Obstacle avoidance method, device and equipment based on parking test scene

Abstract

The invention provides an obstacle avoidance method, device and equipment based on a parking test scene, and relates to the technical field of computers, in particular to the technical fields of automatic driving, automatic parking, vehicle obstacle avoidance and the like. According to the specific implementation scheme, a test vehicle is controlled to run in one or more obstacle avoidance test scenes included in a parking test route; when it is detected that the test vehicle may collide with the obstacles in the one or more obstacle avoidance test scenes, performing obstacle avoidance operation; wherein the obstacle avoidance operation has a corresponding test result. In the embodiment of the invention, the test result corresponding to the obstacle avoidance operation in the test process can be obtained by controlling the test vehicle to run in one or more obstacle avoidance test scenes included in the parking test route, so that the obstacle avoidance performance of the vehicle in the parking process can be accurately obtained, and the vehicle safety is further improved.

Description

Technical Field

[0001] The present disclosure relates to the field of computer technology, and in particular to technical fields such as autonomous driving, automatic parking, and vehicle obstacle avoidance. Background Art

[0002] Parking is often difficult in places with large traffic. On the one hand, it takes a long time for a car to find a parking space after entering the parking lot, resulting in multiple cars being jammed in the parking lot. On the other hand, drivers with poor parking skills may spend a long time or even cause scratches when parking. For this reason, an automatic parking system can be installed in the vehicle. Whether the automatic parking system in the vehicle can assist the driver to park quickly and safely requires some experiments. Summary of the invention

[0003] The present disclosure provides an obstacle avoidance method, device and equipment based on a parking test scenario.

[0004] According to one aspect of the present disclosure, there is provided an obstacle avoidance method based on a parking test scenario, comprising:

[0005] Controlling the test vehicle to travel in one or more obstacle avoidance test scenarios included in the parking test route;

[0006] When it is detected that the test vehicle may collide with obstacles in the one or more obstacle avoidance test scenarios, performing an obstacle avoidance operation;

[0007] Among them, the obstacle avoidance operation has corresponding test results.

[0008] According to another aspect of the present disclosure, an obstacle avoidance device based on a parking test scenario is provided, comprising:

[0009] A control module, used to control the test vehicle to travel in one or more obstacle avoidance test scenarios included in the parking test route;

[0010] An obstacle avoidance module, configured to perform an obstacle avoidance operation when detecting that the test vehicle may collide with obstacles in the one or more obstacle avoidance test scenarios;

[0011] Among them, the obstacle avoidance operation has corresponding test results.

[0012] According to another aspect of the present disclosure, there is provided an electronic device, comprising:

[0013] at least one processor; and

[0014] a memory communicatively connected to the at least one processor; wherein,

[0015] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute any method in the embodiments of the present disclosure.

[0016] According to another aspect of the present disclosure, a non-transitory computer-readable storage medium storing computer instructions is provided, wherein the computer instructions are used to enable the computer to execute any method according to the embodiments of the present disclosure.

[0017] According to another aspect of the present disclosure, a computer program product is provided, including a computer program, which implements any method according to the embodiments of the present disclosure when executed by a processor.

[0018] In the disclosed embodiment, by controlling the test vehicle to travel in one or more obstacle avoidance test scenarios included in the parking test route, test results corresponding to the obstacle avoidance operation during the test can be obtained, which is conducive to accurately obtaining the obstacle avoidance performance of the vehicle parking process, thereby improving vehicle safety.

[0019] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings are used to better understand the present solution and do not constitute a limitation of the present disclosure.

[0021] Figure 1 is a flow chart of an obstacle avoidance method based on a parking test scenario according to an embodiment of the present disclosure;

[0022] Figure 2 is a flow chart of an obstacle avoidance method based on a parking test scenario according to another embodiment of the present disclosure;

[0023] Figure 3a-3j It is a schematic diagram of the parking space geometry and dimensions;

[0024] Figure 4a It is a schematic diagram of a static obstacle scene on a spiral curve;

[0025] Figure 4b It is a schematic diagram of a static obstacle scene on a straight slope;

[0026] Figure 4c This is a schematic diagram of a scene where an obstacle is stationary on the top of a slope;

[0027] Figure 4d This is a schematic diagram of a scene where an obstacle is stationary at the bottom of a slope;

[0028] Figure 4eThis is a schematic diagram of a spiral curve meeting scene;

[0029] Figure 4f This is a schematic diagram of a straight slope meeting scene;

[0030] Figure 4g This is a schematic diagram of a scene of following a vehicle on a spiral curve;

[0031] Figure 4h This is a schematic diagram of a straight slope following vehicle driving scenario;

[0032] Figure 5 This is a schematic diagram of the cruise gate test scenario;

[0033] Figure 6a It is a schematic diagram of the scene of static obstacles in the parking space;

[0034] Figure 6b It is a schematic diagram of a scene in which a target parking space has a dynamic obstacle;

[0035] Figure 6c This is a schematic diagram of a scene in which a target vehicle is following behind when parking in a parking space;

[0036] Figure 6d This is a schematic diagram of a static obstacle in front of the car;

[0037] Figure 6e This is a schematic diagram of a static obstacle on the side of the car;

[0038] Figure 6f is a schematic diagram of a scene in which a target vehicle appears after leaving a parking space;

[0039] Figure 6g is a schematic diagram of a scene where a target pedestrian appears after leaving a parking space;

[0040] Figure 7a It is a schematic diagram of the static obstacle detection scene ahead on a straight road;

[0041] Figure 7b This is a schematic diagram of a scene where a dynamic obstacle passes between vehicles on a straight road;

[0042] Figure 7c This is a schematic diagram of a scene in which a vehicle stops on a straight road and leaves a parking space;

[0043] Figure 7d It is a schematic diagram of the irregular motion scene of dynamic obstacles on a straight road;

[0044] Figure 7e It is a schematic diagram of a dynamic obstacle approaching a scene on a straight road;

[0045] Figure 7f This is a schematic diagram of a scene where a stationary vehicle on a straight road circumvents an obstacle;

[0046] Figure 7g This is a schematic diagram of the braking scene of the front car on a straight road;

[0047] Figure 8a It is a schematic diagram of a static obstacle scene on a right-angle curve;

[0048] Figure 8b This is a schematic diagram of a dynamic obstacle curve crossing scene;

[0049] Figure 8c It is a schematic diagram of a low-speed driving scenario in a dynamic obstacle curve;

[0050] Figure 8d This is a schematic diagram of a curve cruising and meeting scene;

[0051] Figure 8e It is a schematic diagram of the intersection passage obstacle avoidance test scenario;

[0052] Figure 9a and Figure 9b is a schematic diagram of a parking space test scenario;

[0053] Fig.9c is a schematic diagram of a parking space exit test scenario;

[0054] Fig.10 is a schematic structural diagram of an obstacle avoidance device based on a parking test scenario according to an embodiment of the present disclosure;

[0055] Fig.11 is a structural schematic diagram of an obstacle avoidance device based on a parking test scenario according to another embodiment of the present disclosure;

[0056] Fig.12 is a block diagram of an electronic device for implementing an embodiment of the present disclosure. DETAILED DESCRIPTION

[0057] The following is a description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope of the present disclosure. Similarly, for the sake of clarity and conciseness, the description of well-known functions and structures is omitted in the following description.

[0058] Figure 1 is a flow chart of an obstacle avoidance method based on a parking test scenario according to an embodiment of the present disclosure, the method comprising:

[0059] S101, controlling the test vehicle to travel in one or more obstacle avoidance test scenarios included in the parking test route;

[0060] S102, performing an obstacle avoidance operation when it is detected that the test vehicle may collide with obstacles in the one or more obstacle avoidance test scenarios;

[0061] Among them, the obstacle avoidance operation has corresponding test results.

[0062] In the disclosed embodiment, the method can be used in a vehicle. The vehicle may include an ordinary vehicle, a modified vehicle, a cooperative perception vehicle, a semi-intelligent vehicle, an automatic driving vehicle, etc. The vehicle may have an automatic parking function. The automatic parking function may include the ability to continuously perform all dynamic driving tasks under the designed operating conditions, automatically identify available parking spaces (or parking spaces), and complete functions such as parking in and / or parking out of parking spaces. The automatic parking function may be controlled by an automatic parking system on the vehicle. The automatic parking system may include a system composed of hardware and software for implementing the automatic parking function. In some examples, the automatic parking system may be divided into Class I systems and Class II systems. Among them, the Class I system has the functions of obstacle recognition and response, available parking space recognition, and automatic parking in and out of parking spaces. In addition to the functions of the Class I system, the Class II system also has a cruise function. The vehicle may be a real vehicle or a simulated vehicle. A real vehicle may be tested for parking in an actual parking lot, and a simulated vehicle may be tested for parking in the simulation system software. If a parking test is conducted in the simulation system software, the test vehicle, obstacles, shielding objects, etc. that appear in the test can be simulation models, and various roads, parking spaces, servers, etc. can also be virtual objects constructed by software in the simulation system. The types of parking spaces that can be supported by the vehicle's automatic parking system may include one or more of parking line spaces and space spaces. Parking line spaces may include one or more of parking line vertical spaces, parking line parallel spaces, and parking line inclined spaces. Space parking spaces may include one or more of space vertical spaces, space parallel spaces, and space inclined spaces.

[0063] The automatic parking system can meet the following requirements: identify the target parking space or receive the target parking space sent by the outside world; determine whether the space in and around the parking space is sufficient; after completing the parking task, the system should effectively brake the vehicle through the parking brake; if there is no one in the car, when the system completes the parking task, it should cut off the power system and lock the door; the automatic parking system that can support no one in the car should have a remote parking function; when the system controls the vehicle to cruise, the maximum cruising speed should not be lower than the first threshold, such as 5km / h, and not higher than the second threshold, such as 30km / h; when the system controls the vehicle to park in and out of the parking space, the speed should not be higher than the third threshold, such as 10km / h; the system should be able to control the vehicle to drive to the destination along the planned route; the system should comply with the parking lot management regulations in the area when performing dynamic driving tasks; the system should be able to cruise through a slope of not less than a set proportion, such as 4%; when the system is in an activated state, it should have the ability to detect and respond to obstacles to avoid collision or physical contact with obstacles.

[0064] In the disclosed embodiment, a vehicle may pass through one or more parking test scenarios during parking in a parking lot. For example, parking test scenarios may include parking in a parking space, parking out of a parking space, cruising, remote parking, obstacle avoidance, and other test scenarios. Among them, cruising scenarios may include straight-line cruising, curve cruising, ramp cruising, cruising through a gate, cruising through a speed bump, and other test scenarios. Obstacle avoidance scenarios may include parking obstacle avoidance, cruising obstacle avoidance, intersection obstacle avoidance, and other test scenarios. The cruising through a gate test scenario may also be considered as an obstacle avoidance test scenario.

[0065] In the embodiments of the present disclosure, the test methods may include field tests, parking lot tests, simulation tests, etc. The parking lot may include open-air parking lots, underground parking lots, indoor parking lots, roadside parking spaces, etc., which are not limited in the embodiments of the present disclosure.

[0066] In the disclosed embodiment, by setting the scene features, test methods, obstacle avoidance requirements (passing requirements) of the obstacle avoidance test scene, the parking obstacle avoidance performance of the test vehicle can be tested, and the parking obstacle avoidance performance of the test vehicle (such as vehicle obstacle avoidance operation or obstacle avoidance control) is compared with the passing requirements to obtain the test results. If the obstacle avoidance performance of the vehicle in a certain obstacle avoidance test scene meets the passing requirements, it can be determined that the vehicle has passed the scene test. If the vehicle sequentially drives through N obstacle avoidance test scenes included in a parking test route, if the test results corresponding to the obstacle avoidance operations in the N obstacle avoidance test scenes are all passed, it can be determined that the vehicle has passed the complete test on the parking test route. If any of the N obstacle avoidance test scenes fails, it can be determined that the vehicle has failed the complete test on the parking test route. Exceptions can also be set, for example, if all scenes except one or more scenes of the N obstacle avoidance test scenes are passed, it can also be determined that the complete test on the parking test route has passed. Wherein, N is greater than 1.

[0067] In the disclosed embodiment, the initial setting position or movement route of the obstacle in the obstacle avoidance test scene will collide with the test vehicle traveling along the initial trajectory. If the test vehicle can avoid colliding with obstacles and further complete one or more driving tasks such as ramp parking, ramp starting, ramp following, parking out of a parking space, parking in a parking space, straight road cruising, curve cruising, and intersection cruising, it means that the parking obstacle avoidance function of the test vehicle is good. How many obstacle avoidance functions the vehicle can support can be determined according to the vehicle's design operating conditions (ODC), etc.

[0068] In the disclosed embodiments, the test results can be obtained based on the comparison of the test process data with the passing requirements of each scene. The test process data may include whether the vehicle has collided, the speed of each stage in the vehicle's automatic driving, the vehicle's driving path, the time it takes for the vehicle to pass the test scene, whether the vehicle has passed the test scene, etc., which are not limited in the disclosed embodiments. The test process data may be recorded by the test vehicle. It may also be recorded by sensors set in the test scene or sensors set in obstacles, etc., which are not limited in the disclosed embodiments. For example, the sensor may include a camera, a radar, a speedometer, a pressure sensor, a laser rangefinder, etc., which are not limited in the disclosed embodiments.

[0069] In the disclosed embodiment, a parking test route of a parking obstacle avoidance test may include a single test scene or multiple test scenes. In the case where the parking test route includes multiple test scenes, the test vehicle may be controlled to perform tests in the multiple test scenes respectively, and the test results may be summarized. Alternatively, each test scene may be tested in sequence according to the scene sequence on the parking test route. If the result of a test scene in the middle is not passed, the subsequent test scenes may be stopped.

[0070] In the disclosed embodiment, by controlling the test vehicle to travel in one or more obstacle avoidance test scenarios included in the parking test route, the test results corresponding to the obstacle avoidance operation during the test can be obtained, which is conducive to accurately obtaining the obstacle avoidance performance of the vehicle parking process, thereby improving the safety of the vehicle. For example, testing the automatic parking function of an autonomous driving vehicle in multiple obstacle avoidance test scenarios in sequence can cover more comprehensive test scenarios, obtain reliable test results, and verify the feasibility and reliability of the automatic parking solution of the test vehicle. In addition, a separate test can also be conducted for a certain scenario to test the feasibility and reliability of the automatic parking solution in the scenario, thereby improving the flexibility and applicability of the test method.

[0071] Figure 2 is a flow chart of an obstacle avoidance method based on a parking test scenario according to another embodiment of the present disclosure, and the method may include one or more features of the obstacle avoidance method based on a parking test scenario. In one embodiment, when the obstacle includes one or more static obstacles, the test vehicle performs an obstacle avoidance operation, including:

[0072] S201. The test vehicle controls the speed and / or direction to avoid the one or more static obstacles according to at least one of the position, size, and type of the one or more static obstacles.

[0073] In the embodiments of the present disclosure, a single test scenario may include one or more static obstacles. Static obstacles have certain types, sizes, and positions. By adjusting the position, size, and type of static obstacles. Multiple test scenarios can be generated based on static obstacles. The position, size, and type of static obstacles will affect the choice of obstacle avoidance strategy for the autonomous driving vehicle. For example, when the type of obstacle is identified as a human, the obstacle avoidance level is higher, and the autonomous driving vehicle will choose a more conservative obstacle avoidance strategy. When it is identified that the position of the obstacle is on the driving path of the autonomous driving vehicle and there is room for detour, the autonomous driving vehicle will choose to detour. When it is identified that the obstacle blocks the detour space, the autonomous driving vehicle will choose to brake and stop before the obstacle.

[0074] In the disclosed embodiments, the test vehicle can use its own sensors to obtain information about obstacles, and select obstacle avoidance strategies and perform obstacle avoidance operations based on the location, size, and type of the obstacle. The test vehicle can also receive obstacle recognition results, obstacle avoidance decisions, or control information from a user terminal, a field terminal, or the cloud. When performing obstacle avoidance operations, the test vehicle can control the speed of the vehicle and change the direction of the vehicle. For example, there is an obstacle on the test vehicle's driving path, and the obstacle avoidance strategy selected by the test vehicle is to bypass the obstacle from the left side. Then, the test vehicle first performs a braking search, and then controls the vehicle to turn left, and resumes straight driving after completely avoiding the obstacle.

[0075] According to the embodiments of the present disclosure, different test scenarios can be formed by setting the position, size, type and other features of the static obstacles, thereby affecting the obstacle avoidance strategy of the test vehicle, and the automatic parking function of the vehicle can be tested based on richer test scenarios.

[0076] In one embodiment, when the obstacle includes one or more dynamic obstacles, the test vehicle performs an obstacle avoidance operation, including:

[0077] S202: The test vehicle controls the speed and / or direction of the test vehicle to avoid the one or more dynamic obstacles according to at least one of the position, size, type, movement direction, and movement speed of the one or more dynamic obstacles.

[0078] In the embodiments of the present disclosure, one or more dynamic obstacles may be included in a single test scenario. Multiple test scenarios may be formed by setting one or more features such as the position, size, type, direction of movement, and speed of movement of the dynamic obstacles. The characteristics of dynamic obstacles may affect the vehicle's obstacle avoidance strategy. For example, if there are pedestrians crossing the road in front of the autonomous driving vehicle and the obstacle avoidance level is high, the autonomous driving vehicle will choose a more conservative obstacle avoidance strategy, such as braking to stop. For another example, when an autonomous driving vehicle meets another vehicle, the autonomous driving vehicle will choose whether to give way based on whether the vehicle body overlaps with the oncoming vehicle.

[0079] According to the embodiments of the present disclosure, different test scenarios can be formed by setting the position, size, type, movement direction, movement speed and other characteristics of the dynamic obstacles, thereby affecting the obstacle avoidance strategy of the test vehicle, and the automatic parking function of the vehicle can be tested based on richer test scenarios.

[0080] In one embodiment, the type of the obstacle includes at least one of the following: traffic cones, parking locks, no parking signs, motor vehicles, non-motor vehicles, pedestrians, barriers, and buildings. For example, pedestrians may include models such as child dummies and adult dummies. Non-motor vehicles may include two-wheeled or three-wheeled vehicles such as bicycles, electric vehicles, and motorcycles. Motor vehicles may include four-wheeled vehicles such as passenger cars.

[0081] In the embodiments of the present disclosure, static obstacles may include traffic cones, parking locks, no parking signs, gates, buildings, motor vehicles in a stationary state, non-motor vehicles in a stationary state, pedestrians in a stationary state, etc., and the embodiments of the present disclosure do not limit this. Dynamic obstacles may include motor vehicles in a moving state, non-motor vehicles in a moving state, and pedestrians in a moving state.

[0082] According to the embodiments of the present disclosure, more test scenarios can be obtained by setting various types of obstacles, making the test scenarios more comprehensive and richer, and thus the automatic parking function of the vehicle can be tested more accurately based on the richer test scenarios.

[0083] In one embodiment, the obstacle avoidance requirements of the one or more obstacle avoidance test scenarios include at least one of the following:

[0084] The test vehicle does not collide with or physically contact the obstacle;

[0085] The test vehicle passes around the obstacle;

[0086] After the obstacle leaves the driving path of the test vehicle, the test vehicle returns to the first speed within a set time.

[0087] In the disclosed embodiment, the test data of the vehicle in the obstacle avoidance test scenario, such as the driving process information, can be recorded. Then, it can be determined whether the test result meets the obstacle avoidance requirements based on the driving process information. The obstacle avoidance requirements of different test scenarios can be different, or they can be the same or partially the same.

[0088] For example, obstacle avoidance requirements for obstacle avoidance test scenarios such as parking in, parking out, and intersections may include: the vehicle should not collide or physically contact with obstacles.

[0089] For example, the obstacle avoidance requirements for a straight-line cruise avoidance test scenario may include: (1) The vehicle should not collide with or physically contact the obstacle. (2) The vehicle should bypass the obstacle. (3) The vehicle should not collide with or physically contact the obstacle, and after the obstacle leaves the vehicle's path, the system should be able to control the vehicle to resume driving within a set time, such as 3 seconds.

[0090] For example, the obstacle avoidance requirements for a curve cruise avoidance test scenario may include: (1) The vehicle should not collide with or physically contact obstacles. (2) The vehicle should not collide with the target vehicle and continue to drive along the cruise path planned by the system after meeting the target vehicle.

[0091] For example, the obstacle avoidance requirements for the slope cruise avoidance test scenario may include: (1) The vehicle should not collide with or physically contact obstacles. (2) The vehicle should not collide with the target vehicle and continue to drive along the cruise path planned by the system after meeting the target vehicle. (3) The vehicle should be able to complete the following vehicle start and stop on a slope with a slope of not less than 8%. There should be no slipping during starting and parking. The vehicle shall not stop during the process and shall not collide with or physically contact obstacles.

[0092] In the disclosed embodiment, if the parking test route includes multiple obstacle avoidance test scenarios, corresponding test results can be obtained based on the obstacle avoidance operation of the vehicle in each test scenario, and an overall test result can also be obtained for the parking test route.

[0093] According to the embodiments of the present disclosure, obstacle avoidance requirements are flexibly set for obstacle avoidance test scenarios to obtain more accurate test results.

[0094] In one embodiment, the road features of the one or more obstacle avoidance test scenarios include at least one of the following: a straight road, a right-angle curve, an intersection, a straight slope, a spiral curve, and a parking space.

[0095] In the disclosed embodiment, the straight road, right-angle curve, intersection, straight slope, and spiral curve may include a single lane or multiple lanes, and the width of the lane may be set according to the test requirements. By testing the obstacle avoidance performance of the test vehicle when driving on various types of roads, the automatic parking performance and safety of the vehicle can be accurately evaluated.

[0096] In the disclosed embodiments, the test method may include one or more of a field test, a parking lot test, and a simulation test.

[0097] In one example, the test site requirements are as follows

[0098] 1. General requirements for the venue

[0099] The appropriate indoor or outdoor venue should be selected based on the ODC declared for the test vehicle.

[0100] For modified vehicles, collaborative perception vehicles, and semi-intelligent vehicles (see Table 1 for intelligent vehicle types), the site facility and equipment deployment plan can be deployed in accordance with the technical requirements proposed by the manufacturer. Please refer to Table 2 for details.

[0101] Parking lot roads and internal facility signs and markings should comply with relevant requirements.

[0102] In the embodiments of the present disclosure, based on the automatic parking capability requirements of intelligent vehicles, intelligent vehicles can be divided into types such as modified vehicles, collaborative perception vehicles, semi-intelligent vehicles, and fully intelligent vehicles. Examples of functional implementation methods of each type are shown in Table 1.

[0103] Table 1 Implementation methods of automatic parking functions of various intelligent vehicles

[0104]

[0105]

[0106] Modified vehicles, collaborative perception vehicles, and semi-intelligent vehicles are deployed on the field side according to the functional implementation methods in Table 1. Examples of relevant functional elements are shown in Table 2.

[0107] Table 2 Functional parameters of modified vehicles, cooperative perception vehicles, and semi-intelligent vehicles

[0108]

[0109] 2. Site composition

[0110] The test site consists of lanes, access lanes and parking spaces, among which the lanes include straight roads, curves and intersections.

[0111] 3. Driveway

[0112] General requirements: The surface of the test lane should be free of obvious pits, cracks and other undesirable conditions, and the lane surface should be dry.

[0113] The lane size can meet the following conditions:

[0114] (1) The width of the motor vehicle lane ranges from 3.0m to 5.0m, and the width of the lane marking ranges from 0.1m to 0.2m;

[0115] (2) The curve radius is not less than the minimum turning radius of the vehicle;

[0116] (3) For connecting ramps, the slope should not be less than the set slope, for example, 8%;

[0117] (4) When the longitudinal slope of the ramp of the connecting road is greater than the slope threshold, such as 10%, a gentle slope section should be set at the upper and lower ends of the ramp. The horizontal length of the straight gentle slope section should not be less than the first set length, such as 3.6m, and the gentle slope gradient should be half of the ramp gradient; the horizontal length of the curved gentle slope section should not be less than the first set length, such as 2.4m, and the curvature radius should not be less than the set radius, such as 20m. The center of the gentle slope section is the original starting point or end point of the ramp. Figure 3a The straight line is shown as a gentle slope. Figure 3b The curve is shown to be a gentle slope.

[0118] 4. Driveway

[0119] According to the parking method, the parking methods are divided into parallel, vertical and inclined parking methods. The examples of lane dimensions meet the following conditions:

[0120] (1) For parallel parking spaces, the width of the access lane ranges from 3.5m to 5.5m;

[0121] (2) For vertical parking spaces, the width of the access road ranges from 5.5m to 9.0m;

[0122] (3) For inclined parking spaces, the width of the access lane should range from 3.8m to 4.5m.

[0123] 5. Parking space

[0124] (1) Parking space line vertical parking space

[0125] Examples of parking space geometries and dimensions, such as Figure 3c shown.

[0126] Wherein, Y represents the width of the parking space, for example: Y=2.5m; X represents the length or depth of the parking space, for example: X=6.0m; L represents the width of the parking space boundary line, for example: L=0.1m.

[0127] In addition, for vehicles with a width exceeding 1.9m, Y = vehicle width + 1.0m; the parking space pavement is required to be a paved flat surface; curbstones are not mandatory.

[0128] (2) Parking spaces with parallel parking lines

[0129] Examples of parking space geometries and dimensions, such as Figure 3d shown.

[0130] Wherein, Y represents the width or depth of the parking space, for example: Y=2.5m; X represents the length of the parking space, for example: X=6.0m; L represents the width of the parking space boundary line, for example: Y=0.1m.

[0131] In addition, for vehicles with a length exceeding 4.8m, X = test vehicle length * 1.25; the parking space pavement is required to be a paved flat surface; curbstones are not mandatory.

[0132] (3) Parking spaces with inclined parking lines

[0133] Examples of parking space geometries and dimensions are Figure 3e As shown, there are no other obstacles within the parking space. The angle between the parking space and the direction in which the vehicle searches for a parking space can be 45°, and 30° or 60° can be selected as an alternative.

[0134] Wherein, Y represents the width or depth of the parking space: Y=2.5m; X represents the length of the parking space: X=6.0m; L represents the width of the parking space boundary line: L=0.1m.

[0135] (4) Vertical parking spaces

[0136] Examples of vertical parking spaces that meet the following requirements:

[0137] (a) The vertical parking space layout meets the following requirements, such as Figure 3f As shown:

[0138] It consists of two boundary vehicles and the length difference between them and the test vehicle is within 0.3m;

[0139] The boundary vehicles are placed in parallel with their front ends in a horizontal line;

[0140] A parking controllable area obstacle is set at a certain distance from the front end of the boundary vehicle, for example 7 meters, perpendicular to the side edge line of the boundary vehicle and with a height not less than a set height, for example 1.5 meters. The obstacle at least covers the boundary vehicle and the parking space area.

[0141] (b) For vertical parking spaces, the parking space depth X and parking space width Y meet the following requirements:

[0142] X = length of the test vehicle;

[0143] Y = width of test vehicle + 1.2m.

[0144] (5)Parallel parking spaces

[0145] The space parallel parking space meets the following requirements:

[0146] (a) The layout of parallel parking spaces should meet the following requirements: Figure 3g As shown, there is no curb Figure 3h As shown:

[0147] It consists of two boundary vehicles and the width difference with the test vehicle is within a set value, such as 0.15m;

[0148] The boundary vehicles are on a horizontal line close to the roadside edge line;

[0149] If the parking space includes a kerb, the side edge of the boundary vehicle is parallel to the kerb, and the height of the kerb above the ground should be greater than or equal to a set value, such as 0.15m, and the angle between the center line of the kerb and the ground is a set value, such as 90°;

[0150] A parking controllable area obstacle is set at a set distance, for example, 4.5m, from the side edge line of the boundary vehicle at the roadside end of the parking space. The obstacle is parallel to the side edge line of the boundary vehicle and has a height not less than the set height, for example, 1.5m. The obstacle covers at least the area from the front end of the front boundary vehicle to the front end of the rear boundary vehicle.

[0151] (b) For parallel parking spaces, the parking space length X and the parking space width Y meet the following requirements:

[0152] For a test vehicle whose body length is not greater than the set length, such as 4m, X = test vehicle length + 1m;

[0153] For a test vehicle with a body length greater than the set length, such as 4m, X = test vehicle length * 1.25;

[0154] Y = width of test vehicle + 0.2m.

[0155] (6) Spatial tilted parking space

[0156] The space inclined parking space should meet the following requirements:

[0157] (a) The layout of the inclined parking spaces should meet the following requirements: Figure 3i As shown, there is no curb Figure 3j As shown:

[0158] It consists of two boundary vehicles and the length difference between them and the test vehicle is within a set value, such as 0.3m;

[0159] The boundary vehicles are placed in parallel with their front ends on a horizontal line. The angle between the vehicle and the curb can be 45°, with 30° or 60° as an alternative.

[0160] (b) For inclined parking spaces, the parking space depth X and parking space width Y meet the following requirements:

[0161] X = length of the test vehicle;

[0162] Y = width of test vehicle + 1.2m.

[0163] According to the embodiments of the present disclosure, different test scenarios can be obtained by adjusting road features, and multiple road features can be combined to obtain multiple test scenarios, making the test scenarios more comprehensive and richer.

[0164] In one embodiment, the one or more obstacle avoidance test scenarios include a ramp cruising obstacle avoidance test scenario.

[0165] In one embodiment, the scene features of the ramp cruise obstacle avoidance test scene include at least one of the following: the ramp, static obstacles on the ramp, and dynamic obstacles on the ramp; wherein the ramp includes a straight slope or a spiral curve.

[0166] In one embodiment, the obstacle avoidance requirements of the ramp cruise obstacle avoidance test scenario include at least one of the following:

[0167] The test vehicle does not collide with or physically contact any obstacle located on the ramp;

[0168] The test vehicle circumvents a static obstacle located on the ramp;

[0169] The test vehicle continues to travel along the planned cruising path after meeting the dynamic obstacle on the ramp;

[0170] The test vehicle does not slip and / or pause during the process of following the dynamic obstacle on the ramp to start and stop.

[0171] In the disclosed embodiment, based on the scenario characteristics and passing requirements of the hill cruise obstacle avoidance test scenario, it can be more accurately and reasonably determined whether the test vehicle passes the hill cruise obstacle avoidance test.

[0172] In one embodiment, in a ramp cruising obstacle avoidance test scenario, controlling a test vehicle to travel in one or more obstacle avoidance test scenarios included in a parking test route includes: controlling the test vehicle to travel up or down a parking lot ramp at a first speed; wherein the test vehicle may collide with an obstacle on the ramp on the driving path of the test vehicle.

[0173] In the disclosed embodiment, the road feature of the test scene is a ramp, which may include a straight slope and a spiral curve. The number of lanes of the straight slope and the spiral curve may be single or multiple. The driving path of the test vehicle may be driving up the ramp (or referred to as driving along the up ramp) or driving down the ramp or referred to as driving along the down ramp). Static or dynamic obstacles may be set on the ramp, and the test vehicle may collide with the obstacles on the initially planned driving path. The driving path may also be referred to as a driving trajectory.

[0174] According to the disclosed embodiment, the obstacle avoidance performance of the test vehicle in a ramp scenario in a parking test route may be tested to determine whether the vehicle can safely and successfully pass the ramp cruising obstacle avoidance test.

[0175] In one embodiment, the ramp cruise obstacle avoidance test scenario includes a test scenario with a stationary obstacle on the ramp, and the characteristics of the stationary obstacle include at least one of the following:

[0176] The static obstacle is in the cruising path of the test vehicle;

[0177] the static obstacle is located on the slope of the ramp;

[0178] the static obstacle is located on a straight section at the top of the ramp;

[0179] the static obstacle is located on a straight section at the bottom of the ramp;

[0180] The initial distance between the static obstacle and the test vehicle is not less than the set distance.

[0181] By setting the position of the static obstacle in the test scenario with a stationary obstacle on the ramp, the distance from the test vehicle, etc., a rich test scenario can be formed to test the obstacle avoidance performance of the test vehicle when there is a stationary obstacle on the ramp, to determine whether the vehicle can safely and successfully avoid the stationary obstacle on the ramp.

[0182] Example 1: Static Obstacle on a Ramp

[0183] 1. Experimental scene setting

[0184] The test scenario may include the following elements: static obstacle scenario on spiral curve such as Figure 4a As shown in the figure, the static obstacle scene on the straight slope is as follows Figure 4b As shown:

[0185] (1) A certain number of traffic cone targets, such as two, placed in parallel;

[0186] (2) For a one-way spiral curve or straight slope, the lane width shall not be less than the set width, such as 3.5 m, and the slope shall not be less than the set slope, such as 8%.

[0187] 2. The test method is as follows:

[0188] (1) The test vehicle VUT travels down the slope at the design speed V0;

[0189] (2) The traffic cone is placed in the middle of the ramp, at a distance no less than a set distance from the test vehicle, e.g. 10 m.

[0190] Example 2: The obstacle is stationary at the top or bottom of the slope

[0191] 1. Experimental scene setting

[0192] The test scenario may include the following elements, such as Figure 4c and Figure 4d As shown:

[0193] (1) Upright child dummy;

[0194] (2) For a one-way ramp, the lane width shall not be less than a set width, such as 3.5 m, and the slope shall not be less than a set slope, such as 8%.

[0195] 2. The test method is as follows:

[0196] (1) The test vehicle VUT drives uphill and downhill at the design speed V0;

[0197] (2) The child dummy is placed upright on a straight section at the top or bottom of a slope.

[0198] 3. Obstacle avoidance requirement or passing requirement (Example 1 and Example 2)

[0199] The test is conducted according to the test method of the test scenario where the obstacle is stationary at the top or bottom of the slope, and the vehicle does not collide with or physically contact the obstacle such as a child dummy.

[0200] In the disclosed embodiment, based on the scenario characteristics, test methods and passing requirements of the test scenario with a static obstacle on a ramp, it can be more accurately and reasonably determined whether the test vehicle has passed the obstacle avoidance test of the test scenario with a static obstacle on a ramp.

[0201] In one embodiment, the ramp cruising obstacle avoidance test scenario includes an opposing motion test scenario on a ramp, and the characteristics of the dynamic obstacles on the ramp include at least one of the following:

[0202] The dynamic obstacle moves upward or downward along the ramp in a direction opposite to the test vehicle;

[0203] The moving speed of the dynamic obstacle is less than or equal to the first speed of the test vehicle.

[0204] Example 3: Meeting on a slope

[0205] 1. Experimental scene setting

[0206] The test scenarios may include the following elements: spiral curve meeting scenario such as Figure 4e As shown in the figure, the straight slope meeting scene is as follows Figure 4f As shown:

[0207] (1) Target vehicle;

[0208] (2) For a bidirectional spiral curve or straight slope, the lane width shall not be less than the set width, such as 6.5 m, and the slope shall not be less than the set slope, such as 8%.

[0209] 2. Test methods

[0210] The test may consist of two runs, the test method is as follows:

[0211] (1) The test vehicle VUT travels down the slope at the design speed V0;

[0212] (2) The target vehicle VT is traveling upward in the opposite lane of the ramp, and the speed V1 can be the same as the cruising speed of the test vehicle VUT, for example, V0;

[0213] (3) The two vehicles switch directions and conduct a second test.

[0214] 3. Obstacle avoidance or passing requirements

[0215] The test is conducted according to the test method of the ramp meeting test scenario. During the cruising process, the outer edge of any tire of the test vehicle VUT does not cross the outer edge of the lane line, and any point of the vehicle body does not collide or physically contact with the wall, etc. In addition, the test vehicle VUT does not collide with the target vehicle VT, and continues to drive according to the cruising path planned by the system after the meeting.

[0216] In the disclosed embodiment, based on the scenario characteristics, test methods and passing requirements of the opposing motion on a ramp test scenario, it can be more accurately and reasonably determined whether the test vehicle has passed the obstacle avoidance test of the opposing motion on a ramp test scenario.

[0217] In one embodiment, the ramp cruising obstacle avoidance test scenario includes a same-direction movement test scenario on a ramp, and the characteristics of the dynamic obstacles on the ramp include at least one of the following:

[0218] The dynamic barrier travels in front of the test vehicle;

[0219] The dynamic obstacle moves upward or downward along the ramp in the same direction as the test vehicle;

[0220] The moving speed of the dynamic obstacle is not higher than the first speed of the test vehicle;

[0221] The dynamic obstacle slows down and / or stops while the test vehicle is following stably;

[0222] The dynamic obstacle starts to operate after a set period of time in a decelerated and / or stopped state.

[0223] Example 4: Start and stop on a slope with a following vehicle

[0224] 1. Experimental scene setting

[0225] The test scenarios may include the following elements: spiral curve following driving scenario such as Figure 4g As shown in the figure, the straight slope following driving scene is as follows Figure 4h As shown:

[0226] (1) For a one-way spiral curve or straight slope, the lane width shall not be less than the set width, such as 3.5 m, and the slope shall not be less than the set slope, such as 8%;

[0227] (2) The target vehicle travels at a low speed and completes start-stop on a slope.

[0228] 2. The test method is as follows:

[0229] (1) The test vehicle cruises and follows the target vehicle on a slope at a speed higher than that of the target vehicle;

[0230] (2) After the test vehicle reaches a stable following state, the target vehicle decelerates and stops;

[0231] (3) After a set time, such as 10 seconds, the target vehicle starts to move and reaches the end of the slope.

[0232] 3. Obstacle avoidance or passing requirements

[0233] The test is conducted according to the test method of the slope following start-stop test scenario. The vehicle should be able to complete the slope following start-stop on a slope with a slope not less than the set slope, such as 8%. There should be no slipping during starting and parking, the vehicle should not pause during the process, and there should be no collision or physical contact with obstacles.

[0234] In the disclosed embodiment, based on the scenario characteristics, test methods and passing requirements of the same-direction moving on a ramp test scenario, it can be more accurately and reasonably determined whether the test vehicle has passed the obstacle avoidance test of the same-direction moving on a ramp test scenario.

[0235] In one embodiment, the one or more obstacle avoidance test scenarios include a cruising gate test scenario.

[0236] In one embodiment, in the cruise gate test scenario, controlling the test vehicle to travel in one or more obstacle avoidance test scenarios included in the parking test route includes at least one of the following:

[0237] Controlling the test vehicle to travel along a straight road in the parking lot toward the gate at a first speed;

[0238] Recording the driving speed of the test vehicle when it reaches a position at a first distance from the barrier gate;

[0239] Record the driving process information of the test vehicle when it drives to a position that is not less than the second distance from the gate.

[0240] In the disclosed embodiment, by controlling the speed of the test vehicle, the distance from the gate, etc. in the cruise gate test scenario and recording the vehicle driving process information, it is possible to more accurately determine whether the vehicle has passed the cruise gate test.

[0241] In one embodiment, the scene features of the cruise gate test scene include at least one of the following: a straight road, a gate on the straight road;

[0242] The obstacle avoidance requirements of the cruise gate test scenario include at least one of the following:

[0243] The test vehicle does not collide with or physically contact the barrier;

[0244] the test vehicle passes through the gate;

[0245] When the test vehicle travels to a target distance from the gate, the speed of the test vehicle is less than or equal to the speed threshold.

[0246] In the disclosed embodiment, based on the scenario characteristics and passing requirements of the cruise gate test scenario, it can be more accurately and reasonably determined whether the test vehicle passes the cruise gate test.

[0247] Example 5: Cruise Gate

[0248] 1. Experimental scene setting

[0249] The test scenario may include the following elements, such as Figure 5 As shown:

[0250] (1) A straight road with a length not less than a set length, such as 30 m, and a width not less than a set depth, such as 3 m, and clear lane lines;

[0251] (2) There is a toll gate ahead, placed horizontally in the middle of the road.

[0252] 2. The test method is as follows:

[0253] (1) The test vehicle VUT travels on a straight road at the design speed V0, and the driving path passes through the toll gate;

[0254] (2) When the test vehicle reaches the first distance set by the gate, for example, 30 m, the vehicle's speed is recorded;

[0255] (3) When the test vehicle reaches a position that is not less than a set second distance from the gate, such as 70 cm, the vehicle performance is recorded.

[0256] In one embodiment, the one or more obstacle avoidance test scenarios include a parking obstacle avoidance test scenario; controlling the test vehicle to travel in the one or more obstacle avoidance test scenarios included in the parking test route includes: controlling the test vehicle to perform a parking task along a parking space path or a parking space path, the parking task including a parking space task or a parking space task; wherein the obstacle may collide with the test vehicle on the parking space path or the parking space path.

[0257] In the disclosed embodiment, in the parking obstacle avoidance test scenario, the vehicle is controlled to perform a parking task along a parking path or a parking path. Based on whether the vehicle collides with an obstacle during its driving process, it can be determined whether the vehicle passes the cruise gate test.

[0258] In one embodiment, the parking obstacle avoidance test scenario includes a test scenario in which an obstacle appears in a parking space, and the characteristics of the obstacle include at least one of the following:

[0259] The obstacle is initially located at a first position of the target parking space, and the first position is located at an edge or outside of the target parking space;

[0260] The obstacle moves from a first position of the target parking space to a second position when the test vehicle starts a parking space task, and the second position is located inside the target parking space;

[0261] The lateral and longitudinal deviations of the obstacle at the first position and / or the second position are less than the set deviation values;

[0262] The movement time of the obstacle is within the set time range.

[0263] In the embodiment of the present disclosure, in the test scenario where an obstacle appears in the parking space, the obstacle can be a static obstacle or a dynamic obstacle. The vehicle can adjust its parking path or even park itself according to the position and motion state of the obstacle. Obstacles based on various characteristics can form a rich test scenario of obstacles appearing in the parking space, and then based on whether the vehicle collides with the obstacle during the parking process, the obstacle avoidance performance of the vehicle during the parking process can be obtained.

[0264] Example 6: Static obstacle appears in the parking space when parking

[0265] 1. Experimental scene setting

[0266] The test scenario may include the following elements, such as Figure 6a As shown:

[0267] (1) Upright child dummy;

[0268] (2) Target parking space;

[0269] (3) The front ends of the target vehicles VT parked on both sides of the target parking space are on a horizontal line and are a certain distance away from the inner edge of the parking space line, for example (10±2) cm.

[0270] Among them, A represents the center line of the child dummy; B represents the outermost edge of the inner side of the parked vehicle; C represents the outermost edge of the front of the parked vehicle; and D represents the front edge of the child dummy.

[0271] 2. The test method is as follows:

[0272] (1) The test vehicle VUT parks at the target parking space according to the set requirements;

[0273] (2) When the automatic parking system identifies the target parking space and enters the parking process, the child dummy moves from the BD intersection position to the AD intersection position and stops at the AD intersection position. When the child dummy is at the intersection position, the lateral and longitudinal deviations are less than the set values, such as 10 cm, and the total walking time of the child dummy is within the set range, such as 1.8 s to 2.5 s.

[0274] In one embodiment, the parking obstacle avoidance test scenario includes a test scenario of an obstacle passing through a parking space, and the characteristics of the obstacle include at least one of the following:

[0275] The obstacle is started from a third position and passes through the target parking space when the test vehicle is in a set state;

[0276] The obstacle passes through the target parking space at a set speed;

[0277] Among them, the third position is located at the edge or outside of the target parking space; the set state includes at least one of the following: the test vehicle starts to reverse and no longer switches gears, and the rear wheel contact point of the test vehicle contacts the parking space line of the target parking space.

[0278] In the disclosed embodiment, in the test scenario where an obstacle passes through the parking space during the parking process, the obstacle can be a dynamic obstacle. The vehicle can adjust its parking path or even stop according to the position, speed, distance, etc. of the obstacle. Obstacles with various characteristics can form a rich test scenario of obstacles passing through the parking space during the parking process, and then based on whether the vehicle collides with the obstacle during the parking process, the obstacle avoidance performance of the vehicle during the parking process can be obtained.

[0279] Example 7: When parking in a parking space, a targeted pedestrian is crossing the parking space

[0280] 1. Experimental scene setting

[0281] The test scenario may include the following elements, such as Figure 6b As shown:

[0282] (1) For an upright child dummy, the lateral error of the trajectory is a set value, for example, ±10 cm;

[0283] (2) Target parking space;

[0284] (3) There is a parked vehicle VT on one side of the target parking space, and the other side is an empty parking space.

[0285] Among them, A represents the front edge of the target parking space; B represents the side edge of the target parking space (the side close to the parked vehicle); C represents the distance between the starting position of the child dummy and the front edge of the target parking space.

[0286] 2. The test method is as follows:

[0287] (1) The test vehicle VUT parks in the target parking space A at a speed of V0 according to the parking strategy;

[0288] (2) When the test vehicle starts to reverse and no longer switches gears, at the moment when the rear wheel contact point contacts the parking space line, the child dummy starts from position B and crosses the target parking space at a set speed, for example, V1 = (5 ± 1) km / h.

[0289] In one embodiment, the parking obstacle avoidance test scenario includes a test scenario in which an obstacle follows the vehicle during parking. The characteristics of the obstacle include at least one of the following:

[0290] The obstacle moves with the test vehicle;

[0291] The second speed of the obstacle is the same as the first speed of the test vehicle;

[0292] The following distance of the obstacle is not greater than the set following distance;

[0293] The deviation between the obstacle and the center line of the test vehicle is not greater than the set deviation;

[0294] The obstacle continues to move and stops on the parking path of the test vehicle when the test vehicle starts the parking task.

[0295] In the embodiment of the present disclosure, in the test scenario where an obstacle follows the vehicle during parking, the obstacle may be a dynamic obstacle. The vehicle may adjust its parking path or even stop according to the position, speed, distance, etc. of the obstacle. Obstacles with various characteristics can form a variety of test scenarios where obstacles follow the vehicle during parking, and then determine whether the vehicle collides with the obstacle during parking, and then obtain the obstacle avoidance performance of the vehicle during parking.

[0296] Example 8: Parking in a parking space with a target vehicle behind

[0297] 1. Experimental scene setting

[0298] The test scenario may include the following elements, such as Figure 6c As shown:

[0299] (1) Target parking space B;

[0300] (2) Following target vehicle VT1;

[0301] (3) The target vehicle VT2 is parked in parking space A;

[0302] 2. The test method is as follows:

[0303] (1) The test vehicle searches for a parking space at a speed of V0, and the target vehicle VT1 follows at the same speed. The following distance is no greater than a set value, such as 10 m. The deviation between the center line of the target vehicle VT1 and the test vehicle VUT in the straight line segment is no greater than a set value, such as 50 cm.

[0304] (2) The test vehicle identifies the target parking space and starts the parking process. The target vehicle VT1 continues to drive and stops on the path of the test vehicle to park in the parking space.

[0305] In one embodiment, the parking obstacle avoidance test scenario includes a test scenario in which an obstacle is in front of the vehicle during parking. The characteristics of the obstacle include at least one of the following:

[0306] The obstacle is located in front of the test vehicle that has parked in the parking space;

[0307] The direction of the obstacle is the same as the driving direction of the test vehicle.

[0308] In the embodiment of the present disclosure, in the test scenario where an obstacle is in front of the vehicle during the process of parking out of a parking space, the obstacle can be a static obstacle or a dynamic obstacle. The vehicle can adjust its parking path or even park itself according to the position, speed, distance, etc. of the obstacle. Obstacles based on various characteristics can form a variety of test scenarios where obstacles are in front of the vehicle during the process of parking out of a parking space, thereby obtaining the obstacle avoidance performance of the vehicle during the process of parking out of a parking space.

[0309] Example 9: Static obstacle in front of the vehicle when leaving a parking space

[0310] 1. Experimental scene setting

[0311] Test scenario elements may include upright child dummies, such as Figure 6d shown.

[0312] Among them, A represents the outermost edge of the test vehicle; B represents the outermost edge of the child dummy; and C represents the frontmost edge of the test vehicle.

[0313] 2. The test method is as follows:

[0314] (1) Place a standing child dummy in front of the vehicle that has been parked in the parking space, with the dummy facing the same direction as the vehicle;

[0315] (2) The test vehicle starts the parking task.

[0316] In one embodiment, the one or more obstacle avoidance test scenarios include a test scenario in which an obstacle is at the side of the vehicle during parking out of a parking space, and the characteristics of the obstacle include at least one of the following:

[0317] The obstacle is located on the side of the test vehicle that has been parked in the parking space;

[0318] The direction of the obstacle is the same as the driving direction of the test vehicle.

[0319] In an embodiment of the present disclosure, in a test scenario where an obstacle is in front of the vehicle during the process of parking out of a parking space, the obstacle may be a static obstacle or a dynamic obstacle. The obstacle may be on one side or both sides of the test vehicle, or on one side or both sides of the parking space where the test vehicle is located. If the obstacle is close to the vehicle, for example, less than a distance threshold, it may collide with or contact the vehicle when the vehicle is traveling along the path to park out of the parking space. The vehicle may adjust its own path to park out of the parking space or even stop according to the position, speed, distance, etc. of the obstacle. Obstacles based on a variety of features can form a rich test scenario of obstacles on the side of the vehicle during the process of parking out of a parking space, thereby obtaining the obstacle avoidance performance of the vehicle during the process of parking out of a parking space.

[0320] Example 10: Static obstacle on the side of the vehicle when leaving a parking space

[0321] 1. Experimental scene setting

[0322] The test scenario may include the following elements, such as Figure 6e As shown:

[0323] (1) Upright child dummy;

[0324] (2) Parked target vehicles VT on both sides of the test vehicle VUT;

[0325] 2. The test method is as follows:

[0326] (1) Place an upright child dummy on the side of the test vehicle, with the dummy facing the same direction as the vehicle is traveling;

[0327] (2) Start the task of parking the test vehicle to the right.

[0328] (3) The set speed of the test vehicle VUT leaving the parking space can be V0.

[0329] In one embodiment, the parking obstacle avoidance test scenario includes a test scenario in which an obstacle appears when parking out of a parking space, and the characteristics of the obstacle include at least one of the following:

[0330] The barrier is initially parked in the parking lane;

[0331] The distance between the obstacle and the parking space line of the target parking space and / or the lane line of the parking lane is greater than a set value;

[0332] The obstacle moves in the same direction as the test vehicle in the parking direction on the parking lane;

[0333] The obstacle moves in the parking lane in the direction opposite to the parking direction of the test vehicle;

[0334] When the wheels of the test vehicle contact the parking space line of the target parking space and continue to complete the parking out action, the obstacle at least reaches the center line of the parking space before the target parking space and continues to travel along the parking out lane at a speed greater than the first speed.

[0335] In the embodiment of the present disclosure, in the test scenario where an obstacle appears when parking out of a parking space, the obstacle may be a static obstacle or a dynamic obstacle. The obstacle may appear at a certain position of the vehicle's expected driving path on the parking lane. For example, the obstacle appears behind the vehicle's expected driving path on the parking lane and moves in the same direction as the test vehicle. For another example, the obstacle appears in front of the vehicle's expected driving path on the parking lane and moves in the opposite direction of the test vehicle. Therefore, the vehicle may collide or contact with the obstacle while traveling along the parking path. The vehicle can adjust its own parking path or even stop according to the position, speed, distance, etc. of the obstacle. Obstacles based on multiple features can form a rich test scenario of obstacles on the side of the vehicle during the parking process, thereby obtaining the obstacle avoidance performance of the vehicle during the parking process.

[0336] Example 11: Target vehicle appears when leaving a parking space

[0337] 1. Experimental scene setting

[0338] The test scenario may include the following elements, such as Figure 6f As shown:

[0339] (1) Parking spaces A, B and C are arranged side by side;

[0340] (2) The test vehicle VUT is parked in parking space B;

[0341] (3) The target vehicle VT2 is parked in parking space A, and the target vehicle VT1 is on the driving trajectory of the test vehicle when it leaves the parking space.

[0342] 2. The test method is as follows:

[0343] (1) The test vehicle VUT is parked in parking space B, and the parking exit instruction is initiated. The vehicle is parked according to the designed strategy.

[0344] (2) The target vehicle VT1 is parked in the parking lane of the test vehicle and drives along the lane, with a set distance from the outer edge of the parking space line or the lane edge, such as (1±0.5) m.

[0345] (3) The test vehicle starts the parking exit function. The target speed for the start can be V0. When the left wheel of the test vehicle VT1 touches the edge of the parking space and continues to complete the parking exit action, the front position of the target vehicle VT1 should at least reach the center line of parking space A, and continue to travel along the lane at a speed of V1≥(5±2)km / h, with the risk of collision with the test vehicle.

[0346] Example 12: Target pedestrian appears when leaving a parking space

[0347] 1. Experimental scene setting

[0348] The test scenario should include the following elements, such as Figure 6g As shown:

[0349] (1) Parking spaces A, B and C are arranged side by side;

[0350] (2) The test vehicle VUT is parked in one of the parking spaces;

[0351] (3) Target vehicles VT are parked in the parking spaces on both sides of the test vehicle, with the front end of the target vehicle aligned with the test vehicle and parked horizontally at the center line of the parking space (with a deviation of no more than 10 cm). The adult dummy is on the driving trajectory of the test vehicle when it is parked out of the parking space.

[0352] 2. The test method is as follows:

[0353] (1) The test vehicle is parked in the parking space, the parking exit command is initiated, and the vehicle is parked according to the designed strategy;

[0354] (2) The target pedestrian (which can be a dummy model) stands on the exit lane of the test vehicle, with the starting position at a set lateral distance from the inner edge of the lane edge, such as 50 cm;

[0355] (3) When the test vehicle starts to park out of the parking space at a speed of V0, the target pedestrian moves along the road toward the parking space where the test vehicle is located at a speed of, for example, V1 = (5 ± 1) km / h, and there is a risk of collision with the test vehicle.

[0356] In one embodiment, the scene features of the parking obstacle avoidance test scene include at least one of the following: a target parking space, an obstacle, and a shielding object located on one side or both sides of the target parking space.

[0357] In one implementation, the obstacle avoidance requirement of the parking obstacle avoidance test scenario includes: the test vehicle does not collide with or physically contact the obstacle.

[0358] In the disclosed embodiments, the scenario characteristics of various parking obstacle avoidance test scenarios may change. Based on the scenario characteristics, test methods, and passing requirements of different scenarios, it can be more accurately and reasonably determined whether the test vehicle passes the parking obstacle avoidance test.

[0359] In one embodiment, the one or more obstacle avoidance test scenarios include a straight-line cruising obstacle avoidance test; controlling the test vehicle to travel in one or more obstacle avoidance test scenarios included in a parking test route includes: controlling the test vehicle to travel along a straight road in the parking lot at a first speed toward the obstacle to reach a stable cruising state; wherein the test vehicle and the obstacle on the straight road may collide on the driving path of the test vehicle.

[0360] In an embodiment of the present disclosure, in a straight-line cruising obstacle avoidance test, the vehicle is controlled to travel along a straight road at a first speed toward an obstacle. Based on whether the vehicle collides with the obstacle during the driving process on the straight road, it can be determined whether the vehicle passes the straight-line cruising obstacle avoidance test.

[0361] In one embodiment, the straight-line cruising obstacle avoidance test includes a test scenario of front obstacle detection, and the characteristics of the obstacle include at least one of the following:

[0362] the barrier is positioned in front of the test vehicle on a straight track;

[0363] The obstacle is aligned with the centre line or headlights of the test vehicle;

[0364] The initial distance between the obstacle and the test vehicle is not less than the set distance;

[0365] The obstacle is in the middle of the straight road and there is no detour space on the straight road;

[0366] The obstacle is on one side of the straight road, and there is detour space on the other side of the straight road.

[0367] In the disclosed embodiment, in the test scenario of front obstacle detection on a straight road, the obstacle may be a static obstacle or a dynamic obstacle. The obstacle may appear at a certain position of the expected driving path of the vehicle on the straight road. The alignment of the obstacle with the center line or headlights of the test vehicle may cause the vehicle and the obstacle to collide or contact when driving on a straight road. The vehicle may adjust its own driving path or even stop according to the position, speed, distance, etc. of the obstacle. If there is no detour space on the straight road, the vehicle can be judged as having passed the test if it stops before reaching the obstacle. If there is detour space on the straight road, the vehicle can be judged as having passed the test if it can bypass the obstacle before reaching the obstacle. Obstacles based on multiple features can form a rich test scenario of front obstacle detection, thereby obtaining the obstacle avoidance performance of the vehicle when encountering an obstacle while cruising on a straight road.

[0368] Example 13: Static obstacle ahead

[0369] 1. Experimental scene setting

[0370] The test scenario may include the following elements, such as Figure 7a As shown:

[0371] (1) A straight road with a length of not less than 30m and a width of not less than 3m, with clear lane lines;

[0372] (2) Two traffic cone targets are placed in parallel, with the initial distance from the test vehicle not less than a set value, such as 15m;

[0373] (3) There is no detour space for the test vehicle VUT.

[0374] Among them, A represents the extension line of the right tire line of the test vehicle; B represents the extension line of the left tire line of the test vehicle; C represents the front edge of the test vehicle; and D represents the front edge of the traffic cone target.

[0375] 2. The test method is as follows:

[0376] (1) Place upright traffic cones in front of the lane, facing the center line of the main vehicle and the left / right headlights of the main vehicle;

[0377] (2) The test vehicle drives forward along the straight lane of the parking lot at the design speed, reaches a stable cruising state, and gradually approaches the upright traffic cone.

[0378] Example 14: Avoiding static obstacles

[0379] 1. Experimental scene setting

[0380] The test scenario may include the following elements, such as Figure 7b As shown:

[0381] (1) A double straight road with a length of not less than 30 meters, a single straight road width of not less than 3 meters, clear lane lines and dotted lane dividers;

[0382] (2) The stationary target vehicle VT1 in front of the test vehicle VUT’s driving path and on the right side of the road;

[0383] Among them, A represents the rearmost edge of the target vehicle; B represents the outermost edge of the target vehicle; C represents the frontmost edge of the parked vehicle; D represents the outermost edge of the test vehicle (one side of the parked vehicle); E represents the starting position reference of the test vehicle; and F represents the detour space reference.

[0384] 2. The test method is as follows:

[0385] (1) A stationary target vehicle is placed in front of the lane, and at least two stationary target vehicles such as VT2, VT3 and VT4 are placed on one side of the lane, with at least 3.5m of detour space left on the other side of the lane;

[0386] (2) The test vehicle drives forward along the straight road of the parking lot at the design speed and reaches a stable cruising state;

[0387] (3) The initial distance between the test vehicle and the target vehicle VT1 is not less than 15m.

[0388] In one embodiment, the straight-line cruising obstacle avoidance test includes a test scenario of an obstacle being blocked, and the characteristics of the obstacle include at least one of the following:

[0389] The initial position of the obstacle is at a specified position on the side of the occluder;

[0390] The front end of the initial position of the obstacle is on a horizontal line with the front end of the blocking object;

[0391] The obstacle is completely blocked by the shielding object, and the height of the shielding object is higher than or equal to the height of the obstacle;

[0392] When the test vehicle reaches a first position along the straight road, the obstacle reaches a second position along the straight road, the first position crosses the straight road, and the second position is a sideline of the straight road;

[0393] The obstacle crosses the travel path of the test vehicle on the straight road at a second speed;

[0394] The obstacle moves out of the parking space at a second speed and blocks the travel of the test vehicle on the straight road.

[0395] In the disclosed embodiments, in the test scenario of occluding obstacles, the occluding objects may be static and the occluded obstacles may be dynamic. The obstacle may appear from one side of the occluding object at a certain position of the vehicle's expected driving path on a straight road, and the vehicle and the obstacle may collide or contact while driving on a straight road. The vehicle may adjust its driving path or even stop according to the position, speed, distance, etc. of the obstacle. Occluding objects and obstacles based on various features can form a rich test scenario of occluding obstacles, thereby obtaining the obstacle avoidance performance of the vehicle when encountering an occluded obstacle while cruising on a straight road.

[0396] Example 15: Pedestrians crossing the road with obstructions

[0397] 1. Experimental scene setting

[0398] The test scenario may include the following elements, such as Figure 7c As shown:

[0399] (1) A straight road of not less than 30 meters in length and not less than 3 meters in width, with clear lane lines and no obstacles ahead;

[0400] (2) Child dummy;

[0401] (3) The VT height of the parked vehicles should be higher than that of the child dummy, and the number of parked vehicles should be sufficient to cover the child dummy.

[0402] Among them, A represents the outermost edge line of the child dummy; B represents the front edge of the parked vehicle; C represents the outermost edge of the test vehicle (one side of the parked vehicle); D represents the position reached by the test vehicle when the child dummy reaches the B line; E represents the distance between the A line and the D line. The values ​​are shown in Table 3.

[0403] Table 3E Value Reference

[0404]

[0405]

[0406] 2. The test method is as follows:

[0407] (1) Test preparation: The test vehicle VUT drives forward along the parking lane at the design speed and reaches a stable cruising state. The child dummy does not move. The speed V0 of the test vehicle passing through line A is recorded as the reference speed of the test vehicle.

[0408] (2) Formal test: The child dummy is initially positioned between the parked vehicles and between the A-pillar and C-pillar of the obstructing vehicle. The test vehicle travels along the lane of the parking lot at the design speed. When the test vehicle reaches the D-line position, the child dummy should reach the B-line position. Thereafter, the child dummy crosses the test vehicle's travel path at a speed of, for example, V1 = (5 ± 1) km / h.

[0409] Example 16: Stopping a vehicle to exit a parking space

[0410] 1. Experimental scene setting

[0411] The test scenario may include the following elements, such as Figure 7d As shown:

[0412] (1) A straight road of not less than 30 meters in length and not less than 3 meters in width, with clear lane lines and no obstacles ahead;

[0413] (2) At least two target vehicles, VT1 and VT2, are parked side by side to ensure that VT1 is completely obscured.

[0414] Among them, A represents the front edge of the target vehicle; B represents the outermost edge of the test vehicle (close to the side of the parked vehicle); C represents the reference line of the outer edge of the target vehicle (calculated based on the tire contact point, excluding the rearview mirror); D represents the position that the test vehicle should reach when the target vehicle starts to move; E represents the distance between line C and line D, see Table 4.

[0415] Table 4E Value Reference

[0416]

[0417]

[0418] 2. The test method is as follows:

[0419] (1) Test preparation: The test vehicle drives forward along the parking lane at the design speed until it reaches a stable cruising state. The target vehicle does not move. The speed V0 of the test vehicle passing through line C is recorded as the reference speed of the test vehicle.

[0420] (2) Formal test: The front end of the target vehicle is initially on a horizontal line. The test vehicle travels along the parking lane at the design speed. When the test vehicle reaches the D line, the target vehicle VT1 starts and drives out of the parking space at a speed of V1 = (5 ± 2) km / h. When the body of the target vehicle VT1 blocks the test vehicle, the target vehicle can stop.

[0421] In one embodiment, the straight-line cruising obstacle avoidance test includes a test scenario in which an obstacle moves irregularly, and the characteristics of the obstacle include at least one of the following:

[0422] The obstacle moves outside the driving lane of the test vehicle at a second speed;

[0423] The movement path of the obstacle is parallel to the travel path of the test vehicle;

[0424] When the test vehicle is in a driving state, the obstacle penetrates into the driving path of the test vehicle from the front of the test vehicle and maintains the second speed;

[0425] After reaching the center line of the driving path of the test vehicle, the obstacle continues to move at the second speed in the same direction as the driving direction of the test vehicle.

[0426] In the embodiment of the present disclosure, in the test scenario of irregular movement of obstacles, the obstacles can be dynamic. The obstacles may appear in a certain position of the expected driving path of the vehicle on the straight road in an irregular motion manner, and the vehicle and the obstacle may collide or contact when driving on the straight road. The vehicle can adjust its own driving path or even stop according to the position, speed, distance, etc. of the obstacle. Obstacles based on various characteristics can form a rich test scenario of irregular movement of obstacles, and then obtain the obstacle avoidance performance of the vehicle when encountering irregular movement of obstacles when cruising on a straight road.

[0427] Example 17: Irregular Pedestrian Movement

[0428] 1. Experimental scene setting

[0429] The test scenario may include the following elements, such as Figure 7e As shown:

[0430] (1) A straight road with a length of not less than 30m and a width of not less than 3m, with clear lane lines;

[0431] (2) Adult dummy outside the lane line.

[0432] 2. The test method is as follows:

[0433] (1) The test vehicle VUT cruises along the straight road of the parking lot at the design speed V0;

[0434] (2) The dummy moves parallel to the test vehicle, outside the lane where the test vehicle is traveling, at a speed of, for example, V1 = (5 ± 1) km / h;

[0435] (3) When the test vehicle reaches a certain position, the dummy starts to turn and crosses the test vehicle's path diagonally, maintaining a speed of V1;

[0436] (4) After reaching the center line of the vehicle’s travel trajectory, the dummy continues to move at a speed of V1 in the same direction as the test vehicle.

[0437] In one embodiment, the straight-line cruising obstacle avoidance test includes a test scenario in which an obstacle moves in the opposite direction, and the characteristics of the obstacle include at least one of the following:

[0438] The obstacle moves in the direction opposite to the test vehicle on the driving lane of the test vehicle;

[0439] The travel path of the obstacle overlaps with the body of the test vehicle.

[0440] In the disclosed embodiments, in a test scenario where an obstacle moves in the opposite direction, such as a vehicle on a collision course, the obstacle may be dynamic and move in the opposite direction of the vehicle on a straight road. The obstacle's travel path overlaps with the body of the test vehicle, so that the vehicle and the obstacle may collide or contact when moving in the opposite direction on a straight road. The vehicle may adjust its travel path or even stop according to the position, speed, distance, etc. of the obstacle. Obstacles based on a variety of features can form a rich test scenario of obstacle movement in the opposite direction, thereby obtaining the obstacle avoidance performance of the vehicle when encountering an obstacle moving in the opposite direction while cruising on a straight road.

[0441] Example 18: Cyclist Approaching

[0442] 1. Experimental scene setting

[0443] The test scenario may include the following elements, such as Figure 7f As shown:

[0444] (1) A straight road with a length of not less than 30m and a width of not less than 3m, with clear lane lines;

[0445] (2) Testing of two-wheeled vehicles.

[0446] Wherein, A represents the front edge of the test vehicle; B represents the front edge of the test two-wheeled vehicle.

[0447] 2. The test method is as follows:

[0448] (1) The test vehicle VUT drives forward along the straight road of the parking lot at the design speed V0 and reaches a stable cruising state;

[0449] (2) The test two-wheeled vehicle travels in the opposite direction to the test vehicle at a speed of, for example, V1 = (10 ± 1) km / h, and its travel trajectory overlaps with the body of the test vehicle.

[0450] The test two-wheeled vehicle stops when the distance from the test vehicle is less than a set distance, such as 5m, to avoid unnecessary collision with the test vehicle.

[0451] In one embodiment, the straight-line cruising obstacle avoidance test includes a test scenario of following an obstacle, and the characteristics of the obstacle include at least one of the following:

[0452] The direction of movement of the obstacle is the same as the direction of travel of the test vehicle;

[0453] the obstacle moves in front of the test vehicle;

[0454] The obstacle is braked to a stop when the test vehicle is in a stable following state;

[0455] The deceleration of emergency braking for the obstacle is not less than the set deceleration;

[0456] The obstacle moves away after stopping for a first period of time.

[0457] In the disclosed embodiment, in the test scenario of following an obstacle, the obstacle can be dynamic, and the obstacle can be in front of the vehicle and move in the same direction as the vehicle on a straight road. The obstacle, such as the target vehicle, can brake urgently, and the speed of the test vehicle can be greater than the speed of the target vehicle or the vehicle it is following, so that the vehicle and the obstacle may collide or contact when moving in the same direction on a straight road. The vehicle can adjust its own driving path or even stop according to the position, speed, distance, etc. of the obstacle. Obstacles based on various characteristics can form a test scenario of following obstacles, and then obtain the obstacle avoidance performance of the vehicle when the obstacle followed by the vehicle in straight-line cruising starts, brakes, stops, etc.

[0458] Example 19: The car ahead brakes

[0459] 1. Experimental scene setting

[0460] The test scenario may include the following elements, such as Figure 7g As shown:

[0461] (1) A straight road with a length of not less than 30m and a width of not less than 3m, with clear lane lines;

[0462] (2) The initial distance between the target vehicle VT and the test vehicle VUT is not less than a set value, such as 15m.

[0463] 2. The test method is as follows:

[0464] (1) The test vehicle drives forward along the straight road of the parking lot at the designed speed and reaches a stable cruising state;

[0465] (2) The target vehicle is traveling in the same direction as the test vehicle, and its speed is equal to the stable cruising speed of the test vehicle;

[0466] (3) After the test vehicle reaches a stable following state, the target vehicle brakes to a stop at a deceleration of no less than 6 m / s2;

[0467] (4) The target vehicle stops for a set time, such as 10 seconds, and then drives away. The state of the test vehicle is observed and its start time t is recorded.

[0468] In one embodiment, the scene features of the straight-line cruising obstacle avoidance test include at least one of the following: a straight road, an obstacle in front of the driving path of the test vehicle, an obstacle outside the lane line of the straight road, and an obstruction of the obstacle.

[0469] In one embodiment, the obstacle avoidance requirements of the straight-line cruising obstacle avoidance test scenario include at least one of the following:

[0470] The test vehicle does not collide with or physically contact the obstacle;

[0471] The test vehicle passes around the obstacle;

[0472] The test vehicle returns to the first speed within a set time after the obstacle leaves the vehicle's travel path.

[0473] In the disclosed embodiments, the scenario characteristics of various straight-line cruising obstacle avoidance test scenarios may change. Based on the scenario characteristics, test methods, and passing requirements of different scenarios, it can be more accurately and reasonably determined whether the test vehicle passes the straight-line cruising obstacle avoidance test.

[0474] In one embodiment, the one or more obstacle avoidance test scenarios include a curve cruising obstacle avoidance test; controlling the test vehicle to travel in one or more obstacle avoidance test scenarios included in a parking test route includes: controlling the test vehicle to travel along a curve in the parking lot toward the obstacle at a first speed to reach a stable cruising state; wherein the test vehicle and the obstacle on the curve may collide on the driving path of the test vehicle.

[0475] In an embodiment of the present disclosure, in a curve cruise obstacle avoidance test, the vehicle is controlled to travel along a straight road at a first speed toward an obstacle. Based on whether the vehicle collides with the obstacle during the driving process on the curve, it can be determined whether the vehicle passes the curve cruise obstacle avoidance test.

[0476] In one embodiment, the curve cruise obstacle avoidance test includes a test scenario with a static obstacle on the curve, and the characteristics of the static obstacle include at least one of the following:

[0477] The static obstacle is located on the blocked section of the curve;

[0478] The static obstacle is located on the driving path of the test.

[0479] In the embodiment of the present disclosure, in a test scenario where there is a static obstacle on a curve, the obstacle may appear at a certain position of the vehicle's expected driving path on the blocked section of the curve. The curve may include a right-angle curve composed of two straight sections, or it may include a curved curve composed of two straight sections and one section. On a right-angle curve, if the vehicle is on a straight section, the other straight section can be understood as the blocked section. On a curved curve, if the vehicle is on a straight section, the curved curve or the other straight section can be understood as the blocked section. The obstacle may collide or contact with the test vehicle when driving on the curve. The vehicle can adjust its own driving path or even stop according to the position, speed, distance, etc. of the obstacle. Obstacles based on multiple characteristics can form a rich test scenario with static obstacles on the curve, and then obtain the obstacle avoidance performance of the vehicle when encountering static obstacles when cruising on the curve.

[0480] Example 20: Static obstacle on a right-angle curve

[0481] 1. Experimental scene setting

[0482] The test scenario may include the following elements, such as Figure 8a As shown:

[0483] (1) The width of the right-angle curve is not less than the set width, for example, 3.5m, and the right-angle part is blocked by a wall;

[0484] (2) Upright child dummy.

[0485] Among them, A represents the trajectory of the front wheel of the test vehicle; B represents the extension of the blocked part; C represents the standing point of the child dummy (laterally centered).

[0486] 2. The test method is as follows:

[0487] (1) The test vehicle is driven at the design speed on the straight road before passing the curve and reaches a stable cruising state;

[0488] (2) The child dummy is placed on the driving trajectory of the test vehicle after being shielded at a right angle.

[0489] In one embodiment, the curve cruise obstacle avoidance test includes a test scenario with a dynamic obstacle on the curve, and the characteristics of the dynamic obstacle include at least one of the following:

[0490] The dynamic obstacle moves on the blocked section of the curve;

[0491] The dynamic obstacle is initially located at one side of the blocked road section;

[0492] When the test vehicle reaches a reference position on the driving section, the dynamic obstacle passes through the blocked section at a second speed.

[0493] In the embodiment of the present disclosure, in a test scenario with a dynamic obstacle on a curve, the obstacle may appear at a certain position of the vehicle's expected driving path on the blocked section of the curve. The obstacle and the test vehicle may collide or contact when driving on the curve. The vehicle can adjust its own driving path or even stop according to the position, speed, distance, etc. of the obstacle. Obstacles based on various characteristics can form a rich test scenario with dynamic obstacles on curves, thereby obtaining the obstacle avoidance performance of the vehicle when encountering dynamic obstacles while cruising on a curve.

[0494] Example 21: Dynamic Obstacle Curve Crossing

[0495] 1. Experimental scene setting

[0496] The test scenario may include the following elements, such as Figure 8b As shown:

[0497] (1) Adult dummy;

[0498] (2) The width of the right-angle curve is not less than the set width, for example, 3.5m, and the right-angle part is blocked by a wall.

[0499] Among them, A represents the extension of the blocked part; B represents the extension of the blocked part; and C represents the front edge of the adult dummy.

[0500] 2. The test method is as follows:

[0501] (1) The test vehicle VUT drives at the design speed on the straight road before passing the curve and reaches a stable cruising state;

[0502] (2) The adult dummy is located close to the wall after being blocked at a right angle. When the front of the test vehicle reaches position A, the adult dummy crosses the wall at a speed of, for example, V1 = (5 ± 1) km / h.

[0503] In one embodiment, the curve cruise obstacle avoidance test includes a test scenario in which a dynamic obstacle moves in the same direction on a curve, and the characteristics of the dynamic obstacle include at least one of the following:

[0504] The dynamic obstacle moves in the same direction as the test vehicle on the blocked lane of the curve;

[0505] When the test vehicle reaches the reference position on the driving lane, the dynamic obstacle starts from the reference position on the blocked lane;

[0506] The dynamic obstacle travels on the blocked lane at a speed lower than that of the test vehicle in the travel path of the test vehicle.

[0507] In the embodiment of the present disclosure, in a test scenario where there is a dynamic obstacle moving in the same direction on a curve, the obstacle may appear on the obstructed section of the curve, in front of the vehicle and moving in the same direction as the vehicle. The obstacle and the test vehicle may collide or contact when driving on the obstructed section. The vehicle can adjust its own driving path or even stop according to the position, speed, distance, etc. of the obstacle. Obstacles based on various characteristics can form a rich test scenario of dynamic obstacles moving in the same direction on a curve, thereby obtaining the obstacle avoidance performance of the vehicle when encountering an obstacle moving in the same direction while cruising on a curve.

[0508] Example 22: Driving at low speed on a dynamic obstacle curve

[0509] 1. Experimental scene setting

[0510] The test scenario may include the following elements, such as Figure 8c As shown:

[0511] (1) Target vehicle VT;

[0512] (2) The right-angle curve consists of one lane with a lane width of not less than 3.5m and the right-angle part is blocked by a wall.

[0513] Among them, A represents the extension of the blocked part; B represents the extension of the blocked part; and C represents the rearmost edge of the target vehicle.

[0514] 2. The test method is as follows:

[0515] (1) The test vehicle VUT travels at the design speed V0 on the straight road before passing the curve and reaches a stable cruising speed;

[0516] (2) After the target vehicle VT is blocked at the right-angle curve, when the front of the test vehicle reaches position A, the target vehicle starts from position C and travels along the test vehicle's driving trajectory at a speed V1 that is lower than V0.

[0517] In one embodiment, the curve cruise obstacle avoidance test includes a test scenario in which a dynamic obstacle moves in the opposite direction on a curve, and the characteristics of the dynamic obstacle include at least one of the following:

[0518] The dynamic obstacle moves in the opposite direction of the test vehicle on the blocked lane of the curve;

[0519] When the test vehicle reaches the reference position on the driving lane, the dynamic obstacle reaches the reference position on the blocked lane and continues to move;

[0520] The dynamic obstacle meets the test vehicle at a merging portion of the curve.

[0521] In the disclosed embodiment, there is a test scenario in which a dynamic obstacle moves in the opposite direction on a curve, and moves in the opposite direction to the vehicle on a straight road. The obstacle may appear on the blocked section of the curve and move in the opposite direction to the vehicle. The obstacle and the test vehicle may collide or contact when driving on the blocked section. The vehicle can adjust its own driving path or even stop according to the position, speed, distance, etc. of the obstacle. Obstacles based on various characteristics can form a rich test scenario of dynamic obstacles moving in the opposite direction, thereby obtaining the obstacle avoidance performance of the vehicle when cruising on a curve and encountering an obstacle moving in the opposite direction.

[0522] Example 23: Cruising on a curve

[0523] 1. Experimental scene setting

[0524] The test scenario may include the following elements, such as Figure 8d As shown:

[0525] (1) Target vehicle VT;

[0526] (2) For a two-way right-angle curve, the lane width shall not be less than 6.5 m, and the right-angle part shall be blocked by a wall.

[0527] Among them, A represents the extension of the blocked part; B represents the extension of the blocked part; and C represents the position reference of the target vehicle.

[0528] 2. The test method is as follows:

[0529] (1) The test vehicle VUT drives at the design speed on the straight road before passing the curve and reaches a stable cruising state;

[0530] (2) The target vehicle VT is in another lane after the right-angle curve, traveling in the opposite direction of the test vehicle at the same speed as the test vehicle;

[0531] (3) When the test vehicle reaches position A, the target vehicle reaches position C and continues to move, and the two vehicles meet at a right-angle curve.

[0532] In one embodiment, the scene features of the curve cruise obstacle avoidance test include at least one of the following: a curve, the curve is a right-angle curve or a non-right-angle curve, the curve includes a single lane or multiple lanes, the driving path of the test vehicle has dynamic obstacles and / or static obstacles, and there are obstructions on the side of the curve.

[0533] In one embodiment, the obstacle avoidance requirements of the curve cruise obstacle avoidance test scenario include at least one of the following:

[0534] The test vehicle does not collide with or physically contact the obstacle;

[0535] After the test vehicle meets the dynamic obstacle on the curve, the test vehicle recovers to the cruising speed within the set time.

[0536] In the disclosed embodiments, the scenario characteristics of various curve cruise obstacle avoidance test scenarios may change. Based on the scenario characteristics, test methods and passing requirements of different scenarios, it can be more accurately and reasonably determined whether the test vehicle passes the curve cruise obstacle avoidance test.

[0537] In one embodiment, the one or more obstacle avoidance test scenarios include an intersection obstacle avoidance test scenario; controlling the test vehicle to travel in one or more obstacle avoidance test scenarios included in the parking test route includes: controlling the test vehicle to travel at a first speed along a straight road in the parking lot toward the intersection to reach a stable cruising state; wherein the test vehicle may collide with an obstacle at the intersection on the driving path of the test vehicle.

[0538] In an embodiment of the present disclosure, in an intersection obstacle avoidance test, the vehicle is controlled to travel along a straight road at a first speed toward an intersection. Based on whether the vehicle collides with an obstacle during the driving process at the intersection, it can be determined whether the vehicle passes the intersection obstacle avoidance test.

[0539] In one embodiment, there is a dynamic obstacle on one or more lanes of the intersection, and the characteristics of the dynamic obstacle include at least one of the following:

[0540] When the test vehicle reaches the reference position of the first entrance lane, the dynamic obstacle reaches the first position of the second entrance lane of the intersection; wherein the first entrance lane is the driving lane of the test vehicle, and the second entrance lane and the first entrance lane are on different sections;

[0541] After reaching the first position of the second entrance lane, the dynamic obstacle maintains the second speed and passes through the second position of the second entrance lane.

[0542] In the disclosed embodiment, in the intersection obstacle avoidance test scenario, the obstacle may be a dynamic obstacle. The obstacle may enter the intersection from an entrance lane different from the test vehicle in the intersection, and the vehicle and the obstacle may collide or contact in the intersection. The vehicle can adjust its own driving path or even stop according to the position, speed, distance, etc. of the obstacle. Obstacles based on various characteristics can form a rich intersection obstacle avoidance test scenario, thereby obtaining the obstacle avoidance performance of the vehicle when encountering an obstacle at an intersection.

[0543] Example 24: Intersection obstacle avoidance test

[0544] 1. Experimental scene setting

[0545] The test scenario should at least consist of the following elements, such as Figure 8e As shown:

[0546] (1) At an intersection, a one-way lane has a width no less than a set width, such as a two-lane lane of 3 m, but no other traffic signs;

[0547] (2) target vehicle VT;

[0548] (3) The right side of the test vehicle VUT is blocked by a wall. This wall can be removed.

[0549] Among them, A represents the intersection line of the test vehicle path and the edge of the intersection; B represents the intersection line of the target vehicle path and the edge of the intersection; C represents the target vehicle driving reference line, and the vertical distance from line B is a set value such as 3m or 3.5m; D represents the left outer edge reference line of the target vehicle.

[0550] 2. The test method is as follows:

[0551] (1) The test vehicle drives along the straight road of the parking lot toward the intersection at the design speed V0 and reaches a stable cruising state;

[0552] (2) When the test vehicle reaches position A, the target vehicle should reach position C ±1m and maintain, for example, V1 = (10 ± 2) km / h, crossing line B and entering the intersection. There is a risk of collision between the two vehicles.

[0553] In one embodiment, the scene features of the intersection obstacle avoidance test include at least one of the following: an intersection, a road section at the intersection having two or more lanes, dynamic obstacles on one or more road sections at the intersection, and obstructions located on the side of the intersection.

[0554] In one embodiment, the obstacle avoidance requirement of the intersection passage obstacle avoidance test scenario includes: the test vehicle does not collide with or physically contact the obstacle.

[0555] In the disclosed embodiment, the scenario characteristics of the intersection passage test scenario may change. Based on the scenario characteristics, test methods and passing requirements of different scenarios, it can be more accurately and reasonably determined whether the test vehicle passes the intersection passage obstacle avoidance test.

[0556] Example 25: Parking lot test

[0557] 1. Experimental scene setting

[0558] Select a representative parking lot based on the design and operation range of the automatic parking system submitted by the manufacturer. The selected parking lot should cover the scene elements within the design and operation range. The parking lot elements can be found in Table 5.

[0559] Table 5 Parking lot scene elements

[0560]

[0561]

[0562] 2. Test requirements

[0563] If the automatic parking function of the test vehicle can be activated under conditions of light intensity less than 50lx and is suitable for open-air parking, a night test should be carried out and the corresponding light intensity should be selected according to its design operating conditions with reference to Table 5.

[0564] Among them, the night test period is the period between sunset and sunrise the next day. The sunrise and sunset times are based on the information released by the local meteorological bureau.

[0565] 3. The parking lot test meets the following conditions:

[0566] For vehicles that can be used in ≥3 parking lots or parking garages, at least three parking lots or parking garages need to be tested, and the elements of the parking lots need to cover the design operating range declared by the manufacturer; for vehicles that can be used in <3 parking lots or parking garages, all tests are required.

[0567] Each parking lot needs to cover three time periods: morning (6:00-9:00), noon (11:00-13:00), and evening (17:00-20:00). Each time period needs to be tested no less than a set number of times, such as 5 times, and the pass rate is a set target, such as 100%. Parking lot tests in office areas should be conducted on weekdays, and parking lots in shopping malls should be conducted on weekends. For example, for a Class I system, completing the identification of storage spaces and parking in and out of parking spaces is a complete test. For another example, for a Class II system, completing cruising, identifying storage spaces and parking in and out of parking spaces, cruising to the designated location to park is a complete test.

[0568] For vehicles suitable for special weather conditions, the manufacturer can apply and the testing agency will conduct tests based on actual conditions.

[0569] 4. During a single continuous test, when the test vehicle enters the test road and the test personnel activate the automatic parking function as required, the single continuous test begins; the test vehicle travels along the planned path, and the single continuous test ends after the single continuous test settings are completed.

[0570] 5. When the test results meet the relevant passing requirements, the test can be judged as passed.

[0571] 6. Test method: The parking lot test route may include one or more field test scenarios, such as field test routes for parking in, parking out, remote parking, and ramp cruise avoidance.

[0572] Example 25-1: Parking in a parking space

[0573] 1. Experimental scene setting

[0574] The test scenario may include the following elements, such as Figure 9a and Figure 9b As shown:

[0575] (1) Parking spaces A, B and C are arranged side by side, and vertical, parallel or inclined parking spaces can be selected according to the supported parking space types;

[0576] (2) If the parking space is a parking space with parking lines, the target vehicle VT is parked in parking space A, a traffic cone is placed in parking space B, and the traffic cone is located in the center of the parking space. Parking space C is an empty parking space;

[0577] (3) If the parking space is a free parking space, then parking spaces A and C are used to park the target vehicle VT, and parking space B is an empty parking space. In addition, a corresponding insufficient parking space should be set according to the parking space type, that is, parking space B should not be sufficient to park the test vehicle VUT;

[0578] (4) There are no obstacles on the driving path to the parking space.

[0579] 2. Test methods

[0580] Class I systems are as follows:

[0581] (1) Start the automatic parking system. For a Type I parking system, the test vehicle VUT drives through the target parking space at a speed not greater than a set speed, such as 10 km / h. For a Type II parking system, the test vehicle drives through the target parking space at a speed set by the system, such as Figure 9a Middle parking space C or Figure 9b Parking space B in the

[0582] (2) After the automatic parking system recognizes the target parking space, it parks in the parking space according to the parking strategy, and the timing starts when the test vehicle is shifted into the R gear;

[0583] (3) Set the three parking spaces A, B and C to the parking space types supported by the system and conduct tests in sequence;

[0584] (4) Record the time taken to park in the parking space.

[0585] Among them, for the Class I automatic parking system, when the test vehicle searches for the target parking space and the system is ready to take over the test vehicle, the tester shall not drive the test vehicle more than a set distance, such as 10 meters, from the center line of the target parking space.

[0586] The test method for Class II systems is as follows:

[0587] (1) Plan routes that cover as many scenarios as possible, including at least straight roads, curves, and intersections, and set target parking spaces;

[0588] (2) The tester activates the automatic parking system according to the operating instructions at the designated location (it is recommended to select a drop-off area far from the target parking space) and starts the parking function;

[0589] (3) The test personnel observe and record the entire process of the test vehicle from the starting point to parking in the target parking space. The record content is shown in Example 27 below.

[0590] Example 25-2: Parking out of a parking space

[0591] 1. Experimental scene setting

[0592] The test scenario includes the following elements, such as Fig.9c As shown:

[0593] (1) Parking spaces A, B and C are arranged side by side, which can be vertical, parallel or inclined;

[0594] (2) The test vehicle VUT is parked in one of the parking spaces, such as B, and the parking position meets the parking end position requirements;

[0595] (3) The target vehicle VT is parked in a parking space on one or both sides of the test vehicle, and there are no obstacles on the driving trajectory out of the parking space.

[0596] 2. The test method for Class I system is as follows:

[0597] (1) The test vehicle is parked in the parking space in accordance with relevant requirements;

[0598] (3) The test personnel activate the automatic parking system and start the parking exit instruction. The test vehicle parks out of the parking space according to the designed strategy at a speed not exceeding the set speed, such as 10 km / h;

[0599] (3) Set the three parking spaces A, B and C to the parking space types supported by the system in turn, and conduct tests in turn;

[0600] (4) Record the time taken to park in and out of the parking space.

[0601] The test method for Class II systems is as follows:

[0602] (1) Plan a route that covers as many scenarios as possible, including at least straight roads, curves, and intersections, and set a target pick-up area (it is recommended to choose the parking lot exit);

[0603] (2) The test personnel activate the automatic parking system in the parking space according to the operating instructions;

[0604] (3) The test personnel observe and record the entire process of the test vehicle from the starting point to the target passenger pick-up area. The record content is shown in Example 27 below.

[0605] In the embodiments of the present disclosure, the driving trajectory, driving path, lane width, driving distance, etc. of the vehicle in the figures of each test scenario are only for illustration and may change in the actual test scenario.

[0606] Example 26: Simulation test

[0607] 1. Test requirements

[0608] (1) The simulation test covers all scenarios within the operational design domain (ODD) declared by the manufacturer, especially various complex scenarios that are difficult to reproduce in field tests and parking lot tests, as well as safety-related scenarios, such as obstacle avoidance scenarios and abnormal situation handling scenarios. ODD may include external environmental conditions determined during the design of the automatic parking system that are suitable for its functional operation. Examples of external environmental conditions may include roads, traffic, weather, lighting, etc.

[0609] (2) The various tool chains used in the simulation test are verified to confirm that the simulation tool chains and models are effective for the test scenario verification and can achieve the corresponding verification objectives.

[0610] (3) The simulation platform organizes simulation tests according to the test process and formulates test plans based on the system type and its design and operating conditions.

[0611] (4) The multi-scenario continuous simulation test should include at least one complete test route, and the single-scenario simulation test items should be reasonably set up and connected.

[0612] (5) When the test results meet the relevant requirements, they can be judged as passed.

[0613] 2. The test method is as follows:

[0614] (1) Different simulation tools and their combinations can be used for simulation experiments;

[0615] (2) The interaction between the automatic parking system and the test environment can be either open-loop simulation or closed-loop simulation;

[0616] (3) The simulation platform organizes simulation tests according to the test process and formulates test plans based on the system type and its design and operating conditions. After the simulation test is completed, a test report should be generated to record the test scenario, test model version information, simulation tools, etc., and form a test conclusion;

[0617] (4) Evaluate the safety of the automatic parking system in specific scenarios and its overall safety level in a statistical sense through simulation tests;

[0618] (6) Evaluate the parking performance of the automatic parking system in specific scenarios and the overall parking performance level in a statistical sense through simulation tests.

[0619] Example 27: Test records (may vary depending on the test scenario)

[0620] The test process record shall contain at least one or more of the following:

[0621] (1) Software and hardware version information of the test vehicle’s automatic parking system;

[0622] (2) Test vehicle control mode;

[0623] (3) Test vehicle operating status parameters:

[0624] (4) Test vehicle lighting and related prompt information status;

[0625] (5) In-vehicle video and voice monitoring that reflects the user and human-machine interaction status;

[0626] (6) Video information reflecting the driving status of the test vehicle;

[0627] (7) Target location and motion data.

[0628] Fig.10 : is a schematic diagram of the structure of an obstacle avoidance device based on a parking test scenario according to an embodiment of the present disclosure, the device comprising:

[0629] A control module 1001 is used to control the test vehicle to travel in one or more obstacle avoidance test scenarios included in the parking test route;

[0630] The obstacle avoidance module 1002 is used to perform an obstacle avoidance operation when it is detected that the test vehicle may collide with obstacles in the one or more obstacle avoidance test scenarios;

[0631] Among them, the obstacle avoidance operation has corresponding test results.

[0632] Fig.11 1 is a schematic diagram of the structure of an obstacle avoidance device based on a parking test scenario according to an embodiment of the present disclosure. The obstacle avoidance module 1002 includes:

[0633] The first control submodule 1101 is used for the test vehicle to control the speed and / or direction of the test vehicle to avoid the one or more static obstacles according to at least one of the position, size and type of the one or more static obstacles.

[0634] In one embodiment, if Fig.11 As shown, the obstacle avoidance module 1002 includes:

[0635] The second control submodule 1102 is used for the test vehicle to control the vehicle speed and / or direction to avoid the one or more dynamic obstacles according to at least one of the position, size, type, movement direction, and movement speed of the one or more dynamic obstacles.

[0636] In one embodiment, the obstacle avoidance requirements of the one or more obstacle avoidance test scenarios include at least one of the following:

[0637] The test vehicle does not collide with or physically contact the obstacle;

[0638] The test vehicle passes around the obstacle;

[0639] After the obstacle leaves the driving path of the test vehicle, the test vehicle returns to the first speed within a set time.

[0640] In one embodiment, the type of the obstacle includes at least one of the following: a traffic cone, a parking lock, a no parking sign, a motor vehicle, a non-motor vehicle, a pedestrian, a gate, and a building.

[0641] In one embodiment, the road features of the one or more obstacle avoidance test scenarios include at least one of the following: a straight road, a right-angle curve, an intersection, a straight slope, a spiral curve, and a parking space.

[0642] In one embodiment, the one or more obstacle avoidance test scenarios include a ramp cruising obstacle avoidance test scenario; the control module 1001 is further used to control the test vehicle to travel up or down the parking lot ramp at a first speed; wherein the test vehicle may collide with an obstacle on the ramp on the driving path of the test vehicle.

[0643] In one embodiment, the ramp cruise obstacle avoidance test scenario includes a test scenario with a stationary obstacle on the ramp, and the characteristics of the stationary obstacle include at least one of the following:

[0644] The static obstacle is in the cruising path of the test vehicle;

[0645] the static obstacle is located on the slope of the ramp;

[0646] the static obstacle is located on a straight section at the top of the ramp;

[0647] the static obstacle is located on a straight section at the bottom of the ramp;

[0648] The initial distance between the static obstacle and the test vehicle is not less than the set distance.

[0649] In one embodiment, the ramp cruising obstacle avoidance test scenario includes an opposing motion test scenario on a ramp, and the characteristics of the dynamic obstacles on the ramp include at least one of the following:

[0650] The dynamic obstacle moves upward or downward along the ramp in a direction opposite to the test vehicle;

[0651] The moving speed of the dynamic obstacle is less than or equal to the first speed of the test vehicle.

[0652] In one embodiment, the ramp cruising obstacle avoidance test scenario includes a same-direction movement test scenario on a ramp, and the characteristics of the dynamic obstacles on the ramp include at least one of the following:

[0653] The dynamic barrier travels in front of the test vehicle;

[0654] The dynamic obstacle moves upward or downward along the ramp in the same direction as the test vehicle;

[0655] The moving speed of the dynamic obstacle is not higher than the first speed of the test vehicle;

[0656] The dynamic obstacle slows down and / or stops while the test vehicle is following stably;

[0657] The dynamic obstacle starts to operate after a set period of time in a decelerated and / or stopped state.

[0658] In one embodiment, the scene features of the ramp cruise obstacle avoidance test scene include at least one of the following: the ramp, static obstacles on the ramp, and dynamic obstacles on the ramp; wherein the ramp includes a straight slope or a spiral curve;

[0659] The obstacle avoidance requirements of the ramp cruise obstacle avoidance test scenario include at least one of the following:

[0660] The test vehicle does not collide with or physically contact any obstacle located on the ramp;

[0661] The test vehicle circumvents a static obstacle located on the ramp;

[0662] The test vehicle continues to travel along the planned cruising path after meeting the dynamic obstacle on the ramp;

[0663] The test vehicle does not slip and / or pause during the process of following the dynamic obstacle on the ramp to start and stop.

[0664] In one embodiment, the one or more obstacle avoidance test scenarios include a cruise gate test scenario, and the control module 1001 is further used for at least one of the following:

[0665] Controlling the test vehicle to travel along a straight road in the parking lot toward the gate at a first speed;

[0666] Recording the driving speed of the test vehicle when it reaches a position at a first distance from the barrier gate;

[0667] Record the driving process information of the test vehicle when it drives to a position that is not less than the second distance from the gate.

[0668] In one embodiment, the scene features of the cruise gate test scene include at least one of the following: a straight road, a gate on the straight road;

[0669] The obstacle avoidance requirements of the cruise gate test scenario include at least one of the following:

[0670] The test vehicle does not collide with or physically contact the barrier;

[0671] the test vehicle passes through the gate;

[0672] When the test vehicle travels to a target distance from the gate, the speed of the test vehicle is less than or equal to the speed threshold.

[0673] In one embodiment, the one or more obstacle avoidance test scenarios include a parking obstacle avoidance test scenario; the control module 1001 is further used to control the test vehicle to perform a parking task along a parking path or a parking path, and the parking task includes a parking task or a parking task; wherein the obstacle may collide with the test vehicle on the parking path or the parking path.

[0674] In one embodiment, the parking obstacle avoidance test scenario includes a test scenario in which an obstacle appears in a parking space, and the characteristics of the obstacle include at least one of the following:

[0675] The obstacle is initially located at a first position of the target parking space, and the first position is located at an edge or outside of the target parking space;

[0676] The obstacle moves from a first position of the target parking space to a second position when the test vehicle starts a parking space task, and the second position is located inside the target parking space;

[0677] The lateral and longitudinal deviations of the obstacle at the first position and / or the second position are less than the set deviation values;

[0678] The movement time of the obstacle is within the set time range.

[0679] In one embodiment, the parking obstacle avoidance test scenario includes a test scenario of an obstacle passing through a parking space, and the characteristics of the obstacle include at least one of the following:

[0680] The obstacle is started from the third position and passes through the target parking space when the test vehicle is in the set state;

[0681] The obstacle passes through the target parking space at a set speed;

[0682] Among them, the third position is located at the edge or outside of the target parking space; the set state includes at least one of the following: the test vehicle starts to reverse and no longer switches gears, and the rear wheel contact point of the test vehicle contacts the parking space line of the target parking space.

[0683] In one embodiment, the parking obstacle avoidance test scenario includes a test scenario in which an obstacle follows the vehicle during parking. The characteristics of the obstacle include at least one of the following:

[0684] The obstacle moves with the test vehicle;

[0685] The second speed of the obstacle is the same as the first speed of the test vehicle;

[0686] The following distance of the obstacle is not greater than the set following distance;

[0687] The deviation between the obstacle and the center line of the test vehicle is not greater than the set deviation;

[0688] The obstacle continues to move and stops on the parking path of the test vehicle when the test vehicle starts the parking task.

[0689] In one embodiment, the parking obstacle avoidance test scenario includes a test scenario in which an obstacle is in front of the vehicle during parking. The characteristics of the obstacle include at least one of the following:

[0690] The obstacle is located in front of the test vehicle that has parked in the parking space;

[0691] The direction of the obstacle is the same as the driving direction of the test vehicle.

[0692] In one embodiment, the one or more obstacle avoidance test scenarios include a test scenario in which an obstacle is at the side of the vehicle during parking out of a parking space, and the characteristics of the obstacle include at least one of the following:

[0693] The obstacle is located on the side of the test vehicle that has been parked in the parking space;

[0694] The direction of the obstacle is the same as the driving direction of the test vehicle.

[0695] In one embodiment, the parking obstacle avoidance test scenario includes a test scenario in which an obstacle appears when parking out of a parking space, and the characteristics of the obstacle include at least one of the following:

[0696] The barrier is initially parked in the parking lane;

[0697] The distance between the obstacle and the parking space line of the target parking space and / or the lane line of the parking lane is greater than a set value;

[0698] The obstacle moves in the same direction as the test vehicle in the parking direction on the parking lane;

[0699] The obstacle moves in the parking lane in the direction opposite to the parking direction of the test vehicle;

[0700] When the wheels of the test vehicle contact the parking space line of the target parking space and continue to complete the parking out action, the obstacle at least reaches the center line of the parking space before the target parking space and continues to travel along the parking out lane at a speed greater than the first speed.

[0701] In one embodiment, the scene features of the parking obstacle avoidance test scene include at least one of the following: a target parking space, an obstacle, and an obstruction located on one side or both sides of the target parking space;

[0702] The obstacle avoidance requirements of the parking obstacle avoidance test scenario include: the test vehicle does not collide with or physically contact the obstacle.

[0703] In one embodiment, the one or more obstacle avoidance test scenarios include a straight-line cruising obstacle avoidance test; the control module 1001 is further used to control the test vehicle to travel along the straight road of the parking lot at a first speed toward the obstacle to reach a stable cruising state; wherein the test vehicle and the obstacle on the straight road may collide on the driving path of the test vehicle.

[0704] In one embodiment, the straight-line cruising obstacle avoidance test includes a test scenario of front obstacle detection, and the characteristics of the obstacle include at least one of the following:

[0705] the barrier is positioned in front of the test vehicle on a straight track;

[0706] The obstacle is aligned with the centre line or headlights of the test vehicle;

[0707] The initial distance between the obstacle and the test vehicle is not less than the set distance;

[0708] The obstacle is in the middle of the straight road and there is no detour space on the straight road;

[0709] The obstacle is on one side of the straight road, and there is detour space on the other side of the straight road.

[0710] In one embodiment, the straight-line cruising obstacle avoidance test includes a test scenario of an obstacle being blocked, and the characteristics of the obstacle include at least one of the following:

[0711] The initial position of the obstacle is at a specified position on the side of the occluder;

[0712] The front end of the initial position of the obstacle is on a horizontal line with the front end of the blocking object;

[0713] The obstacle is completely blocked by the shielding object, and the height of the shielding object is higher than or equal to the height of the obstacle;

[0714] When the test vehicle reaches a first position along the straight road, the obstacle reaches a second position along the straight road, the first position crosses the straight road, and the second position is a sideline of the straight road;

[0715] The obstacle crosses the travel path of the test vehicle on the straight road at a second speed;

[0716] The obstacle moves out of the parking space at a second speed and blocks the travel of the test vehicle on the straight road.

[0717] In one embodiment, the straight-line cruising obstacle avoidance test includes a test scenario in which an obstacle moves irregularly, and the characteristics of the obstacle include at least one of the following:

[0718] The obstacle moves outside the driving lane of the test vehicle at a second speed;

[0719] The movement path of the obstacle is parallel to the travel path of the test vehicle;

[0720] When the test vehicle is in a driving state, the obstacle penetrates into the driving path of the test vehicle from the front of the test vehicle and maintains the second speed;

[0721] After reaching the center line of the driving path of the test vehicle, the obstacle continues to move at the second speed in the same direction as the driving direction of the test vehicle.

[0722] In one embodiment, the straight-line cruising obstacle avoidance test includes a test scenario in which an obstacle moves in the opposite direction, and the characteristics of the obstacle include at least one of the following:

[0723] The obstacle moves in the direction opposite to the test vehicle on the driving lane of the test vehicle;

[0724] The travel path of the obstacle overlaps with the body of the test vehicle;

[0725] In one embodiment, the straight-line cruising obstacle avoidance test includes a test scenario of following an obstacle, and the characteristics of the obstacle include at least one of the following:

[0726] The direction of movement of the obstacle is the same as the direction of travel of the test vehicle;

[0727] the obstacle moves in front of the test vehicle;

[0728] The obstacle is braked to a stop when the test vehicle is in a stable following state;

[0729] The deceleration of emergency braking for the obstacle is not less than the set deceleration;

[0730] The obstacle moves away after stopping for a first period of time.

[0731] In one embodiment, the scene features of the straight road cruise obstacle avoidance test include at least one of the following: a straight road, an obstacle in front of the driving path of the test vehicle, an obstacle outside the lane line of the straight road, and an obstruction of the obstacle;

[0732] The obstacle avoidance requirements of the straight cruise obstacle avoidance test scenario include at least one of the following:

[0733] The test vehicle does not collide with or physically contact the obstacle;

[0734] The test vehicle passes around the obstacle;

[0735] The test vehicle returns to the first speed within a set time after the obstacle leaves the vehicle's travel path.

[0736] In one embodiment, the one or more obstacle avoidance test scenarios include a curve cruising obstacle avoidance test; the control module 1001 is further used to control the test vehicle to travel along the curve of the parking lot toward the obstacle at a first speed to reach a stable cruising state; wherein, the test vehicle and the obstacle on the curve may collide on the driving path of the test vehicle.

[0737] In one embodiment, the curve cruise obstacle avoidance test includes a test scenario with a static obstacle on the curve, and the characteristics of the static obstacle include at least one of the following:

[0738] The static obstacle is located on the blocked section of the curve;

[0739] The static obstacle is located on the driving path of the test.

[0740] In one embodiment, the curve cruise obstacle avoidance test includes a test scenario with a dynamic obstacle on the curve, and the characteristics of the dynamic obstacle include at least one of the following:

[0741] The dynamic obstacle moves on the blocked section of the curve;

[0742] The dynamic obstacle is initially located at one side of the blocked road section;

[0743] When the test vehicle reaches a reference position on the driving section, the dynamic obstacle passes through the blocked section at a second speed.

[0744] In one embodiment, the curve cruise obstacle avoidance test includes a test scenario in which a dynamic obstacle moves in the same direction on a curve, and the characteristics of the dynamic obstacle include at least one of the following:

[0745] The dynamic obstacle moves in the same direction as the test vehicle on the blocked lane of the curve;

[0746] When the test vehicle reaches the reference position on the driving lane, the dynamic obstacle starts from the reference position on the blocked lane;

[0747] The dynamic obstacle travels on the blocked lane at a speed lower than that of the test vehicle in the travel path of the test vehicle.

[0748] In one embodiment, the curve cruise obstacle avoidance test includes a test scenario in which a dynamic obstacle moves in the opposite direction on a curve, and the characteristics of the dynamic obstacle include at least one of the following:

[0749] The dynamic obstacle moves in the opposite direction of the test vehicle on the blocked lane of the curve;

[0750] When the test vehicle reaches the reference position on the driving lane, the dynamic obstacle reaches the reference position on the blocked lane and continues to move;

[0751] The dynamic obstacle meets the test vehicle at a merging portion of the curve.

[0752] In one embodiment, the scene features of the curve cruise obstacle avoidance test include at least one of: a curve, the curve is a right-angle curve or a non-right-angle curve, the curve includes a single lane or multiple lanes, the driving path of the test vehicle has dynamic obstacles and / or static obstacles, and there are obstructions on the side of the curve;

[0753] The obstacle avoidance requirements of the curve cruise obstacle avoidance test scenario include at least one of the following:

[0754] The test vehicle does not collide with or physically contact the obstacle;

[0755] After the test vehicle meets the dynamic obstacle on the curve, the test vehicle recovers to the cruising speed within the set time.

[0756] In one embodiment, the one or more obstacle avoidance test scenarios include an intersection obstacle avoidance test scenario; the control module 1001 is also used to control the test vehicle to travel at a first speed along a straight road in the parking lot toward the intersection to reach a stable cruising state; wherein the test vehicle may collide with an obstacle at the intersection on the driving path of the test vehicle.

[0757] In one embodiment, there is a dynamic obstacle on one or more lanes of the intersection, and the characteristics of the dynamic obstacle include at least one of the following:

[0758] When the test vehicle reaches the reference position of the first entrance lane, the dynamic obstacle reaches the first position of the second entrance lane of the intersection; wherein the first entrance lane is the driving lane of the test vehicle, and the second entrance lane and the first entrance lane are on different sections;

[0759] After reaching the first position of the second entrance lane, the dynamic obstacle maintains the second speed and passes through the second position of the second entrance lane.

[0760] In one embodiment, the scene features of the intersection passage obstacle avoidance test include at least one of the following: an intersection, a road section of the intersection having two or more lanes, a dynamic obstacle on one or more road sections of the intersection, and an obstruction located on the side of the intersection;

[0761] The obstacle avoidance requirements of the intersection obstacle avoidance test scenario include: the test vehicle does not collide with or physically contact the obstacle.

[0762] For the description of specific functions and examples of each module and submodule of the device in the embodiment of the present disclosure, reference can be made to the relevant description of the corresponding steps in the above method embodiment, which will not be repeated here.

[0763] In the technical solution disclosed herein, the acquisition, storage and application of user personal information involved are in compliance with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0764] According to an embodiment of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium and a computer program product.

[0765] Fig.12A schematic block diagram of an example electronic device 1200 that can be used to implement an embodiment of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present disclosure described and / or required herein.

[0766] like Fig.12 As shown, the device 1200 includes a computing unit 1201, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 1202 or a computer program loaded from a storage unit 1208 into a random access memory (RAM) 1203. In the RAM 1203, various programs and data required for the operation of the device 1200 can also be stored. The computing unit 1201, the ROM 1202, and the RAM 1203 are connected to each other via a bus 1204. An input / output (I / O) interface 1205 is also connected to the bus 1204.

[0767] A number of components in the device 1200 are connected to the I / O interface 1205, including: an input unit 1206, such as a keyboard, a mouse, etc.; an output unit 1207, such as various types of displays, speakers, etc.; a storage unit 1208, such as a disk, an optical disk, etc.; and a communication unit 1209, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 1209 allows the device 1200 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0768] The computing unit 1201 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 1201 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The computing unit 1201 performs the various methods and processes described above, such as the obstacle avoidance method based on the parking test scenario. For example, in some embodiments, the obstacle avoidance method based on the parking test scenario may be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as a storage unit 1208. In some embodiments, part or all of the computer program may be loaded and / or installed on the device 1200 via the ROM 1202 and / or the communication unit 1209. When the computer program is loaded into the RAM 1203 and executed by the computing unit 1201, one or more steps of the obstacle avoidance method based on the parking test scenario described above may be performed. Alternatively, in other embodiments, the computing unit 1201 may be configured to execute an obstacle avoidance method based on a parking test scenario in any other appropriate manner (eg, by means of firmware).

[0769] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0770] The program code for implementing the method of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that the program code, when executed by the processor or controller, enables the functions / operations specified in the flow chart and / or block diagram to be implemented. The program code may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0771] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0772] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0773] The systems and techniques described herein may be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communications network). Examples of communications networks include: a local area network (LAN), a wide area network (WAN), and the Internet.

[0774] A computer system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The relationship of client and server is generated by computer programs running on respective computers and having a client-server relationship with each other. The server may be a cloud server, a server of a distributed system, or a server combined with a blockchain.

[0775] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this disclosure can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved, and this document does not limit this.

[0776] The above specific implementations do not constitute a limitation on the protection scope of the present disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the principles of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. An obstacle avoidance method based on a parking test scenario, comprising: Controlling the test vehicle to travel in one or more obstacle avoidance test scenarios included in the parking test route; When it is detected that the test vehicle may collide with obstacles in the one or more obstacle avoidance test scenarios, performing an obstacle avoidance operation; Wherein, the obstacle avoidance operation has corresponding test results.

2. The method according to claim 1, wherein: When the obstacle includes one or more static obstacles, the test vehicle performs an obstacle avoidance operation, including: The test vehicle controls the speed and / or direction to avoid the one or more static obstacles according to at least one of the position, size and type of the one or more static obstacles.

3. The method according to claim 1 or 2, wherein: When the obstacle includes one or more dynamic obstacles, the test vehicle performs an obstacle avoidance operation, including: The test vehicle controls the speed and / or direction of the test vehicle to avoid the one or more dynamic obstacles according to at least one of the position, size, type, movement direction, and movement speed of the one or more dynamic obstacles.

4. The method according to any one of claims 1 to 3, wherein: The obstacle avoidance requirements of the one or more obstacle avoidance test scenarios include at least one of the following: The test vehicle does not collide with or physically contact the obstacle; The test vehicle passes through the obstacle in a roundabout way; After the obstacle leaves the driving path of the test vehicle, the test vehicle returns to the first speed within a set time.

5. The method according to any one of claims 1 to 4, wherein: The types of obstacles include at least one of the following: traffic cones, parking locks, no parking signs, motor vehicles, non-motor vehicles, pedestrians, barriers, and buildings.

6. The method according to any one of claims 1 to 5, wherein: The road features of the one or more obstacle avoidance test scenarios include at least one of the following: a straight road, a right-angle curve, an intersection, a straight slope, a spiral curve, and a parking space.

7. The method according to any one of claims 1 to 6, wherein: The one or more obstacle avoidance test scenarios include a ramp cruising obstacle avoidance test scenario; controlling the test vehicle to travel in the one or more obstacle avoidance test scenarios included in the parking test route includes: The test vehicle is controlled to travel upward or downward along a parking lot ramp at a first speed; wherein the test vehicle may collide with an obstacle on the ramp on the driving path of the test vehicle.

8. The method according to claim 7, wherein: The ramp cruise obstacle avoidance test scenario includes a test scenario with a stationary obstacle on the ramp, and the characteristics of the stationary obstacle include at least one of the following: The static obstacle is on the cruising path of the test vehicle; The static obstacle is located on the slope of the ramp; The static obstacle is located at the straight section at the top of the ramp; The static obstacle is located at a straight section at the bottom of the ramp; The initial distance between the static obstacle and the test vehicle is not less than a set distance.

9. The method according to claim 7 or 8, wherein: The ramp cruising obstacle avoidance test scenario includes an opposing motion test scenario on a ramp, and the characteristics of the dynamic obstacles on the ramp include at least one of the following: The dynamic obstacle moves upward or downward along the ramp in a direction opposite to the test vehicle; The moving speed of the dynamic obstacle is less than or equal to the first speed of the test vehicle.

10. The method according to any one of claims 7 to 9, wherein: The ramp cruising obstacle avoidance test scenario includes a same-direction movement test scenario on a ramp, and the characteristics of the dynamic obstacles on the ramp include at least one of the following: The dynamic obstacle travels in front of the test vehicle; The dynamic obstacle moves upward or downward along the ramp in the same direction as the test vehicle; The moving speed of the dynamic obstacle is not higher than the first speed of the test vehicle; The dynamic obstacle decelerates and / or stops while the test vehicle is following stably; The dynamic obstacle starts to run after a set time period in a decelerated and / or stopped state.

11. The method according to any one of claims 7 to 10, wherein: The scene features of the ramp cruise obstacle avoidance test scene include at least one of the following: the ramp, static obstacles on the ramp, and dynamic obstacles on the ramp; wherein the ramp includes a straight slope or a spiral curve; The obstacle avoidance requirements of the ramp cruise obstacle avoidance test scenario include at least one of the following: The test vehicle does not collide with or physically contact an obstacle located on the ramp; The test vehicle bypasses a static obstacle located on the ramp; After the test vehicle meets the dynamic obstacle on the ramp, the test vehicle continues to travel along the planned cruising path; The test vehicle does not slip and / or pause during the process of following the dynamic obstacle on the ramp to start and stop.

12. The method according to any one of claims 1 to 11, wherein: The one or more obstacle avoidance test scenarios include a cruising gate test scenario, wherein controlling the test vehicle to travel in the one or more obstacle avoidance test scenarios included in the parking test route includes at least one of the following: Controlling the test vehicle to travel along a straight road in the parking lot toward the gate at a first speed; Recording the driving speed of the test vehicle when it reaches a position at a first distance from the barrier gate; Record the driving process information of the test vehicle when it drives to a position that is not less than the second distance from the barrier.

13. The method according to claim 12, wherein the scene features of the cruising gate test scene include at least one of the following: a straight road, a gate on the straight road; The obstacle avoidance requirements of the cruise gate test scenario include at least one of the following: The test vehicle does not collide with or physically contact the barrier; The test vehicle passes through the gate; When the test vehicle travels to a target distance from the gate, the speed of the test vehicle is less than or equal to a speed threshold.

14. The method according to any one of claims 1 to 13, wherein: The one or more obstacle avoidance test scenarios include a parking obstacle avoidance test scenario; controlling the test vehicle to travel in the one or more obstacle avoidance test scenarios included in the parking test route includes: The test vehicle is controlled to perform a parking task along a parking path or a parking path, wherein the parking task includes a parking task or a parking task; wherein the obstacle may collide with the test vehicle on the parking path or the parking path.

15. The method according to claim 14, wherein: The parking obstacle avoidance test scenario includes a test scenario in which an obstacle appears in a parking space, and the characteristics of the obstacle include at least one of the following: The obstacle is initially located at a first position of the target parking space, and the first position is located at an edge or outside of the target parking space; The obstacle moves from a first position of the target parking space to a second position when the test vehicle starts a parking space task, and the second position is located inside the target parking space; The lateral and longitudinal deviations of the obstacle at the first position and / or the second position are smaller than a set deviation value; The movement time of the obstacle is within a set time range.

16. The method according to claim 14 or 15, wherein: The parking obstacle avoidance test scenario includes a test scenario in which an obstacle passes through a parking space, and the characteristics of the obstacle include at least one of the following: The obstacle starts from a third position and passes through the target parking space when the test vehicle is in a set state; The obstacle passes through the target parking space at a set speed; Among them, the third position is located at the edge or outside of the target parking space; the set state includes at least one of the following: the test vehicle starts to reverse and no longer switches gears, and the rear wheel contact point of the test vehicle contacts the parking space line of the target parking space.

17. The method according to any one of claims 14 to 16, wherein: The parking obstacle avoidance test scenario includes a test scenario in which an obstacle follows the vehicle during parking. The characteristics of the obstacle include at least one of the following: The obstacle moves following the test vehicle; The second speed of the obstacle is the same as the first speed of the test vehicle; The following distance of the obstacle is not greater than the set following distance; The deviation between the obstacle and the center path of the test vehicle is no greater than a set deviation; The obstacle continues to move and stops on the parking path of the test vehicle when the test vehicle starts the parking task.

18. The method according to any one of claims 14 to 17, wherein: The parking obstacle avoidance test scenario includes a test scenario in which an obstacle is in front of the vehicle during parking. The characteristics of the obstacle include at least one of the following: The obstacle is located in front of the test vehicle that has been parked in the parking space; The direction of the obstacle is the same as the driving direction of the test vehicle.

19. The method according to any one of claims 14 to 18, wherein: The one or more obstacle avoidance test scenarios include a test scenario in which an obstacle is on the side of the vehicle during parking, and the characteristics of the obstacle include at least one of the following: The obstacle is located on the side of the test vehicle that has been parked in the parking space; The direction of the obstacle is the same as the driving direction of the test vehicle.

20. The method according to any one of claims 14 to 19, wherein: The parking obstacle avoidance test scenario includes a test scenario in which an obstacle appears when parking out of a parking space, and the characteristics of the obstacle include at least one of the following: The obstacle is initially parked in the parking lane; The distance between the obstacle and the parking space line of the target parking space and / or the lane line of the parking lane is greater than a set value; The obstacle moves in the same direction as the test vehicle in the parking lane; The obstacle moves in the parking lane in a direction opposite to the parking direction of the test vehicle; When the wheels of the test vehicle contact the parking space line of the target parking space and continue to complete the parking out action, the obstacle at least reaches the center line of the parking space before the target parking space and continues to travel along the parking out lane at a speed greater than the first speed.

21. The method according to any one of claims 16 to 20, wherein: The scene features of the parking obstacle avoidance test scene include at least one of the following: a target parking space, an obstacle, and an obstruction located on one side or both sides of the target parking space; The obstacle avoidance requirement of the parking obstacle avoidance test scenario includes: the test vehicle does not collide with or physically contact the obstacle.

22. The method according to any one of claims 1 to 21, wherein: The one or more obstacle avoidance test scenarios include a straight-line cruising obstacle avoidance test; controlling the test vehicle to travel in the one or more obstacle avoidance test scenarios included in the parking test route includes: The test vehicle is controlled to travel along a straight road of the parking lot at a first speed toward the obstacle to reach a stable cruising state; wherein the test vehicle and the obstacle on the straight road may collide on the driving path of the test vehicle.

23. The method according to claim 22, wherein: The straight-line cruising obstacle avoidance test includes a test scenario of front obstacle detection, and the characteristics of the obstacle include at least one of the following: The obstacle is parked in front of the test vehicle on a straight road; The obstacle is aligned with the centerline or headlights of the test vehicle; The initial distance between the obstacle and the test vehicle is not less than a set distance; The obstacle is located in the middle of the straight road, and there is no detour space on the straight road; The obstacle is on one side of the straight road, and there is detour space on the other side of the straight road.

24. The method according to claim 22 or 23, wherein: The straight-line cruising obstacle avoidance test includes a test scenario of blocking obstacles, and the characteristics of the obstacles include at least one of the following: The initial position of the obstacle is at a designated position on the side of the obstruction; The front end of the initial position of the obstacle is on a horizontal line with the front end of the shielding object; The obstacle is completely blocked by the shielding object, and the height of the shielding object is higher than or equal to the height of the obstacle; When the test vehicle travels along the straight road to reach a first position, the obstacle travels along the straight road to reach a second position, the first position crosses the straight road, and the second position is a sideline of the straight road; The obstacle passes through the travel path of the test vehicle on the straight road at a second speed; The obstacle moves out of the parking space at a second speed and blocks the travel of the test vehicle on the straight road.

25. The method according to any one of claims 22 to 24, wherein: The straight-line cruising obstacle avoidance test includes a test scenario in which an obstacle moves irregularly, and the characteristics of the obstacle include at least one of the following: The obstacle moves outside the driving lane of the test vehicle at a second speed; The movement path of the obstacle is parallel to the driving path of the test vehicle; When the test vehicle is in a driving state, the obstacle penetrates into the driving path of the test vehicle from the front of the test vehicle and maintains the second speed; After reaching the center line of the driving path of the test vehicle, the obstacle continues to move at the second speed in the same direction as the driving direction of the test vehicle.

26. The method according to any one of claims 22 to 25, wherein: The straight-line cruising obstacle avoidance test includes a test scenario in which an obstacle moves in the opposite direction, and the characteristics of the obstacle include at least one of the following: The obstacle moves in a direction opposite to the test vehicle on the driving lane of the test vehicle; The travel path of the obstacle overlaps with the body of the test vehicle.

27. The method according to any one of claims 22 to 26, wherein: The straight-line cruising obstacle avoidance test includes a test scenario of following an obstacle, and the characteristics of the obstacle include at least one of the following: The direction of movement of the obstacle is the same as the direction of travel of the test vehicle; The obstacle moves in front of the test vehicle; The obstacle is braked to a stop by emergency braking when the test vehicle is in a stable following state; The deceleration of the emergency brake on the obstacle is not less than the set deceleration; The obstacle moves away after being stopped for a first period of time.

28. The method according to any one of claims 22 to 28, wherein: The scene features of the straight road cruising obstacle avoidance test include at least one of the following: a straight road, an obstacle in front of the driving path of the test vehicle, an obstacle outside the lane line of the straight road, and an obstruction of the obstacle; The obstacle avoidance requirements of the straight-line cruising obstacle avoidance test scenario include at least one of the following: The test vehicle does not collide with or physically contact the obstacle; The test vehicle passes through the obstacle in a roundabout way; The test vehicle returns to the first speed within a set time after the obstacle leaves the vehicle's driving path.

29. The method according to any one of claims 1 to 28, wherein: The one or more obstacle avoidance test scenarios include a curve cruising obstacle avoidance test; controlling the test vehicle to travel in the one or more obstacle avoidance test scenarios included in the parking test route includes: The test vehicle is controlled to travel along a curve in the parking lot toward the obstacle at a first speed to reach a stable cruising state; wherein the test vehicle and the obstacle on the curve may collide on the driving path of the test vehicle.

30. The method of claim 29, wherein: The curve cruise obstacle avoidance test includes a test scenario with a static obstacle on the curve, and the characteristics of the static obstacle include at least one of the following: The static obstacle is located on the blocked section of the curve; The static obstacle is located on the driving path of the test.

31. The method according to claim 29 or 30, wherein: The curve cruise obstacle avoidance test includes a test scenario with a dynamic obstacle on the curve, and the characteristics of the dynamic obstacle include at least one of the following: The dynamic obstacle moves on the blocked section of the curve; The dynamic obstacle is initially located on one side of the blocked road section; When the test vehicle reaches a reference position on the driving section, the dynamic obstacle passes through the blocked section at a second speed.

32. The method according to any one of claims 29 to 31, wherein: The curve cruise obstacle avoidance test includes a test scenario in which a dynamic obstacle moves in the same direction on a curve, and the characteristics of the dynamic obstacle include at least one of the following: The dynamic obstacle moves in the same direction as the test vehicle on the blocked lane of the curve; When the test vehicle reaches a reference position on the driving lane, the dynamic obstacle starts from the reference position on the blocked lane; The dynamic obstacle travels on the blocked lane at a speed lower than that of the test vehicle on the travel path of the test vehicle.

33. The method according to any one of claims 29 to 32, wherein: The curve cruise obstacle avoidance test includes a test scenario in which a dynamic obstacle moves in the opposite direction on a curve, and the characteristics of the dynamic obstacle include at least one of the following: The dynamic obstacle moves in an opposite direction to the test vehicle on the blocked lane of the curve; When the test vehicle reaches the reference position on the driving lane, the dynamic obstacle reaches the reference position on the blocked lane and continues to move; The dynamic obstacle meets the test vehicle at a meeting portion of the curve.

34. A method according to any one of claims 29 to 33, wherein: The scene features of the curve cruise obstacle avoidance test include at least one of the following: a curve, the curve is a right-angle curve or a non-right-angle curve, the curve includes a single lane or multiple lanes, the driving path of the test vehicle has dynamic obstacles and / or static obstacles, and the side of the curve has obstructions; The obstacle avoidance requirements of the curve cruise obstacle avoidance test scenario include at least one of the following: The test vehicle does not collide with or physically contact the obstacle; After the test vehicle meets the dynamic obstacle on the curve, the test vehicle recovers to the cruising speed within the set time.

35. The method according to any one of claims 1 to 30, wherein: The one or more obstacle avoidance test scenarios include an intersection passage obstacle avoidance test scenario; controlling the test vehicle to travel in the one or more obstacle avoidance test scenarios included in the parking test route includes: The test vehicle is controlled to travel at a first speed along a straight road in the parking lot toward an intersection to reach a stable cruising state; wherein the test vehicle may collide with an obstacle at the intersection on the driving path of the test vehicle.

36. The method of claim 35, wherein: There are dynamic obstacles on one or more lanes of the intersection, and the characteristics of the dynamic obstacles include at least one of the following: When the test vehicle reaches the reference position of the first entrance lane, the dynamic obstacle reaches the first position of the second entrance lane of the intersection; wherein the first entrance lane is the driving lane of the test vehicle, and the second entrance lane and the first entrance lane are on different sections; After reaching the first position of the second entrance lane, the dynamic obstacle maintains a second speed and passes through the second position of the second entrance lane.

37. The method according to claim 35 or 36, wherein: The scene features of the intersection passage obstacle avoidance test include at least one of the following: an intersection, a road section of the intersection having two or more lanes, a dynamic obstacle on one or more road sections of the intersection, and an obstruction located on the side of the intersection; The obstacle avoidance requirements of the intersection obstacle avoidance test scenario include: the test vehicle does not collide with or physically contact the obstacle.

38. An obstacle avoidance device based on a parking test scenario, comprising: A control module, used to control the test vehicle to travel in one or more obstacle avoidance test scenarios included in the parking test route; An obstacle avoidance module, configured to perform an obstacle avoidance operation when detecting that the test vehicle may collide with obstacles in the one or more obstacle avoidance test scenarios; Wherein, the obstacle avoidance operation has corresponding test results.

39. An electronic device comprising: at least one processor; as well as A memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor so that the at least one processor can execute the method of any one of claims 1-37.

40. A non-transitory computer-readable storage medium storing computer instructions, wherein: The computer instructions are used to cause the computer to execute the method according to any one of claims 1-37.

41. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any one of claims 1 to 37.

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