the autonomous vehicle's operation according to the anomaly handling strategy. Therefore, this application uses a vehicle testing device to handle anomalies occurring during functional testing of an autonomous vehicle, which is more effective and reduces safety risks compared to handling by a safety operator. Attached Figure Description

[0052] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0053] Figure 1 This is a flowchart of a vehicle testing method provided in an embodiment of this application;

[0054] Figure 2 This is a connection diagram of an autonomous driving controller, a vehicle testing device, and a motion controller provided in an embodiment of this application;

[0055] Figure 3 This is a schematic diagram of a vehicle testing device provided in an embodiment of this application;

[0056] Figure 4 This is a schematic diagram of a vehicle provided in an embodiment of this application.

[0057] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. Detailed Implementation

[0058] To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0059] During the testing of autonomous driving functions, in order to ensure vehicle safety, it is necessary to deal with any functional abnormalities in a timely manner to reduce the risk of traffic accidents. For example, due to the low maturity of the vehicle's software and poor hardware condition, there may be unexpected acceleration, steering, and other abnormalities.

[0060] Currently, during the testing of autonomous driving functions, a safety driver is usually present in the vehicle to handle any malfunctions, but the effectiveness of this approach is often limited. For example, installing an emergency stop switch in the vehicle, which the safety driver would then press, could prevent accidents caused by vehicle malfunctions.

[0061] This application provides a vehicle testing method and apparatus, wherein the vehicle testing method is executed by a vehicle testing device deployed in an autonomous vehicle. During the autonomous driving process, the vehicle testing device acquires the driving information of the autonomous vehicle. Based on the driving information and standard documents, the vehicle testing device determines whether the autonomous vehicle has experienced an anomaly. If an anomaly is determined, the vehicle testing device determines an anomaly handling strategy based on the driving information and controls the autonomous vehicle's operation according to the anomaly handling strategy. Therefore, this application embodiment uses a vehicle testing device deployed in the autonomous vehicle to handle functional anomalies occurring during functional testing. Compared to handling by a safety operator, this application embodiment provides better anomaly handling and reduces safety risks.

[0062] Please refer to Figure 1 The diagram illustrates a flowchart of a vehicle testing method provided in an embodiment of this application. This vehicle testing method is performed by a vehicle testing device deployed in an autonomous vehicle. Figure 1 As shown, the vehicle testing method includes the following steps S101 to S104.

[0063] S101. During the autonomous driving process, the autonomous vehicle acquires driving information of the autonomous vehicle, the driving information including at least one of motion information or control information, the motion information being used to characterize the motion status of the autonomous vehicle, and the control information being used to control the motion of the autonomous vehicle.

[0064] An autonomous vehicle may include a motion controller, a motion detector, and an autonomous driving controller. The autonomous driving controller and the motion detector are communicatively connected. The autonomous driving controller generates control information and sends it to the motion controller, which is used to control the movement of the autonomous vehicle. The motion controller controls the autonomous vehicle's movement (i.e., controls its motion) based on the control information sent by the autonomous driving controller. The motion detector collects motion information of the autonomous vehicle during its operation, and this motion information characterizes the vehicle's motion status.

[0065] In this embodiment, the vehicle testing device is connected to the communication channel between the autonomous driving controller and the motion controller. During the autonomous driving process, the vehicle testing device acquires the driving information of the autonomous vehicle, which includes at least one of motion information or control information. In an optional embodiment, after the motion controller acquires the motion information of the autonomous vehicle collected by the motion detector, it sends the motion information to the vehicle testing device, and the vehicle testing device receives the motion information sent by the motion controller. The vehicle testing device acquires the control information sent by the autonomous driving controller to the motion controller as it passes through the vehicle testing device.

[0066] In an optional embodiment, after the motion controller acquires the motion information of the autonomous vehicle collected by the motion detector, the motion controller generates a motion message based on the motion information of the autonomous vehicle and sends the motion message, which includes the motion information of the autonomous vehicle, to the vehicle testing device. The vehicle testing device receives the motion message and extracts the motion information of the autonomous vehicle from the motion message.

[0067] For example, the motion detector is a speed detector. During the autonomous driving process, the speed detector collects the vehicle's speed. The motion controller acquires the speed collected by the speed detector, generates a motion message based on the vehicle's speed, and sends the motion message, which includes the vehicle's speed, to the vehicle testing device. The vehicle testing device receives the motion message sent by the motion controller and extracts the vehicle's speed from it. After acquiring the vehicle's speed at multiple moments, the vehicle testing device determines the change in the vehicle's speed within a time period defined by any two moments, and then determines the vehicle's acceleration within that time period based on the change in speed. For example, after acquiring the driving speed of the autonomous vehicle at a first moment and the driving speed of the autonomous vehicle at a second moment, the vehicle testing device determines the change in the driving speed of the autonomous vehicle within a first time period based on the driving speed at the first moment and the driving speed at the second moment. The vehicle testing device then determines the acceleration of the autonomous vehicle within the first time period based on the change in the driving speed of the autonomous vehicle within the first time period. For example, the vehicle testing device determines the quotient of the change in the driving speed of the autonomous vehicle within the first time period and the corresponding duration of the first time period as the acceleration of the first vehicle within the first time period. The first time period is defined by a first moment and a second moment, where one of the first moments is the start time of the first time period and the other moment is the end time of the first time period. For example, the first moment is the start time of the first time period, and the second moment is the end time of the first time period.

[0068] In an optional embodiment, after the autonomous driving controller generates control information, it generates a control message based on the control information and sends the control message to the motion controller. The control message includes the control information. As the control message passes through the vehicle testing device, the vehicle testing device acquires the control message and obtains the control information of the autonomous vehicle from the control message.

[0069] In an optional embodiment, the autonomous driving controller and the motion controller are connected via a CAN channel. The vehicle testing device is connected to the CAN channel between the autonomous driving controller and the motion controller. The vehicle testing device communicates with both the autonomous driving controller and the motion controller via CAN messages, where both motion and control messages are CAN messages. Figure 2 The diagram illustrates the connection relationship between a vehicle testing device 230, an autonomous driving controller 210, and a motion controller 220 according to an embodiment of this application. The vehicle testing device 230 is connected to the CAN channel between the autonomous driving controller and the motion controller. The vehicle testing device 230 includes a memory 231, a controller 232, a relay 233, and a CAN transceiver 234. The controller 232 is connected to the memory 231, the relay 233, and the CAN transceiver 234 via control channels. The relay 233 is connected to the autonomous driving controller 210 and the CAN transceiver 234 via CAN channels. The CAN transceiver 234 is connected to the motion controller 220 via a CAN channel. The memory 231 stores standard files and driving information of the autonomous vehicle for later analysis of the vehicle's driving status. The relay 233 is used to disconnect or connect the communication channel between the autonomous driving controller 210 and the motion controller 220. The CAN transceiver 234 receives CAN messages (i.e., motion messages) sent by the motion controller 220 and sends these CAN messages (i.e., motion messages) to the controller 232. These CAN messages (i.e., motion messages) include motion information of the autonomous vehicle. The controller 232 determines whether the autonomous vehicle has malfunctioned based on the motion information in the CAN messages (i.e., motion messages), and controls the autonomous vehicle's operation based on an exception handling strategy if an exception occurs. The CAN transceiver 234 also receives CAN messages (i.e., control messages) sent by the autonomous driving controller 210 and sends these CAN messages (i.e., control messages) to the controller 232. These CAN messages (i.e., control messages) include control information of the autonomous vehicle. The controller 232 determines whether the autonomous vehicle has malfunctioned based on the control information in the CAN messages (i.e., control messages), and controls the autonomous vehicle's operation based on an exception handling strategy if an exception occurs. For example, if the controller 232 determines that the autonomous vehicle has malfunctioned based on control information, it disconnects the communication channel between the autonomous driving controller 210 and the motion controller 220 via relay 233. The vehicle testing device 230 may exchange information via the CAN channel or other control channels; this embodiment does not limit the specific channels used.

[0070] This application uses motion information including at least one of driving speed and acceleration as an example for illustration. In other embodiments, motion information may also include other information, which is not limited in this application.

[0071] S102. Determine whether the autonomous vehicle has experienced an anomaly based on the driving information and standard documents of the autonomous vehicle. The standard documents are used to record the anomaly determination strategy based on the driving information.

[0072] In an optional embodiment, the vehicle testing device searches for the standard document based on the driving information of the autonomous vehicle, and the vehicle testing device determines whether the autonomous vehicle has malfunctioned based on the search results.

[0073] In one embodiment, the standard file is used to record anomaly detection strategies based on normal driving information, and the driving information recorded in the standard file is all normal driving information. The vehicle testing device searches the standard file based on the driving information of the autonomous vehicle to determine whether the standard file records the autonomous vehicle's driving information. If the standard file does not record the autonomous vehicle's driving information, the vehicle testing device determines that the autonomous vehicle has experienced an anomaly. If the standard file records the autonomous vehicle's driving information, the vehicle testing device determines that the autonomous vehicle has not experienced an anomaly.

[0074] In another embodiment, the standard file is used to record anomaly detection strategies based on abnormal driving information, and all driving information recorded in the standard file is abnormal driving information. The vehicle testing device searches the standard file based on the driving information of the autonomous vehicle to determine whether the standard file records the autonomous vehicle's driving information. If the standard file records the autonomous vehicle's driving information, the vehicle testing device determines that the autonomous vehicle has experienced an anomaly. If the standard file does not record the autonomous vehicle's driving information, the vehicle testing device determines that the autonomous vehicle has not experienced an anomaly.

[0075] In another embodiment, the standard file is used to record anomaly detection strategies based on normal driving information and anomaly detection strategies based on abnormal driving information. The driving information recorded in the standard file includes normal driving information and abnormal driving information. The vehicle testing device searches the standard file based on the driving information of the autonomous vehicle to determine whether the standard file records the driving information of the autonomous vehicle. If the standard file does not record the driving information of the autonomous vehicle, or if the standard file records the driving information of the autonomous vehicle and the standard file indicates that the driving information of the autonomous vehicle is abnormal, the vehicle testing device determines that the autonomous vehicle has an anomaly. If the standard file records the driving information of the autonomous vehicle and the standard file indicates that the driving information of the autonomous vehicle is normal, the vehicle testing device determines that the autonomous vehicle has not anomaly. The standard file indicating that the driving information of the autonomous vehicle is abnormal includes: the driving information of the autonomous vehicle matches the abnormal driving information recorded in the standard file; for example, the abnormal driving information recorded in the standard file includes the driving information of the autonomous vehicle. The standard document indicates that the normal driving information of the autonomous vehicle includes: the driving information of the autonomous vehicle matches the normal driving information recorded in the standard document, for example, the normal driving information recorded in the standard document includes the driving information of the autonomous vehicle.

[0076] As mentioned above, driving information includes at least one of control information or motion information. In an optional embodiment, when the driving information recorded in the standard file includes control information, the anomaly determination strategy is used to indicate whether the control information is abnormal. For example, anomaly determination strategy A corresponding to control information A indicates that control information A is normal, anomaly determination strategy B corresponding to control information B indicates that control information B is abnormal, and anomaly determination strategy C corresponding to control information C indicates that control information C is abnormal. When the driving information recorded in the standard file includes motion information, the anomaly determination strategy includes the normal range or abnormal range of the motion information. For example, the anomaly determination strategy includes the normal range A of motion information A, the abnormal range B of motion information B, the normal range C of motion information C, etc.

[0077] In one example, the information recorded in this standard document is shown in Table 1 below:

[0078] Table 1

[0079]

[0080]

[0081] In an optional embodiment, the vehicle testing device searches the standard document based on the driving information. If the standard document does not contain the driving information of the autonomous vehicle, the device determines that the autonomous vehicle has malfunctioned. In one embodiment, the driving information includes control information. The vehicle testing device searches the standard document shown in the table above based on the control information H. If the control information H is not found in the standard document, the vehicle testing device determines that the autonomous vehicle has malfunctioned. In another embodiment, the driving information includes motion information. The vehicle testing device searches the standard document shown in the table above based on the motion information F. If the motion information F is not found in the standard document, the vehicle testing device determines that the autonomous vehicle has malfunctioned.

[0082] In an optional embodiment, the vehicle testing device searches the standard document based on the driving information. If the standard document contains the driving information of the autonomous vehicle and indicates that the driving information is abnormal, the vehicle testing device determines that the autonomous vehicle is abnormal. In one embodiment, the vehicle testing device searches the standard document shown in the table above based on control information B, determines that the abnormality determination strategy of control information B is abnormality determination strategy B, and if abnormality determination strategy B indicates that control information B is abnormal, the vehicle testing device determines that the autonomous vehicle is abnormal. In another embodiment, the vehicle testing device searches the standard document shown in the table above based on motion information A, determines that the normal range of motion information A is normal range A. If motion information A is within normal range A, the vehicle testing device determines that the autonomous vehicle is normal; if motion information A is not within normal range A, the vehicle testing device determines that the autonomous vehicle is abnormal. In another embodiment, the vehicle testing device searches the standard document shown in the table above based on the motion information B to determine the abnormal range of the motion information B as abnormal range B. If the motion information B is within the abnormal range B, the vehicle testing device determines that the autonomous vehicle is abnormal. If the motion information B is not within the abnormal range B, the vehicle testing device determines that the autonomous vehicle is normal.

[0083] S103. If it is determined that the autonomous vehicle has malfunctioned, an abnormality handling strategy shall be determined based on the driving information of the autonomous vehicle.

[0084] In an optional embodiment, if the driving information of the autonomous vehicle includes control information and the control information is abnormal, the vehicle testing device determines that the abnormal handling strategy includes cutting off the communication channel between the autonomous driving controller and the motion controller. After cutting off the communication channel between the autonomous driving controller and the motion controller, the controller in the vehicle testing device sends control information on behalf of the autonomous driving controller. For example, the controller in the vehicle testing device sends parking control information to control the autonomous vehicle to stop driving.

[0085] In an optional embodiment, when the driving information of the autonomous vehicle includes motion information and the motion information is abnormal, the vehicle testing device determines that the anomaly handling strategy includes a motion control strategy. In one embodiment, the motion information includes driving speed. If the driving speed of the autonomous vehicle is greater than the upper limit of the normal speed range, the vehicle testing device determines that the anomaly handling strategy is to reduce the driving speed of the autonomous vehicle to within the normal speed range. If the driving speed of the autonomous vehicle is less than the lower limit of the normal speed range, the vehicle testing device determines that the anomaly handling strategy is to increase the driving speed of the autonomous vehicle to within the normal speed range. In another embodiment, the motion information includes acceleration. If the acceleration of the autonomous vehicle is greater than the normal acceleration range, the vehicle testing device determines that the anomaly handling strategy is to reduce the acceleration of the autonomous vehicle to within the normal acceleration range. If the acceleration of the autonomous vehicle is less than the normal acceleration range, the vehicle testing device determines that the anomaly handling strategy is to increase the acceleration of the autonomous vehicle to within the normal acceleration range.

[0086] S104. Control the autonomous vehicle to drive according to the exception handling strategy.

[0087] In one embodiment, if the vehicle testing device determines that the anomaly handling strategy includes cutting off the communication channel between the autonomous driving controller and the motion controller, the vehicle testing device cuts off the communication channel between the autonomous driving controller and the motion controller. In a specific embodiment, the controller within the vehicle testing device sends a cut-off instruction (or channel-off information) to a relay within the vehicle testing device, and the relay cuts off the communication channel between the autonomous driving controller and the motion controller according to the cut-off instruction.

[0088] In another embodiment, when the vehicle testing device determines that the abnormal handling strategy is to reduce the driving speed of the autonomous vehicle to the normal speed range, the vehicle testing device sends deceleration control information to the motion controller, and the motion controller controls the autonomous vehicle to decelerate according to the deceleration control information, so as to reduce the driving speed of the autonomous vehicle to the normal speed range.

[0089] In another embodiment, when the vehicle testing device determines that the abnormal handling strategy is to increase the driving speed of the autonomous vehicle to the normal speed range, the vehicle testing device sends acceleration control information to the motion controller. The motion controller controls the autonomous vehicle to accelerate according to the acceleration control information, so as to increase the driving speed of the autonomous vehicle to the normal speed range.

[0090] In another embodiment, when the vehicle testing device determines that the abnormal handling strategy is to reduce the acceleration of the autonomous vehicle to the normal acceleration range, the vehicle testing device sends acceleration reduction control information to the motion controller. The motion controller controls the acceleration of the autonomous vehicle to decrease according to the acceleration reduction control information, so as to reduce the acceleration of the autonomous vehicle to the normal acceleration range.

[0091] In another embodiment, when the vehicle testing device determines that the abnormal handling strategy is to increase the acceleration of the autonomous vehicle to the normal acceleration range, the vehicle testing device sends acceleration increase control information to the motion controller. The motion controller controls the acceleration of the autonomous vehicle to increase according to the acceleration increase control information, so as to increase the acceleration of the autonomous vehicle to the normal acceleration range.

[0092] In summary, the vehicle testing method provided in this application involves a vehicle testing device acquiring the driving information of an autonomous vehicle during its autonomous driving process. The vehicle testing device determines whether the autonomous vehicle has experienced an anomaly based on the driving information and standard documents. If an anomaly is determined, the vehicle testing device determines an anomaly handling strategy based on the driving information and controls the autonomous vehicle's operation according to the anomaly handling strategy. Therefore, this application embodiment uses a vehicle testing device deployed within the autonomous vehicle to handle functional anomalies that occur during functional testing. Compared to handling by a safety operator, this application embodiment provides better anomaly handling and reduces safety risks.

[0093] The following are embodiments of the apparatus described in this application, which can be used to execute the embodiments of the method described in this application. For details not disclosed in the apparatus embodiments of this application, please refer to the embodiments of the method described in this application.

[0094] Please refer to Figure 3 The diagram illustrates a vehicle testing apparatus 300 according to an embodiment of this application. The vehicle testing apparatus 300 is used to perform... Figure 1 The vehicle testing method provided in the illustrated embodiment involves a vehicle testing device 300 deployed in an autonomous vehicle. For example... Figure 3 As shown, the vehicle testing device 300 includes, but is not limited to, an acquisition module 301, a first determination module 302, a second determination module 303, and a control module 304.

[0095] The acquisition module 301 is used to acquire driving information of the autonomous vehicle during the autonomous driving process. The driving information includes at least one of motion information or control information. The motion information is used to characterize the motion status of the autonomous vehicle, and the control information is used to control the motion of the autonomous vehicle.

[0096] The first determining module 302 is used to determine whether the autonomous vehicle has encountered an anomaly based on the driving information of the autonomous vehicle and a standard document. The standard document is used to record the anomaly determination strategy based on the driving information.

[0097] The second determining module 303 is used to determine an anomaly handling strategy based on the driving information of the autonomous vehicle when it is determined that an anomaly has occurred in the autonomous vehicle.

[0098] The control module 304 is used to control the driving of the autonomous vehicle according to the exception handling strategy.

[0099] Optionally, the autonomous vehicle includes a motion controller, a motion detector, and an autonomous driving controller, wherein the motion detector is used to collect motion information of the autonomous vehicle;

[0100] Module 301 is configured to perform at least one of the following:

[0101] The motion controller receives motion messages sent by the motion controller. These motion messages carry motion information of the autonomous vehicle and are generated by the motion controller based on motion information collected by the motion detector.

[0102] The system receives a control message sent by the autonomous driving controller. The control message carries the control information of the autonomous vehicle. The control message is generated by the autonomous driving controller based on the control information, which is used by the motion controller to control the movement of the vehicle.

[0103] Optionally, the first determining module 302 is configured to perform at least one of the following:

[0104] If the standard document does not record this driving information of the autonomous vehicle, it is determined that the autonomous vehicle has malfunctioned;

[0105] If the standard document records the driving information of the autonomous vehicle and the standard document indicates that the driving information is abnormal, it is determined that the autonomous vehicle has malfunctioned.

[0106] If the standard document records the driving information of the autonomous vehicle and the standard document indicates that the driving information is normal, it is determined that the autonomous vehicle has not experienced any abnormalities.

[0107] Optionally, the second determining module 303 is used for:

[0108] If the driving information of the autonomous vehicle includes control information and the control information is abnormal, the abnormal handling strategy is determined to include cutting off the communication channel between the autonomous driving controller and the motion controller.

[0109] If the driving information of the autonomous vehicle includes motion information and the motion information is abnormal, the abnormality handling strategy is determined to include a motion control strategy.

[0110] Optionally, the motion information may include at least one of driving speed or acceleration.

[0111] Optionally, the motion message and the control message are CAN messages;

[0112] This standard document is a CAN standard document.

[0113] Optionally, the vehicle testing device is connected to the communication channel between the automatic driving controller and the motion controller.

[0114] Optionally, the vehicle testing device includes a memory, a controller, a relay, and a CAN transceiver. The CAN transceiver includes an acquisition module 301, and the controller includes a first determination module 302, a second determination module 303, and a control module 304. This application embodiment does not limit this aspect.

[0115] In summary, the technical solution provided in this application, during the autonomous driving process of an autonomous vehicle, after the vehicle testing device acquires the driving information of the autonomous vehicle, it determines whether the autonomous vehicle has experienced an anomaly based on the driving information and standard documents. If an anomaly is determined, the vehicle testing device determines an anomaly handling strategy based on the driving information of the autonomous vehicle and controls the autonomous vehicle to drive according to the anomaly handling strategy. Thus, this application allows the vehicle testing device to handle functional anomalies that occur during the functional testing of the autonomous vehicle, which is more effective and reduces safety risks compared to handling by a safety operator.

[0116] This application provides a vehicle testing apparatus, including a memory and a processor; the memory is used to store a computer program; the processor is used to execute the computer program stored in the memory so that the vehicle testing apparatus performs the method provided in the above embodiments.

[0117] This application provides a vehicle that includes the vehicle testing apparatus described in the above embodiments.

[0118] As an example, please refer to Figure 4The diagram illustrates a vehicle 400 according to an embodiment of this application. The vehicle 400 is an autonomous driving vehicle, and the vehicle testing device described in the foregoing embodiments is deployed in the vehicle 400. Typically, the vehicle 400 includes a processor 401 and a memory 402.

[0119] Processor 401 may include one or more processing cores, such as a quad-core processor, an octa-core processor, etc. Processor 401 may be implemented using at least one hardware form selected from digital signal processing (DSP), field-programmable gate array (FPGA), and programmable logic array (PLA). Processor 401 may include, but is not limited to, a central processing unit (CPU). In some embodiments, processor 401 may integrate a graphics processing unit (GPU), which is responsible for rendering and drawing the content to be displayed on the screen. Processor 401 may also include an artificial intelligence (AI) processor to handle computational operations related to machine learning.

[0120] The memory 402 may include one or more computer-readable storage media, which may be non-transitory. The memory 402 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In some embodiments, the non-transitory computer-readable storage media in the memory 402 are used to store at least one instruction, which is executed by the processor 401 to implement the vehicle testing method provided in the embodiments of this application.

[0121] In some embodiments, the vehicle 400 may also optionally include a peripheral device interface 403 and at least one peripheral device. The processor 401, memory 402, and peripheral device interface 403 can be connected via a bus or signal line. Each peripheral device can be connected to the peripheral device interface 403 via a bus, signal line, or circuit board. The peripheral device may include at least one of the following: a radio frequency circuit 404, a touch display screen 405, a camera 406, an audio circuit 407, a positioning component 408, and a power supply 409.

[0122] Peripheral interface 403 can be used to connect at least one input / output (I / O) related peripheral device to processor 401 and memory 402. In some embodiments, processor 401, memory 402 and peripheral interface 403 are integrated on the same chip or circuit board; in some embodiments, any one or two of processor 401, memory 402 and peripheral interface 403 can be implemented on separate chips or circuit boards, which is not limited in this embodiment.

[0123] The radio frequency (RF) circuit 404 is used to receive and transmit radio frequency (RF) signals, also known as electromagnetic signals. The RF circuit 404 communicates with communication networks and other communication devices via electromagnetic signals. The RF circuit 404 converts electrical signals into electromagnetic signals for transmission, or converts received electromagnetic signals back into electrical signals. Optionally, the RF circuit 404 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, etc. The RF circuit 404 can communicate with other devices through at least one wireless communication protocol. This wireless communication protocol includes, but is not limited to: the World Wide Web, metropolitan area networks, intranets, various generations of mobile communication networks (2G, 3G, 4G, and 5G), and wireless local area networks; this application embodiment does not limit this to any particular protocol.

[0124] Display screen 405 is used to display a user interface (UI). The UI may include graphics, text, icons, video, and any combination thereof. When display screen 405 is a touch display screen, it also has the ability to collect touch signals on or above its surface. These touch signals can be input as control signals to processor 401 for processing. In this case, display screen 405 can also be used to provide virtual buttons and / or a virtual keyboard, also known as soft buttons and / or a soft keyboard. In some embodiments, display screen 405 may be a flexible display screen. Furthermore, display screen 405 may be configured as a non-rectangular, irregular shape, i.e., a non-rectangular screen. Display screen 405 may be a liquid crystal display (LCD), an organic light-emitting diode (OLED) display screen, etc.

[0125] The camera assembly 406 is used to capture images or videos.

[0126] The audio circuit 407 may include a microphone and a speaker. The microphone is used to collect sound waves from the user and the environment, converting them into electrical signals that are input to the processor 401 for processing, or to the radio frequency circuit 404 for voice communication. For stereo sound acquisition or noise reduction purposes, multiple microphones may be used, positioned in different parts of the vehicle. The microphone can also be an array microphone or an omnidirectional microphone. The speaker is used to convert the electrical signals from the processor 401 or the radio frequency circuit 404 into sound waves. The speaker can be a traditional film speaker or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, it can convert electrical signals not only into audible sound waves but also into inaudible sound waves for purposes such as distance measurement.

[0127] The positioning component 408 is used to locate the geographic location of the vehicle 400 in order to enable navigation or location-based services (LBS). The positioning component 408 can be a positioning component based on the global positioning system (GPS), BeiDou system, or Galileo system.

[0128] Power source 409 is used to supply power to various components in the vehicle. Power source 409 can be alternating current, direct current, a disposable battery, or a rechargeable battery. When power source 409 includes a rechargeable battery, the rechargeable battery can be a wired rechargeable battery or a wireless rechargeable battery. A wired rechargeable battery is a battery that is charged via a wired line, while a wireless rechargeable battery is a battery that is charged via a wireless coil.

[0129] In some embodiments, the vehicle 400 further includes one or more sensors 410. The one or more sensors 410 include, but are not limited to, a vehicle speed sensor 411, a fingerprint sensor 412, an optical sensor 413, and a proximity sensor 414.

[0130] The vehicle speed sensor 411 is used to collect the vehicle's driving speed, and the processor 401 is used to determine whether the autonomous vehicle has malfunctioned based on the autonomous vehicle's driving information, which includes the driving speed.

[0131] The fingerprint sensor 412 is used to collect the user's fingerprint. The processor 401 identifies the user's identity based on the fingerprint collected by the fingerprint sensor 412, or the fingerprint sensor 412 identifies the user's identity based on the collected fingerprint. When the user's identity is identified as trusted, the processor 401 authorizes the user to perform relevant sensitive operations, including unlocking the screen, viewing encrypted information, downloading software, making payments, and changing settings.

[0132] Optical sensor 413 is used to collect ambient light intensity. In one embodiment, processor 401 can control the display brightness of touch screen 405 based on the ambient light intensity collected by optical sensor 413. Specifically, when the ambient light intensity is high, the display brightness of touch screen 405 is increased; when the ambient light intensity is low, the display brightness of touch screen 405 is decreased. In another embodiment, processor 401 can also dynamically adjust the shooting parameters of camera assembly 406 based on the ambient light intensity collected by optical sensor 413.

[0133] The proximity sensor 414, also known as a distance sensor, is typically located on the front panel of the display screen 406 in the vehicle 400. The proximity sensor 414 is used to detect the distance between the user and the display screen 405. In one embodiment, when the proximity sensor 414 detects that the distance between the user and the display screen 406 is gradually decreasing, the processor 401 controls the touch display screen 405 to switch from a screen-on state to a screen-off state; when the proximity sensor 414 detects that the distance between the user and the display screen 405 is gradually increasing, the processor 401 controls the touch display screen 405 to switch from a screen-off state to a screen-on state.

[0134] Those skilled in the art will understand that Figure 4 The structure shown does not constitute a limitation on vehicle 400. Vehicle 400 may include more or fewer components than shown, or combine certain components, or use different component arrangements.

[0135] Optionally, the processor 401 and memory 402 in the vehicle 400 constitute a vehicle testing device.

[0136] It should be understood that the term "at least one" in this application refers to one or more, and "multiple" refers to two or more. The term "and / or" in this application is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Furthermore, for clarity, the terms "first," "second," and "third" are used in this application to distinguish identical or similar items with substantially the same function and effect. Those skilled in the art will understand that the terms "first," "second," and "third" do not limit the quantity or order of execution.

[0137] The method embodiments and device embodiments provided in this application can be referenced interchangeably, and this application does not limit them. The order of operations in the method embodiments provided in this application can be appropriately adjusted, and operations can be added or removed as needed. Any variations that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the protection scope of this application, and therefore will not be elaborated further.

[0138] In the corresponding embodiments provided in this application, it should be understood that the disclosed devices, etc., can be implemented by other configurations. For example, the device embodiments described above are merely illustrative. For instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed.

[0139] The modules described as separate components may or may not be physically separate, and the components described as modules may or may not be physical modules. Some or all of the modules can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0140] The above description is merely an exemplary embodiment of this application, but the scope of protection of this application is not limited thereto. Any equivalent modifications or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A vehicle testing method, characterized in that, The method includes: During the autonomous driving process, the autonomous vehicle's driving information is acquired. The driving information includes at least one of motion information or control information. The motion information is used to characterize the motion status of the autonomous vehicle, and the control information is used to control the motion of the autonomous vehicle. The autonomous vehicle is determined to have experienced an anomaly based on its driving information and a standard file, wherein the standard file is used to record anomaly detection strategies based on driving information. If it is determined that the autonomous vehicle has malfunctioned, an malfunction handling strategy is determined based on the driving information of the autonomous vehicle. The autonomous vehicle is controlled to drive according to the aforementioned anomaly handling strategy; Determining whether the autonomous vehicle has malfunctioned based on its driving information and standard documents includes at least one of the following: If the standard document does not record the driving information of the autonomous vehicle, it is determined that the autonomous vehicle has malfunctioned. If the standard document records the driving information of the autonomous vehicle and the standard document indicates that the driving information is abnormal, it is determined that the autonomous vehicle has malfunctioned. If the standard document records the driving information of the autonomous vehicle and the standard document indicates that the driving information is normal, it is determined that the autonomous vehicle has not experienced any abnormalities.

2. The method according to claim 1, characterized in that, The autonomous vehicle includes a motion controller, a motion detector, and an autonomous driving controller, wherein the motion detector is used to collect motion information of the autonomous vehicle. The acquisition of the driving information of the autonomous vehicle includes at least one of the following: The system receives motion messages sent by the motion controller, the motion messages carrying motion information of the autonomous vehicle, and the motion messages being generated by the motion controller based on motion information collected by the motion detector. The system receives a control message sent by the autonomous driving controller. The control message carries control information of the autonomous vehicle. The control message is generated by the autonomous driving controller based on the control information. The control information is used by the motion controller to control the movement of the vehicle.

3. The method according to claim 2, characterized in that, The step of determining anomaly handling strategy based on the driving information of the autonomous vehicle includes: If the driving information of the autonomous vehicle includes control information and the control information is abnormal, the abnormality handling strategy is determined to include cutting off the communication channel between the autonomous driving controller and the motion controller. If the driving information of the autonomous vehicle includes motion information and the motion information is abnormal, the abnormality handling strategy is determined to include a motion control strategy.

4. The method according to claim 2, characterized in that, The motion message and the control message are Controller Area Network (CAN) messages; The standard document is the CAN standard document.

5. A vehicle testing device, characterized in that, The vehicle testing device includes: The acquisition module is used to acquire driving information of the autonomous vehicle during the autonomous driving process. The driving information includes at least one of motion information or control information. The motion information is used to characterize the motion status of the autonomous vehicle, and the control information is used to control the motion of the autonomous vehicle. The first determining module is used to determine whether the autonomous vehicle has experienced an anomaly based on the driving information and standard files of the autonomous vehicle, wherein the standard files are used to record anomaly determination strategies based on driving information. The second determining module is used to determine an anomaly handling strategy based on the driving information of the autonomous vehicle when it is determined that an anomaly has occurred in the autonomous vehicle. The control module is used to control the driving of the autonomous vehicle according to the exception handling strategy; The first determining module is configured to perform at least one of the following: If the standard document does not record the driving information of the autonomous vehicle, it is determined that the autonomous vehicle has malfunctioned. If the standard document records the driving information of the autonomous vehicle and the standard document indicates that the driving information is abnormal, it is determined that the autonomous vehicle has malfunctioned. If the standard document records the driving information of the autonomous vehicle and the standard document indicates that the driving information is normal, it is determined that the autonomous vehicle has not experienced any abnormalities.

6. The vehicle testing apparatus according to claim 5, characterized in that, The autonomous vehicle includes a motion controller, a motion detector, and an autonomous driving controller, wherein the motion detector is used to collect motion information of the autonomous vehicle. The acquisition module is configured to perform at least one of the following: The system receives motion messages sent by the motion controller, the motion messages carrying motion information of the autonomous vehicle, and the motion messages being generated by the motion controller based on motion information collected by the motion detector. The system receives a control message sent by the autonomous driving controller. The control message carries control information of the autonomous vehicle. The control message is generated by the autonomous driving controller based on the control information. The control information is used by the motion controller to control the movement of the vehicle.

7. The vehicle testing apparatus according to claim 6, characterized in that, The second determining module is used for: If the driving information of the autonomous vehicle includes control information and the control information is abnormal, the abnormality handling strategy is determined to include cutting off the communication channel between the autonomous driving controller and the motion controller. If the driving information of the autonomous vehicle includes motion information and the motion information is abnormal, the abnormality handling strategy is determined to include a motion control strategy.

8. The vehicle testing apparatus according to claim 6, characterized in that, The motion message and the control message are Controller Area Network (CAN) messages; The standard document is the CAN standard document.

9. The vehicle testing apparatus according to claim 6, characterized in that, The vehicle testing device is connected to the communication channel between the autonomous driving controller and the motion controller.

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