Automatic test system for automobile test field

Abstract

The invention discloses an automatic test system for an automobile test field, and the system comprises an operation control module which receives a test demand, the operation control module generates a test instruction according to the test demand, and the test instruction comprises a test vehicle instruction, a target environment instruction, a basic test instruction and a field service instruction; the test vehicle module is configured on the target vehicle, and the test vehicle module responds to the test vehicle instruction to operate the target vehicle; the target environment module responds to the target environment instruction to generate a target object scene; the basic test module responds to the basic test instruction and collects test information, wherein the test information comprises target vehicle information and / or target object scene information; the site service module comprises a traffic flow adjusting unit and a site state unit, the site state unit responds to a received site service instruction to generate a site simulation environment, and the traffic flow adjusting unit responds to the site service instruction to adjust site traffic according to the test information output by the basic test module.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic control of automobile test fields, and in particular to an automatic testing system for automobile test fields. Background Art

[0002] With the development of autonomous driving technology, automobile automation systems are beginning to take on more vehicle driving tasks, bringing new development opportunities to traditional automobile test sites. On the one hand, automobile test sites need to explore the test theories and methods required for autonomous driving function verification and acceptance. On the other hand, more work can be carried out in the direction of test site automation, that is, test automation. Existing automobile test sites mainly provide test sites for automobile whole vehicle tests, such as dynamic squares, durable test roads, ramps, etc., as well as related support services, such as site maintenance, test scene layout, accident rescue, site voice communication scheduling, etc. The level of participation in automobile tests and testing activities is not in-depth, and the test efficiency and test safety assurance level are not high. At present, automobile test sites are generally not highly informationized, automated, and intelligent, with low transparency of test information, insufficient test site utilization, low test efficiency, and low test safety risk control level. The specific manifestations are as follows:

[0003] The transparency of test information is low, and a large number of tests are carried out and implemented by different teams. With the existing information communication and test scheduling methods in automobile test sites, it is difficult to obtain sufficiently clear and in-depth panoramic information on the dynamic operation of the test site, so as to efficiently arrange test tasks while ensuring both safety and site utilization.

[0004] It is difficult to arrange and switch test scenarios, especially for scenario-based testing of intelligent driving functions and calibration tests. The time for arranging and switching test scenarios is often much longer than the actual test time, resulting in long site vacancy time and inefficient site utilization.

[0005] Test data collection is difficult and inefficient. Test sites usually adopt a model that separates site management and user use. Test implementers usually bring their own test equipment to the site and collect data. However, for data with huge amounts of data, such as closed-field test data for autonomous driving, collecting and processing data is difficult and inefficient.

[0006] The safety status of a large number of test vehicles cannot be fully understood. At the same time, open test sites also face the risk of animals or other sudden obstacles that hinder safe driving. It is crucial to fully monitor and manage these safety risks to ensure the safe and orderly operation of test activities.

[0007] The safety status of the test site is currently mainly collected through video and voice communication, and the safety status is manually determined. The means of monitoring the safety status of the entire site are primitive. The automobile test site cannot fully grasp the real-time safety status of the entire site, such as test operation and environmental risks, to ensure the safe operation of the test. Summary of the invention

[0008] To solve at least one aspect of the above problems, an embodiment of the present invention provides an automobile test field automated testing system, comprising: an operation control module, the operation control module receives a test requirement, the operation control module generates a test instruction according to the test requirement, the test instruction includes a test vehicle instruction, a target environment instruction, a basic test instruction and a site service instruction; a test vehicle module, the test vehicle module is configured on a target vehicle, and the test vehicle module operates the target vehicle in response to the test vehicle instruction; a target environment module, the target environment module generates a target object scene in response to the target environment instruction, and the target object scene includes a static target object and / or a dynamic target object; a basic test module, the basic test module collects test information in response to the basic test instruction, and the test information includes target vehicle information and / or target object scene information; a site service module, the site service module includes a traffic flow adjustment unit and a site status unit, the site status unit generates a site simulation environment in response to the received site service instruction, and the traffic flow adjustment unit adjusts site traffic according to the test information output by the basic test module in response to the site service instruction.

[0009] Preferably, the operation control module includes a test requirement management unit, a test task planning unit, a test task scheduling unit and a test task distribution unit. The test requirement management unit generates a spatial mark of the test requirement according to the spatial requirement, and generates a time mark of the test requirement according to the time requirement. The test task planning unit generates a task site and task time based on the spatial mark and time mark of the test requirement according to preset rules. The test task scheduling unit generates a scheduling instruction based on the task site and task time of the test requirement. The test task distribution unit outputs a test instruction in response to the scheduling instruction.

[0010] Preferably, the test vehicle module includes a manipulation execution unit, an execution controller unit, an integrated sensor unit and an information transceiver unit. The integrated sensor unit is used to obtain target object environment information and target vehicle positioning information. The information transceiver unit is used to connect the operation control module, the basic test module and the site service module. The execution controller unit is connected to the operation control module through the information transceiver unit to receive the test vehicle instructions. The execution controller unit obtains target object environment information and target vehicle positioning information through the integrated sensor unit. The execution controller unit controls the manipulation execution unit to operate the target vehicle in response to the test vehicle instructions.

[0011] Preferably, the integrated sensor unit includes one or a combination of a camera, a radar, a GPS, and an IMU.

[0012] Preferably, the target environment module includes a static target unit, a dynamic target unit and a target sorting unit, the static target unit includes a static target object and a mobile robot, the dynamic target unit includes a dynamic target object and a flat-panel robot, the dynamic target object is fixedly set on the flat-panel robot, the flat-panel robot is configured to move along a preset path, and the target sorting unit includes a recovery robot, which recovers the dynamic target object and / or the static target object in response to the received environmental instructions.

[0013] Preferably, the basic test module includes a vehicle-mounted test unit and a field test unit, the vehicle-mounted test unit is used to collect test vehicle operation data, the vehicle-mounted test unit includes a combined inertial navigation device and a data acquisition device, the combined inertial navigation device is used to obtain motion data and posture data of the test vehicle, the data acquisition device is used to connect to the vehicle-mounted communication network of the test vehicle to obtain vehicle status information, the field test unit includes one or a combination of several of a camera, a lidar, a millimeter-wave radar and a radio positioning base station, and the field test unit is used to collect target object scene information.

[0014] Preferably, the site service module includes a combination of one or more of mud equipment, salt water equipment, rain and fog equipment, dust equipment, modulated wind measurement equipment, and lighting equipment.

[0015] Preferably, the traffic flow adjustment unit is connected to the basic test module to receive the vehicle operation data and the target object scene information to obtain fault information, and the site service module also includes an emergency rescue unit, which generates a rescue instruction in response to the fault information, and the rescue instruction is used to dispatch fire-fighting equipment and rescue equipment.

[0016] Preferably, the venue service module further comprises a fault assessment unit, which generates fault level information according to the fault information based on a preset time threshold and a preset space threshold.

[0017] Preferably, the test task scheduling unit receives fault information and updates the test instructions according to preset scheduling rules.

[0018] The method of the embodiment of the present invention has the following beneficial effects: the use of autonomous driving technology and the comprehensive use of perception technology, information fusion technology, combined positioning technology, motion control technology, etc. can change the operation mode of the existing automobile test site, so that the test scheduling organization, test implementation process, data collection process, data processing process and result analysis process are provided to the test users as the basic service functions of the automobile test site, so that the test site can have a deeper grasp of the test process rather than just a simple site provider role, so that the automobile test can be operated in a more automated and intelligent manner, effectively improving the operating efficiency and safety of the test site. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to better understand the above and other purposes, features, advantages and functions of the present invention, reference may be made to the embodiments shown in the accompanying drawings. The same reference numerals in the accompanying drawings refer to the same components. It should be understood by those skilled in the art that the accompanying drawings are intended to schematically illustrate the preferred embodiments of the present invention and have no limiting effect on the scope of the present invention, and the components in the drawings are not drawn to scale.

[0020] Figure 1 A structural block diagram of an automobile proving ground automated testing system according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0021] The following is a description of the exemplary embodiments disclosed in the present invention in conjunction with the accompanying drawings, including various details of the embodiments disclosed in the present invention 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 can be made to the embodiments described herein without departing from the scope and spirit of the present invention. Similarly, for the sake of clarity and conciseness, the description of well-known functions and structures is omitted in the following description.

[0022] As used herein, the term "including" and its variations mean open inclusion, i.e., "including but not limited to". Unless otherwise stated, the term "or" means "and / or". The term "based on" means "based at least in part on". The terms "an example embodiment" and "an embodiment" mean "at least one example embodiment". The term "another embodiment" means "at least one additional embodiment". The terms "first", "second", etc. may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0023] In order to at least partially solve one or more of the above-mentioned problems and other potential problems, an embodiment disclosed in the present invention proposes an automated testing system for an automobile test field, including: an operation control module, a test vehicle module, a target environment module, a basic test module and a site service module, wherein the operation control module receives test requirements, and generates test instructions according to the test requirements, and the test instructions include test vehicle instructions, target environment instructions, basic test instructions and site service instructions; the test vehicle module is configured on the target vehicle, and the test vehicle module operates the target vehicle in response to the test vehicle instructions; the target environment module generates a target object scene in response to the target environment instructions, and the target object scene includes static targets and / or dynamic targets; the basic test module collects test information in response to the basic test instructions, and the test information includes target vehicle information and / or target object scene information; the site service module includes a traffic flow adjustment unit and a site status unit, the site status unit generates a site simulation environment in response to the received site service instructions, and the traffic flow adjustment unit adjusts the site traffic according to the test information output by the basic test module in response to the site service instructions.

[0024] Specifically, Figure 1 As shown, the automobile test field automation test system of the embodiment of the present invention is used for an automobile test field, which includes a test field, a preparation field, a support field (such as a gas station, a charging station, a fire station, etc.), an inspection field, a disassembly and inspection field, etc.

[0025] The operation control module is responsible for the overall scheduling of all test activities in the test site. It ensures the site utilization efficiency and test safety through the reasonable time and space arrangement of test activities. The operation control module is the operation control core of the entire test site automation system. Its task is to obtain and classify the test needs of test users and realize the planning, scheduling and distribution of test tasks.

[0026] The operation control module includes an input unit, through which the user inputs the test requirements, and each test requirement corresponds to a vehicle test item. The test requirements include time requirements, such as entry time, test time, exit time, etc. The test requirements also include space requirements (including site requirements, target object environment requirements), such as test scenes (including traffic scenes, working conditions, driving behaviors, etc.), preparation scenes, detection scenes, etc. Those skilled in the art can understand that the test requirements also include operation requirements, which include steering, stopping, collision, braking, etc. The operation requirements are used to control the target vehicle to perform the test task. The test requirements also include data requirements, which are the data testing and data collection requirements corresponding to the test items.

[0027] The operation control module generates test instructions according to the test requirements. It can be understood by those skilled in the art that the operation control module includes a storage unit, which includes the site service module information of the test site (including site size information, site type information, site distribution information, site equipment information, etc.), target environment module information (including static target objects, dynamic target objects, etc.), basic test module information (including test equipment, data acquisition equipment, etc.), and test vehicle module information (including execution equipment information, execution controller information, etc.). The operation control module generates test instructions based on the test requirements according to the information of each module stored in the storage unit. Among them, the test vehicle instructions include the test vehicle module operation information corresponding to the test requirements (including start and stop, steering, braking, reversing, shifting, panel operation, etc.), the target environment instructions include the target object information corresponding to the test requirements (including position, state, posture, etc.), the basic test instructions include the test and acquisition data requirement information corresponding to the test requirements (including test or acquisition equipment, test or acquisition data objects, etc.), and the site service instructions include the site requirement information corresponding to the test requirements (including scene equipment, scene range, etc.).

[0028] The operation control module controls the test vehicle module to operate the target vehicle through the test vehicle instructions to achieve the operation requirements of the test project. The operation control module controls the target environment module to generate the target object scene through the target environment instructions to achieve the target object environment requirements of the test project. The operation control module controls the basic test module to perform test operations or data acquisition operations to obtain target vehicle information and target scene information through the basic test instructions to achieve the data requirements of the test project. The operation control module controls the venue service module to generate a venue simulation environment and adjust the venue traffic through the venue service instructions.

[0029] In some embodiments, the operation control module includes a test requirement management unit, a test task planning unit, a test task scheduling unit and a test task distribution unit. The test requirement management unit generates a spatial mark of the test requirement according to the spatial requirement, and generates a time mark of the test requirement according to the time requirement. The test task planning unit generates a task site and task time based on the spatial mark and time mark of the test requirement according to preset rules. The test task scheduling unit generates a scheduling instruction based on the task site and task time of the test requirement. The test task distribution unit outputs a test instruction in response to the scheduling instruction.

[0030] Specifically, the test requirement management unit is used to manage the test requirements received by the operation control module according to preset rules. It can be understood by those skilled in the art that the test requirements input by the user can be one or more. When there are multiple test requirements, the test requirement management unit first classifies the collected user requirements by space occupancy indicators, such as preparation site type, test site type, post-test inspection site, etc., and adds a first mark; and then performs secondary classification and sorting by time occupancy indicators, such as test preparation time, test time, and post-test processing time, and adds a second mark. Alternatively, in another embodiment, the test requirement also includes a third mark, which is a priority mark.

[0031] The test task planning unit generates a task planning file according to the spatial mark and time mark of the preset test requirements. The test task planning unit obtains the spatial mark, time mark and / or priority mark of the test requirements through the test requirement management unit. In some embodiments, the test task planning unit sorts the test requirements with the same first mark according to the time requirement length corresponding to the second mark. Or, in another embodiment, the test task planning unit prioritizes the test requirements with the third mark under the same first mark, and then sorts the other test requirements under the same first mark according to the second mark. The task planning file generated by the test task planning unit includes the task site and task time of the test project corresponding to each test requirement in the multiple test requirements; in some embodiments, the task planning file generated according to the test requirements also includes operation planning information, target object planning information, test planning information, and site guarantee planning information. The operation planning information user controls the operation of the target vehicle to realize the test project, and the target object planning information is the position, dynamics, and posture of the target object during the execution of the test task, wherein the target object includes a static target object and a dynamic target object. The test planning information is the test data requirement corresponding to the test task. The site guarantee planning information includes the site environment, site route, site traffic, etc. involved in the test task. In some embodiments, the length of the task planning file generated by the test task planning unit may be 1 week, 1 month, or even 1 year.

[0032] The test task scheduling unit is connected to the test task planning unit and receives the task planning file through the test task planning unit. The scheduling instructions generated by the test task scheduling unit are used to generate and determine the test field objects that need to be run at present, as well as the operating status of the current test field objects according to the task planning file. The test field objects include test vehicle modules, target environment modules, basic test modules and site service modules. In some embodiments, the longest schedulable time of the test task scheduling unit is 1 week. If it exceeds 1 week, it needs to be coordinated with the test task planning system.

[0033] The test task distribution unit is the external interface system of the entire operation control system. The test task distribution unit is connected to the test task scheduling unit. The test task distribution unit receives the scheduling instruction through the test task scheduling unit, and decomposes the test task to be started into separate tasks for the test vehicle module, the target environment module, the basic test module and the site service module according to the scheduling instruction. The test task scheduling unit generates the test vehicle instruction, the target environment instruction, the basic test instruction and the site service instruction according to the scheduling instruction and distributes them to the corresponding modules. In some embodiments, the test task distribution unit receives the output information of each module by connecting with the test vehicle module, the target environment module, the basic test module and the site service module respectively, so as to monitor, summarize and evaluate the execution effect of the relevant system.

[0034] In some embodiments, the test vehicle module includes a manipulation execution unit, an execution controller unit, an integrated sensor unit and an information transceiver unit. The integrated sensor unit is used to obtain target object environmental information and target vehicle positioning information. The information transceiver unit is used to connect the operation control module, the basic test module and the site service module. The execution controller unit is connected to the operation control module through the information transceiver unit to receive test vehicle instructions. The execution controller unit obtains target object environmental information and target vehicle positioning information through the integrated sensor unit. The execution controller unit controls the manipulation execution unit to operate the target vehicle in response to the test vehicle instructions.

[0035] Specifically, the test vehicle module is the execution and implementation module of the test project corresponding to the target vehicle. Its task is to obtain the test tasks distributed by the operation control module, and under the overall scheduling arrangement of the operation control module, "drive" the test target vehicle to implement the test tasks, and at the same time "report" its own operating status to the operation control module according to the set time period (such as 0.1s, 1s or a custom period). These tasks are jointly completed by the manipulation execution unit, execution controller unit, integrated sensor unit and information receiving unit in the test vehicle module.

[0036] The test vehicle module is used to simulate a human driver operating a target vehicle. Considering that the test vehicle module used for the test task needs to be tested on target vehicles with different autonomous driving capabilities, the test vehicle module uses a manipulation execution device similar to a driving robot to realize the driving manipulation of the vehicle.

[0037] The manipulation execution unit is used to implement simulated human operation. In some embodiments, the manipulation execution unit includes a manipulation execution device and a manipulation response measurement device. The manipulation execution device is used to verify that the input of manipulating the vehicle is consistent with the input method of manipulating the vehicle by a human driver. This is to ensure that the manipulation load acting on the vehicle and its action position meet the requirements of vehicle design. The manipulation execution device uses a humanoid robot to achieve the simulation of the operation of the human driver. The manipulation response measurement device includes a measurement sensor for measuring the execution displacement or angle, and a measurement sensor for measuring the execution force or torque, so as to ensure that the vehicle's manipulation feedback can be accurately monitored. The common driving robot systems in current engineering practice can preliminarily meet the requirements of the manipulation execution unit, such as the driving robot systems of ABD, etc. It should be noted that these commercial driving robot systems are not accurate enough in the feedback of some actuators. In this case, it is necessary to install additional sensor systems according to the overall requirements of the system to overcome this problem, or the driving robot system can be customized and developed according to measurement needs.

[0038] The integrated sensor unit is used to obtain important external information of the target vehicle, such as road boundary information, environmental target information, vehicle positioning information, etc. In some embodiments, the integrated sensor unit adopts a commercial sensor group solution in the autonomous driving system of the prior art, or a sensor set that meets the minimum requirements for vehicle driving control and safety needs. The integrated sensor unit is installed on the target vehicle in the test field in the form of an external plug-in to ensure that it does not interfere with the electronic and electrical system of the original test vehicle.

[0039] The information transceiver unit is connected to the operation control module to receive the test instruction. In some embodiments, the information transceiver unit is also connected to the target environment module, the basic test module and the site service module to receive the information output by each module.

[0040] The execution controller unit receives test instructions and information output by each module through the information transceiver device; the execution controller connects to the integrated sensor unit to receive sensor information output by the integrated sensor unit, and controls the acquisition operation of the integrated sensor unit; the execution controller unit obtains the enhanced positioning information and comprehensive site operation information forwarded by the operation control module or directly sent by the site service module and the basic test module through the communication network, so as to ensure that sufficient information is obtained to ensure driving safety.

[0041] The execution controller responds to the test vehicle instructions received from the operation control module, and integrates the information from the integrated sensor unit and the information transceiver unit to complete the control of the manipulation execution unit, realizing the information processing process from receiving the test vehicle instructions to the vehicle manipulation action, ensuring the safe, efficient and compliance with the test specifications of the test tasks.

[0042] In some embodiments, the integrated sensor unit includes one or a combination of camera, radar, GPS, IMU.

[0043] Specifically, the integrated sensor unit includes an environment detection sensor and a positioning device, wherein the environment detector includes a camera, a radar, etc., and the positioning device includes a GPS, an IMU, etc. In another embodiment, the integrated sensor unit adopts a sensor integration module of the prior art to realize the collection of environment detection information and positioning information.

[0044] In some embodiments, the target environment module includes a static target unit, a dynamic target unit and a target sorting unit. The static target unit includes a static target object and a mobile robot. The dynamic target unit includes a dynamic target object and a flat-panel robot. The dynamic target object is fixed on the flat-panel robot. The flat-panel robot is configured to move along a preset path. The target sorting unit includes a recovery robot. The recovery robot recovers the dynamic target object and / or the static target object in response to the received environmental instructions.

[0045] Specifically, the target environment module is used to simulate the target scene requirements of the test task corresponding to the test requirements. The target scene includes two categories: static scenes and dynamic scenes. Static scenes are common static targets in whole vehicle tests on the test site, including piles, water barriers, shoulders, roadblocks, sand piles, etc. Static targets maintain their position and shape unchanged during the test. Dynamic scenes are moving targets that cooperate with whole vehicle tests, such as target vehicles, pedestrians, bicycles, motorcycles, animals, etc. These dynamic targets need to have the ability to move, and during the test, they need to complete certain movements or interactive behaviors according to the test requirements.

[0046] The static target unit is used to generate a static target environment according to the target environment instruction. It can be understood by those skilled in the art that the static target unit includes one or more mobile robots, and the static target is deployed by the mobile robots. In some embodiments, the mobile robot is also used to retrieve the static target after the test project is completed.

[0047] The dynamic target unit is used to generate a dynamic target environment according to the target environment instructions. The dynamic target unit includes multiple dynamic targets and multiple flat-panel robots. Considering that dynamic scenes have certain dangers, flat-panel robots are used to carry dynamic targets to achieve the dynamic target movement behavior required by the test.

[0048] The target sorting unit includes multiple recovery robots. Considering that both static and dynamic targets may be scattered due to test reasons during the test mission, a target sorting unit is needed to recover and sort the scattered targets. This target sorting system can be an independent device to ensure fast and effective site cleaning, and automatically sort, classify and assemble the targets after cleaning. It can also be considered to be integrated with the target placement and recovery equipment and the dynamic target carrier platform to achieve multiple functions, with the goal of ensuring site test efficiency.

[0049] In some embodiments, the mobile work robot, the flat panel robot and the recycling robot have the ability to receive and execute scene layout requests sent by the operation control module to the environmental target module. At the same time, the mobile work robot and the flat panel robot can feedback the task reception, understanding, planning and execution to the operation control module through the target environment module.

[0050] In some embodiments, the basic test module includes a vehicle-mounted test unit and a field test unit. The vehicle-mounted test unit is used to collect motion data of the test vehicle. The vehicle-mounted test unit includes a combined inertial navigation device and a data acquisition device. The combined inertial navigation device is used to obtain operation data and posture data of the test vehicle. The data acquisition device is used to connect to the vehicle-mounted communication network of the test vehicle to obtain vehicle status information. The field test unit includes one or a combination of cameras, lidars, millimeter-wave radars, and radio positioning base stations. The field test unit is used to collect target scene information.

[0051] Specifically, the basic test module provides basic test services for the whole vehicle test tasks, and at the same time forms the test truth system of the entire test site. The basic test module mainly consists of two parts. The first part is the on-board test unit, which can be integrated with the vehicle test system or can be independent. It is preferred to integrate with the vehicle test system. The integration method can be modular to achieve pluggable on-demand combination. The second part is the field test unit. As an important part of the test site truth system, the field test unit is used to realize the motion and posture measurement of all test targets on the site.

[0052] The vehicle-mounted test unit completes the measurement of vehicle motion and attitude data through the vehicle-mounted combined inertial navigation equipment, including motion quantities such as position, speed, acceleration, and attitude quantities such as heading, yaw, roll, and pitch, and collects them through data acquisition equipment. At the same time, it collects vehicle status signals on the vehicle-mounted communication network, such as wheel motion state, suspension motion state, steering system motion state, braking system motion state, drive system motion state, etc., and cockpit internal signals, such as video signals, vibration signals, and audio signals, etc., store and send them to the operation control system through the communication interface. In some embodiments, the combined inertial navigation equipment includes an accelerometer, a gyroscope, a magnetometer, etc., the combined inertial navigation information is obtained through the combined inertial navigation equipment of the vehicle, and the body controller local area network information is obtained through the controller local area network of the vehicle. Specifically, the combined inertial navigation equipment adopts the combined inertial navigation system of the prior art. The combined pipeline system of the prior art is an extension and improvement based on the inertial navigation system. By combining GPS with INS, the error accumulation problem existing when INS is navigated alone can be overcome, and the positioning accuracy and navigation reliability can be improved. The combined inertial navigation information obtained through the combined inertial navigation system includes the vehicle's acceleration, angular velocity, angle (heading angle, pitch angle and roll angle) and other motion parameters. The vehicle's body controller local area network information can include various data on the vehicle's real-time status, including but not limited to vehicle speed, speed, tire pressure, fuel level, engine temperature, oxygen sensor data, air flow, exhaust temperature and other vehicle status information.

[0053] The field test unit includes a field measurement sensor group, which is set on the field. The field measurement sensor group includes detection equipment such as cameras, laser radars, millimeter wave radars, and radio positioning base stations. In some embodiments, the field test unit also includes auxiliary positioning markers and edge computing devices. The field measurement sensor group is deployed on the field, and the deployment points of each sensor need to be calibrated with precise coordinates. As the test benchmark of the sensor, the motion state and posture of all test targets (i.e., target vehicle age) on the field are measured by cross-measurement. In order to better complete the measurement task, the field test data needs to be fused and processed nearby, and for this purpose, edge computing equipment that meets data fusion calculations needs to be configured. At the same time, some markers that do not affect the driving of the vehicle but can improve the measurement accuracy of the system can also be arranged on the field, such as: feature markers such as marking points, markers, and scales. The coordinates and configurations of these feature markers are precisely positioned, which can enhance the measurement accuracy during the test vehicle test.

[0054] In some embodiments, the site service module includes a combination of one or more of mud equipment, salt water equipment, rain and fog equipment, dust equipment, modulated wind measurement equipment, and lighting equipment.

[0055] Specifically, the main task of the site status unit is to reasonably arrange or adjust the technical conditions of the site according to the plan of the operation control module to ensure the normal implementation of the test tasks, such as spraying water on the site, preparing mud, preparing salt water, creating rain and fog, creating dust, modulating wind measurement and configuring lighting, etc.

[0056] In some embodiments, the traffic flow control unit is connected to the basic test module to receive vehicle operation data and target scene information to obtain fault information. The site service module also includes an emergency rescue unit, which generates rescue instructions in response to the fault information. The rescue instructions are used to dispatch fire-fighting equipment and rescue equipment.

[0057] Specifically, the traffic flow control unit obtains target vehicle information, target object information, etc. on the site through the operation control module or the basic test module. The traffic flow control unit controls the traffic lights or switches of the site route to achieve flow control of multiple target vehicles on the site. And evaluate whether there is a fault according to the preset traffic rules or status rules, and output fault information when a fault occurs. When an accident occurs at the test site, the emergency rescue unit dispatches fire and rescue resources to seek help from personnel to prevent the accident from further expanding. At the same time, it needs to coordinate with the traffic flow control unit to ensure smooth traffic for emergency rescue.

[0058] In some embodiments, the venue service module further includes a fault assessment unit, which generates fault level information according to the fault information based on a preset time threshold and a preset space threshold.

[0059] Specifically, the site service module receives fault information and rates the fault according to preset fault levels to distinguish the severity of the accident and the time and space impact range levels, and gives impact rating feedback to the operation control system and gives emergency response level recommendations.

[0060] In some embodiments, the test task scheduling unit receives fault information and updates the test instructions according to preset scheduling rules.

[0061] Specifically, the test task scheduling unit receives the long-term planning results of the test task planning unit, schedules the execution mode and sequence of the test tasks specific to the day, monitors the operation status, and handles emergencies that arise during the task operation. For example, if a single task cannot be carried out as planned or there is a sudden failure or accident, it is necessary to carry out temporary scheduling of the test tasks for the current shift or subsequent shifts to ensure efficient site utilization.

[0062] The embodiments disclosed in the present invention have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements in the market, or to enable other persons of ordinary skill in the art to understand this document.

Claims

1. An automated testing system for an automobile testing ground, characterized in that: include: An operation control module, wherein the operation control module receives a test requirement and generates a test instruction according to the test requirement, wherein the test instruction includes a test vehicle instruction, a target environment instruction, a basic test instruction, and a site service instruction; a test vehicle module, the test vehicle module being configured on a target vehicle, the test vehicle module operating the target vehicle in response to the test vehicle command; A target environment module, wherein the target environment module generates a target object scene in response to the target environment instruction, wherein the target object scene includes a static target object and / or a dynamic target object; A basic test module, wherein the basic test module collects test information in response to the basic test instruction, wherein the test information includes target vehicle information and / or target object scene information; A site service module, the site service module includes a traffic flow adjustment unit and a site status unit, the site status unit generates a site simulation environment in response to a received site service instruction, and the traffic flow adjustment unit adjusts site traffic according to the test information output by the basic test module in response to the site service instruction.

2. The system according to claim 1, characterized in that The operation control module includes a test requirement management unit, a test task planning unit, a test task scheduling unit and a test task distribution unit. The test requirement management unit generates a spatial mark of the test requirement according to the spatial requirement, and generates a time mark of the test requirement according to the time requirement. The test task planning unit generates a task site and task time based on the spatial mark and time mark of the test requirement according to preset rules. The test task scheduling unit generates a scheduling instruction based on the task site and task time of the test requirement. The test task distribution unit outputs a test instruction in response to the scheduling instruction.

3. The system according to claim 2, characterized in that The test vehicle module includes a manipulation execution unit, an execution controller unit, an integrated sensor unit and an information transceiver unit. The integrated sensor unit is used to obtain target object environment information and target vehicle positioning information. The information transceiver unit is used to connect the operation control module, the basic test module and the site service module. The execution controller unit is connected to the operation control module through the information transceiver unit to receive the test vehicle instruction. The execution controller unit obtains target object environment information and target vehicle positioning information through the integrated sensor unit. The execution controller unit controls the manipulation execution unit to operate the target vehicle in response to the test vehicle instruction.

4. The system according to claim 3, characterized in that The integrated sensor unit includes one or a combination of cameras, radars, GPS, and IMU.

5. The system according to claim 1, characterized in that The target environment module includes a static target unit, a dynamic target unit and a target sorting unit. The static target unit includes a static target object and a mobile robot. The dynamic target unit includes a dynamic target object and a flat-panel robot. The dynamic target object is fixed on the flat-panel robot. The flat-panel robot is configured to move along a preset path. The target sorting unit includes a recovery robot. The recovery robot recovers the dynamic target object and / or the static target object in response to the received environmental instructions.

6. The system according to claim 1, characterized in that The basic test module includes a vehicle-mounted test unit and a field test unit. The vehicle-mounted test unit is used to collect test vehicle operation data. The vehicle-mounted test unit includes a combined inertial navigation device and a data acquisition device. The combined inertial navigation device is used to obtain motion data and posture data of the test vehicle. The data acquisition device is used to connect to the vehicle-mounted communication network of the test vehicle to obtain vehicle status information. The field test unit includes one or a combination of cameras, lidars, millimeter-wave radars, and radio positioning base stations. The field test unit is used to collect target scene information.

7. The system according to claim 1, characterized in that The site service module includes a combination of one or more of mud equipment, salt water equipment, rain and fog equipment, dust equipment, modulated wind measurement equipment, and lighting equipment.

8. The system according to claim 2 or 7, characterized in that: The traffic flow adjustment unit is connected to the basic test module to receive the vehicle operation data and the target object scene information to obtain fault information. The site service module also includes an emergency rescue unit, which generates a rescue instruction in response to the fault information. The rescue instruction is used to dispatch fire-fighting equipment and rescue equipment.

9. The system according to claim 8, characterized in that The venue service module further includes a fault assessment unit, which generates fault level information according to the fault information based on a preset time threshold and a preset space threshold.

10. The system according to claim 9, characterized in that The test task scheduling unit receives the fault information and updates the test instructions according to the preset scheduling rules.

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