Test method and device of vehicle-mounted navigation module, medium and electronic equipment

Abstract

The invention belongs to the technical field of navigation, and relates to a test method and device of a vehicle-mounted navigation module, a medium and electronic equipment. The method comprises the steps that first position information of a vehicle is obtained, the first position information is written into second position information, the second position information is in a target format, and the target format is a format which can be recognized by a vehicle-mounted navigation module and represents a position; the second position information is sent to the vehicle-mounted navigation module; route feature points of a navigation route are obtained, the navigation route is obtained through route calculation conducted by the vehicle-mounted navigation module according to the second position information, and the route feature points are determined on the navigation route; and carrying out segmented calculation on the route feature points to obtain a simulation route, so that the vehicle simulates driving according to the simulation route to realize the test of the vehicle-mounted navigation module, and the simulation route is consistent with the navigation route. According to the invention, the problems of vehicle position inconsistency and route inconsistency of the automatic driving simulation platform and the vehicle-mounted navigation module are solved, and the test method with high accuracy is provided.

Description

Technical Field

[0001] The present disclosure belongs to the field of navigation technology, and in particular relates to a method for testing a vehicle-mounted navigation module, a device for testing a vehicle-mounted navigation module, a computer-readable storage medium, and an electronic device. Background Art

[0002] The in-vehicle navigation module is not only a product of the development of modern automobile technology, but also an important tool for improving driving experience, ensuring driving safety, and promoting the modernization of traffic management. In order to confirm the safety, stability, and reliability of the in-vehicle navigation module, it is generally necessary to actually drive on the road for testing. However, the cost of actual road testing of navigation is too high, and it is easy to cause traffic accidents and has certain risks. In order to reduce the cost of testing and enhance the safety of testing, the test scenario can be built using the autonomous driving simulation platform, and the in-vehicle navigation module can be jointly simulated to replace the road test for the functional testing of the in-vehicle navigation module.

[0003] However, when the autonomous driving simulation platform and the vehicle navigation module are jointly simulated, the vehicle position of the autonomous driving simulation platform is inconsistent with the vehicle position of the vehicle navigation module, and the autonomous driving simulation platform cannot be used for testing. In addition, when using the autonomous driving simulation platform to test the test route of the vehicle navigation module, the route of the autonomous driving simulation platform must be consistent with the test route. However, since the autonomous driving simulation platform does not support route settings, the autonomous driving simulation platform cannot be used for functional testing of the vehicle navigation module. Summary of the invention

[0004] In order to overcome the problems existing in the related art, the present disclosure provides a method for testing a vehicle-mounted navigation module, a device for testing a vehicle-mounted navigation module, a computer-readable storage medium, and an electronic device.

[0005] According to a first aspect of an embodiment of the present disclosure, a method for testing a vehicle navigation module is provided, the method comprising:

[0006] Acquire first position information of the vehicle, and write the first position information into second position information, where the second position information is in a target format, and the target format is a format representing the position that can be recognized by the vehicle navigation module;

[0007] Sending the second location information to the vehicle navigation module;

[0008] Acquire route feature points of a navigation route, where the navigation route is obtained by the vehicle-mounted navigation module performing route calculation according to the second position information, and the route feature points are determined on the navigation route;

[0009] The route feature points are calculated in sections to obtain a simulated route, so that the vehicle simulates driving along the simulated route to implement the test of the vehicle navigation module, and the simulated route is consistent with the navigation route.

[0010] Optionally, the step of calculating the route feature points in sections to obtain a simulated route includes:

[0011] Acquire a feature point sequence, wherein the feature point sequence includes a plurality of the route feature points arranged in order of arrival;

[0012] A sub-route is calculated between every two adjacent route feature points in the feature point sequence, and a plurality of the sub-routes are sequentially spliced ​​end to end to obtain the simulated route, so that the vehicle can simulate driving along the plurality of the sub-routes sequentially and implement the test of the vehicle navigation module.

[0013] Optionally, a sub-route is calculated between every two adjacent route feature points in the feature point sequence, and a plurality of the sub-routes are sequentially spliced ​​end to end to obtain the simulated route, so that the vehicle simulates driving along the plurality of the sub-routes in sequence and implements the test of the vehicle navigation module, including:

[0014] The first of every two adjacent route feature points in the feature point sequence is used as a first starting point, and the second of every two adjacent route feature points is used as a first end point, and the shortest path between the first starting point and the first end point is calculated to obtain the first sub-route, so that the vehicle simulates driving along the first sub-route;

[0015] until the vehicle simulates driving to a first end point of the first sub-route, taking the first end point as a second starting point, taking a route feature point in the feature point sequence that is located next to the second starting point as the second end point, calculating the shortest path between the second starting point and the second end point, and obtaining a second sub-route, so that the vehicle continues to simulate driving along the second sub-route;

[0016] The calculation of all the sub-routes is completed in sequence, and a plurality of the sub-routes are sequentially spliced ​​end to end to obtain the simulated route, so that the vehicle simulates driving along all the sub-routes in sequence and realizes the test of the vehicle-mounted navigation module.

[0017] Optionally, the route feature points include: a starting point, an end point and a way point; the route feature points also include: a route key point, and the route key point is a point where the navigation route turns.

[0018] Optionally, the method further comprises:

[0019] causing the vehicle to simulate driving in a first driving mode on the first sub-route toward the first end point, and switching to a second driving mode when the vehicle is a first preset distance away from the first end point;

[0020] The vehicle is driven through the first destination in the second driving mode, and is switched back to the first driving mode when the vehicle is driven a second preset distance away from the first destination, so that the vehicle is simulated to drive toward the second destination on the second sub-route in the first driving mode, so as to realize the test of the vehicle navigation module.

[0021] Optionally, the method further comprises:

[0022] Performing a yaw intervention on the vehicle so that the vehicle deviates from the simulated route;

[0023] Updating the first position information and the second position information to update the route feature point;

[0024] The simulated route is recalculated according to the updated route feature points.

[0025] Optionally, before acquiring the first position information of the vehicle, the method further includes:

[0026] Map data of a test scene is loaded to create scene elements in the test scene, wherein the scene elements include a vehicle.

[0027] According to a second aspect of an embodiment of the present disclosure, there is provided a testing device for a vehicle-mounted navigation module, comprising:

[0028] An information writing module is configured to obtain first position information of the vehicle and write the first position information into second position information, where the second position information is in a target format, and the target format is a format representing the position that can be recognized by the vehicle navigation module;

[0029] An information sending module, configured to send the second location information to a vehicle navigation module;

[0030] a route determination module, configured to obtain route feature points of a navigation route, wherein the navigation route is obtained by the vehicle-mounted navigation module performing route calculation according to the second position information, and the route feature points are determined on the navigation route;

[0031] The route testing module is configured to perform segmented calculations on the route feature points to obtain a simulated route, so that the vehicle simulates driving along the simulated route to implement the test of the vehicle navigation module, and the simulated route is consistent with the navigation route.

[0032] According to a third aspect of an embodiment of the present disclosure, a computer-readable storage medium is provided, on which computer program instructions are stored. When the program instructions are executed by a processor, the steps of the vehicle navigation module testing method provided in any one of the first aspects of the present disclosure are implemented.

[0033] According to a fourth aspect of an embodiment of the present disclosure, there is provided an electronic device, including:

[0034] processor;

[0035] a memory for storing processor-executable instructions;

[0036] The processor is configured to: execute the executable instructions to implement the steps of any one of the vehicle navigation module testing methods provided in the first aspect of the present disclosure.

[0037] The technical solution provided by the embodiments of the present disclosure may have the following beneficial effects:

[0038] In the method and device provided by the exemplary embodiment of the present disclosure, the first position information of the vehicle in the simulation software is compiled into the second position information for accurate positioning of the vehicle navigation module, which solves the problem of inconsistent vehicle positions between the autonomous driving simulation platform and the vehicle navigation module, and provides data support and theoretical basis for the joint simulation of the autonomous driving simulation platform and the vehicle navigation module. Furthermore, the navigation route of the vehicle navigation module is used to determine the simulation route used for testing in the simulation software, so as to achieve the joint simulation effect of testing the vehicle navigation module in the autonomous driving simulation platform, solve the problem of inconsistent routes between the autonomous driving simulation platform and the vehicle navigation module, and avoid the excessive cost and danger of testing the vehicle navigation module function through road testing, thereby providing a navigation test method with high accuracy, low cost and guaranteed safety.

[0039] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0041] Figure 1 A schematic diagram schematically shows a flow chart of a method for testing a vehicle navigation module in an exemplary embodiment of the present disclosure;

[0042] Figure 2 The following schematically shows an interface diagram for determining route feature points in an exemplary embodiment of the present disclosure;

[0043] Figure 3A schematic diagram of a flow chart of a method for determining a simulated route in an exemplary embodiment of the present disclosure is schematically shown;

[0044] Figure 4 A schematic diagram of a process for further determining a simulation route in an exemplary embodiment of the present disclosure is schematically shown;

[0045] Figure 5 A schematic diagram of a process of testing a vehicle navigation module according to a simulated route in an exemplary embodiment of the present disclosure is schematically shown;

[0046] Figure 6 A schematic diagram schematically shows a flow chart of a method for updating a simulated route in an exemplary embodiment of the present disclosure;

[0047] Figure 7 A schematic diagram schematically shows a flow chart of a method for testing a vehicle navigation module in an application scenario in an exemplary embodiment of the present disclosure;

[0048] Figure 8 The flowchart of the path-splitting algorithm in the application scenario in the exemplary embodiment of the present disclosure is schematically shown;

[0049] Fig. 9 A schematic diagram schematically shows the structure of a testing device for a vehicle navigation module in an exemplary embodiment of the present disclosure;

[0050] Fig.10 A schematic diagram schematically shows the structure of another vehicle navigation module testing device in an exemplary embodiment of the present disclosure;

[0051] Fig.11 A schematic structural diagram of yet another vehicle-mounted navigation module testing device in an exemplary embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0052] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0053] It should be noted that all actions of acquiring signals, information or data in the present disclosure are carried out in compliance with the relevant data protection laws and policies of the country where the device is located and with the authorization given by the owner of the corresponding device.

[0054] The in-vehicle navigation module is not only a product of the development of modern automobile technology, but also an important tool for improving driving experience, ensuring driving safety, and promoting the modernization of traffic management. In order to confirm the safety, stability, and reliability of the in-vehicle navigation module, it is generally necessary to actually drive on the road for testing. However, the cost of actual road testing of navigation is too high, and it is easy to cause traffic accidents and has certain risks. In order to reduce the cost of testing and enhance the safety of testing, the test scenario can be built using the autonomous driving simulation platform, and the in-vehicle navigation module can be jointly simulated to replace the road test for the functional testing of the in-vehicle navigation module.

[0055] When the autonomous driving simulation platform and the on-board navigation module are jointly simulated, the autonomous driving simulation platform provides a simulation test scenario, so as to test the function of the on-board navigation module using the autonomous driving mode of the autonomous driving simulation platform.

[0056] However, this process requires that the position of the autonomous driving simulation platform and the on-board navigation module be consistent, but the positions of the two are not consistent. Therefore, the on-board navigation module cannot be tested using the autonomous driving simulation platform.

[0057] In addition, when using the autonomous driving mode of the autonomous driving simulation platform to test the functions of the on-board navigation module, the test route of the autonomous driving simulation platform and the test route of the on-board navigation module need to be consistent in order to test the functions of the entire on-board navigation module route, including positioning, guidance, map drawing, intersection enlargement map, sound and other functions.

[0058] Among them, the test route of the vehicle navigation module supports the setting of multiple routes, while the route calculation algorithm of the autonomous driving simulation platform is A* (A star algorithm, a heuristic search algorithm). The A* algorithm is a path search algorithm with the lowest passing cost, combining the shortest path of the Dijkstra algorithm and the efficiency of the greedy algorithm, but does not support the setting of routes. Therefore, the route of the autonomous driving simulation platform is inconsistent with the test route, which also makes it impossible to use the autonomous driving simulation platform to perform functional tests on the vehicle navigation module.

[0059] In view of the problems existing in the related art, the present disclosure provides a testing method for a vehicle-mounted navigation module, which can be applied to a simulation platform. Figure 1 is a flow chart of a method for testing a vehicle navigation module according to an exemplary embodiment. Figure 1 As shown, the method may at least include the following steps:

[0060] Step S110: Acquire the first position information of the vehicle, and compile the first position information into second position information, where the second position information is in a target format, and the target format is a format representing the position that can be recognized by the vehicle navigation module.

[0061] Step S120: Send the second location information to the vehicle navigation module.

[0062] Step S130: Acquire route feature points of a navigation route, where the navigation route is obtained by the vehicle navigation module performing route calculation according to the second position information, and the route feature points are determined on the navigation route.

[0063] Step S140: Calculate the route feature points in sections to obtain a simulated route, so that the vehicle simulates driving along the simulated route to implement the test of the vehicle navigation module, and the simulated route is consistent with the navigation route.

[0064] In the exemplary embodiment of the present disclosure, the first position information of the vehicle in the simulation software is compiled into the second position information for accurate positioning of the vehicle navigation module, which solves the problem of inconsistent vehicle positions between the autonomous driving simulation platform and the vehicle navigation module, and provides data support and theoretical basis for the joint simulation of the autonomous driving simulation platform and the vehicle navigation module. Furthermore, the navigation route of the vehicle navigation module is used to determine the simulation route used for testing in the simulation software, so as to achieve the joint simulation effect of testing the vehicle navigation module in the autonomous driving simulation platform, solve the problem of inconsistent routes between the autonomous driving simulation platform and the vehicle navigation module, and avoid the excessive cost and danger of testing the vehicle navigation module function through road testing, thereby providing a navigation test method with high accuracy, low cost and guaranteed safety.

[0065] The following is a detailed description of each step of the test method for the vehicle navigation module.

[0066] In step S110, first position information of the vehicle is acquired, and the first position information is compiled into second position information, where the second position information is in a target format, and the target format is a format representing the position that can be recognized by the vehicle navigation module.

[0067] In an exemplary embodiment of the present disclosure, in the simulation software, the first position information of the vehicle may be acquired first.

[0068] The simulation software may be Carla (an open source unmanned driving simulation platform) or other software, and this exemplary embodiment does not specifically limit this.

[0069] Carla is specifically designed for training and testing autonomous driving algorithms. It provides a highly configurable scenario and sensor setup that simulates urban environments and traffic conditions, helping developers evaluate the performance of autonomous driving systems in various real-world scenarios.

[0070] In an optional embodiment, map data of a test scene is loaded to create scene elements in the test scene, and the scene elements include vehicles.

[0071] In Carla, load the map data that needs to be tested and create scene elements such as your own vehicle, other vehicles, pedestrians, and traffic lights.

[0072] The map data may be in OpenDRIVE (an open file format mainly used to describe the logic of a road network) format. The OpenDRIVE format uses an extensible markup language with a file extension of xodr as the basis for describing a road network. The data stored in the OpenDRIVE file describes the geometry of the road and related features that may affect the logic of the road network, such as lanes and signs.

[0073] Furthermore, the first position information of the vehicle may be obtained in Carla, and the first position information may include information reflecting the position and direction of the vehicle.

[0074] After the first location information is acquired, the first location information may be compiled into second location information, and the second location information may be GNSS (Global Navigation Satellite System) information.

[0075] Specifically, when the second location information is in NMEA (National Marine Electronics Association, a standard data exchange format) format, a preset character string corresponding to the NMEA format is obtained, and the vehicle attribute information and time information in the first location information are obtained.

[0076] Among them, the NMEA format is a standard data exchange format designed for GPS (Global Positioning System) and other navigation devices, and is used to exchange navigation-related data.

[0077] The preset string corresponding to the NMEA format may be $GPGGA, $GPRMC, $GPGSV, etc.

[0078] Since the first position information may include information reflecting the position and direction of the vehicle, vehicle attribute information reflecting the position and direction of the vehicle, as well as time information, may be acquired.

[0079] Furthermore, starting with a preset character string, the vehicle attribute information and the time information are concatenated to obtain the second position information, and the preset character string, the vehicle attribute information and the time information are separated by preset symbols respectively.

[0080] The data packet in NMEA format usually starts with a preset string such as $GPGGA, $GPRMC, $GPGSV, etc., followed by a series of fields separated by a preset symbol, comma, and each field has a specific meaning, such as vehicle attribute information and time information. In addition, other information such as speed and heading can also be spliced ​​after the preset string according to the acquired information, and this exemplary embodiment does not make special limitations on this.

[0081] In step S120, the second position information is sent to the vehicle navigation module.

[0082] In an exemplary embodiment of the present disclosure, when Carla and the vehicle navigation module are not arranged on the same terminal, the terminal where Carla is located may send the compiled second location information to the terminal where the vehicle navigation module is located.

[0083] Specifically, the terminal where Carla is located can use process communication, such as the websocket protocol (a protocol for full-duplex communication on a single TCP (Transmission Control Protocol) connection) to send the second location information to the terminal where the vehicle navigation module is located. In addition, other methods can also be used to send the second location information, and this exemplary embodiment does not specifically limit this.

[0084] In step S130, route feature points of a navigation route are obtained. The navigation route is obtained by the vehicle navigation module performing route calculation according to the second position information. The route feature points are determined on the navigation route.

[0085] In an exemplary embodiment of the present disclosure, after receiving the second position information, the vehicle-mounted navigation module may use a fusion positioning algorithm to locate the second position information to obtain the position information of the vehicle in the vehicle-mounted navigation module.

[0086] The fusion positioning algorithm may be an algorithm that uses the second position information as input and uses a DR (Dead Reckoning) algorithm and a Kalman algorithm for positioning, wherein the DR algorithm uses information such as speed and direction provided by GNSS information.

[0087] Among them, the DR algorithm, also known as dead reckoning, is an algorithm that uses sensor observations to infer the navigation state (position, speed, and direction) of the previous moment to the navigation state of the next moment. The DR algorithm consists of two parts: attitude choreography and position choreography. The attitude choreography uses the attitude and heading reference system fusion algorithm, while the position choreography combines the attitude choreography results and integrates the speedometer observations to obtain the vehicle position.

[0088] As an effective statistical estimation method, Kalman filter can estimate the state of a dynamic system from a series of incomplete and noisy measurements. In the fusion positioning algorithm, Kalman filter is used to fuse GNSS and IMU (Inertial Measurement Unit) data to provide more accurate position, velocity and attitude estimation. This fusion algorithm can improve the continuity and accuracy of positioning.

[0089] Therefore, by using the fusion positioning algorithm to locate the second position information, the position information of the vehicle in the vehicle navigation module can be obtained. At this time, the position information of the vehicle in the vehicle navigation module is consistent with the first position information or the second position information of the vehicle in the simulation software, that is, they represent the same position, so Carla can be used to test the function of the vehicle navigation module.

[0090] Then, a path finding algorithm is used to calculate the route of the vehicle's position information in the vehicle-mounted navigation module to obtain a navigation route in the vehicle-mounted navigation module.

[0091] In the vehicle navigation module, a path finding algorithm such as the shortest path algorithm can be used, or a route calculation can be performed on the third position information and the corresponding end point according to restrictions such as whether to take the highway and fuel consumption to obtain a navigation route in the vehicle navigation module.

[0092] Furthermore, a route feature point is determined in the navigation route determined by the vehicle-mounted navigation module.

[0093] In an optional embodiment, the route feature points include: a starting point, an end point and a waypoint, and also include: a route key point, which is a point where the navigation route turns.

[0094] Figure 2 A schematic diagram of the interface for determining route feature points is shown, Figure 2 As shown, 210 is the starting point, 220 is the ending point, 230 is the key point of the route, and all points on the navigation route can be used as waypoints.

[0095] When the navigation route is simple, the route feature points may coincide with the starting point, the end point, and the waypoints; when the navigation route is complex, you can add route key points manually, which can also be considered as key points that affect the plane shape of the route. Points other than the starting point, the end point, and the waypoints can be considered as key points that affect the plane shape of the route.

[0096] In step S140, the route feature points are calculated in sections to obtain a simulated route, so that the vehicle simulates driving along the simulated route to implement the test of the vehicle navigation module, and the simulated route is consistent with the navigation route.

[0097] In an exemplary embodiment of the present disclosure, after determining the route feature points in the navigation route, the route feature points may be further segmented and calculated to obtain a simulated route in the simulation software.

[0098] In an alternative embodiment, Figure 3 A flow chart of a method for determining a simulation route is shown, Figure 3 As shown, the method may at least include the following steps: In step S310, a feature point sequence is obtained, and the feature point sequence includes a plurality of route feature points arranged in order of arrival.

[0099] After determining the route feature points in the navigation route, all route feature points may be arranged in the order of arrival in the navigation route to obtain a feature point sequence.

[0100] For example, in Figure 2 In FIG. 1 , the route feature points 210 , 220 and 230 are arranged in the order of arrival in the navigation route to obtain a feature point sequence of {210 , 230 , 220}.

[0101] In step S320, a sub-route is calculated between every two adjacent route feature points in the feature point sequence, and multiple sub-routes are sequentially spliced ​​end to end to obtain a simulated route, so that the vehicle can simulate driving along the multiple sub-routes in sequence and implement the test of the vehicle navigation module.

[0102] In an alternative embodiment, Figure 4 A schematic diagram of a method for further determining a simulation route is shown, such as Figure 4 As shown, the method may include at least the following steps: in step S410, the former of every two adjacent route feature points in the feature point sequence is taken as the first starting point, and the latter is taken as the first end point, and the shortest path is calculated between the first starting point and the first end point to obtain a first sub-route, so that the vehicle simulates driving along the first sub-route.

[0103] Among two adjacent route feature points in the feature point sequence, the route feature point reached first is determined as the first starting point of the two adjacent route feature points, and the other route feature point reached later is determined as the first end point of the two adjacent route feature points.

[0104] After determining the first starting point and the first end point, a search algorithm such as an A* algorithm may be used to calculate the shortest path between the first starting point and the first end point as a first sub-route, so that the vehicle can perform simulated driving along the first sub-route.

[0105] In step S420, until the vehicle simulates driving to the first end point of the first sub-route, the first end point is used as the second starting point, and the route feature point located next to the second starting point in the feature point sequence is used as the second end point, and the shortest path is calculated between the second starting point and the second end point to obtain the second sub-route, so that the vehicle continues to simulate driving along the second sub-route.

[0106] Further, when the vehicle travels along the first sub-route to the first end point, the first end point may be determined as the second starting point.

[0107] Among two adjacent route feature points in the feature point sequence, the first end point reached first is determined as the second starting point, and the next route feature point reached later and located at the second starting point is determined as the second end point.

[0108] After determining the second starting point and the second end point, a search algorithm such as an A* algorithm may be used to calculate the shortest path between the second starting point and the second end point as a second sub-route, so that the vehicle can perform simulated driving along the second sub-route.

[0109] In step S430, all sub-routes are calculated in sequence, and multiple sub-routes are sequentially spliced ​​end to end to obtain a simulated route, so that the vehicle simulates driving along all sub-routes in sequence and implements the test of the vehicle navigation module.

[0110] Similarly, after calculating all the sub-routes between two adjacent route feature points in the feature point sequence, all the sub-routes are spliced ​​together end to end in the order of arrival in the feature point sequence to obtain a simulated route as a test basis for vehicle simulation driving and on-board navigation modules.

[0111] Since the shortest path between the feature points of the route is consistent with the route of the corresponding navigation section, after all the sections are pieced together, the entire simulated route is consistent with the navigation route of the vehicle navigation module.

[0112] In an alternative embodiment, Figure 5 A flow chart of a method for testing a vehicle navigation module according to a simulated route is shown. Figure 5 As shown, the method may include at least the following steps: in step S510, the vehicle simulates driving in a first driving mode on a first sub-route toward a first end point, and switches to a second driving mode when the vehicle is a first preset distance away from the first end point.

[0113] After determining the first sub-route, the vehicle may drive toward the first end point in the first driving mode, wherein the first driving mode may be an automatic driving mode.

[0114] When the distance of the vehicle approaching the first end point satisfies a first preset distance calculated as 0.9*body length+0.1*vehicle speed, the first driving mode may be switched to the second driving mode, wherein the second driving mode may be a manual driving mode.

[0115] In step S520, the vehicle passes the first destination in the second driving mode, and switches back to the first driving mode when it is a second preset distance away from the first destination, so that the vehicle simulates driving in the first driving mode on the second sub-route to the second destination, so as to test the on-board navigation module.

[0116] After determining the second sub-route, the vehicle may travel toward the second destination in the second driving mode.

[0117] When the distance the vehicle has traveled away from the first end point (i.e., the second starting point) satisfies a second preset distance calculated as being greater than 0.5*body length, the second driving mode can be switched back to the first driving mode, so that the vehicle is simulated driving in the first driving mode on the second sub-route toward the second end point, so as to test the navigation route determined by the on-board navigation module in this way and obtain a test result.

[0118] It is worth noting that the simulated route is not fixed during the testing process of the vehicle navigation module, but can be continuously updated and adjusted.

[0119] In an alternative embodiment, Figure 6 A flow chart of a method for updating a simulation route is shown, Figure 6 As shown, the method may at least include the following steps: in step S610, a yaw intervention is performed on the vehicle so that the vehicle deviates from the simulated route.

[0120] Yaw intervention refers to the intervention and control of the vehicle's simulated driving behavior during vehicle testing, causing the vehicle to deviate from the predetermined driving direction during driving.

[0121] When the vehicle is yaw intervened, it will deviate from the original simulation route during the simulation test.

[0122] In step S620, the first position information and the second position information are updated to update the route feature points.

[0123] When the vehicle deviates from the original simulated route, the first position information and the second position information may be updated according to the deviation, thereby updating the route feature points in the manner of step S130, which will not be described in detail here.

[0124] In step S630, the simulated route is recalculated based on the updated route feature points.

[0125] After the route feature points are updated, you can follow Figure 3 The simulated route is recalculated in the manner shown, so that the vehicle simulates driving along the updated simulated route, thereby realizing real-time adjustment of the test of the vehicle navigation module. It can be seen that compared with the vehicle position simulated by the navigation itself in the related art, the vehicle position can only move along the route calculated by the navigation, cannot deviate from the route, and cannot trigger the solution of recalculating the route. The test method of the vehicle navigation module sends the second position information to the vehicle navigation module for the vehicle navigation module to calculate the route. It can intervene at any time to make the vehicle deviate from the simulated route and trigger the vehicle navigation module to recalculate the route, which significantly increases the flexibility of the test.

[0126] Optionally, vehicle yaw interventions can be carried out via the manual driving mode.

[0127] The following is a detailed description of the testing method of the vehicle navigation module in the embodiment of the present disclosure in conjunction with an application scenario.

[0128] Figure 7 The flowchart of the test method of the vehicle navigation module in the application scenario is shown as follows: Figure 7 As shown, in step S710, Carla is used to build a test scene.

[0129] In Carla, load the map data that needs to be tested and create scene elements such as your own vehicle, other vehicles, pedestrians, and traffic lights.

[0130] In step S720, the GNSS information is simulated using the vehicle position information of Carla.

[0131] After obtaining the vehicle position and direction information of the vehicle in Carla, the GNSS information can be compiled into a new data format, wherein the new data format can be NMEA format.

[0132] In step S730, Carla communicates with the navigation system and sends the simulated GNSS information to the navigation system.

[0133] The terminal where Carla is located can use process communication, such as websocket protocol to send GNSS information to the terminal where the vehicle navigation module is located.

[0134] In step S740 , the navigation uses simulated GNSS information for positioning and route calculation.

[0135] The terminal where the vehicle navigation module is located uses GNSS information as input and uses the DR algorithm and Kalman algorithm for positioning. Among them, the DR algorithm uses information such as speed and direction provided by GNSS information.

[0136] In the process of calculating the route at the terminal where the vehicle navigation module is located, the shortest path algorithm is used, or the navigation route is calculated based on some restrictions, such as whether to take the highway, fuel consumption, etc.

[0137] In step S750, a route is calculated in Carla using a route-matching algorithm, and this route is consistent with the navigation route.

[0138] Carla's route splicing algorithm selects feature points from the navigation route calculated by the navigation. Feature points include the route starting point, end point, passing points, and key points that affect the plane shape of the route. Since the shortest path between feature points is consistent with the route of the corresponding navigation section, after the route splicing algorithm has spliced ​​all sections, the entire route is consistent with the navigation route.

[0139] Figure 8 The flowchart of the algorithm for splicing the path in the application scenario is shown in FIG. Figure 8 As shown, in step S810, the longitude and latitude of multiple places along the navigation route are obtained sequentially.

[0140] The sequential acquisition method is to obtain the longitude and latitude of the first destination, the longitude and latitude of the next destination, and so on.

[0141] In step S820, the sub-route 1 is calculated using the A* algorithm.

[0142] Specifically, the starting point and the end point of Carla's driving are set. The starting point is the starting point of the entire route. The end point is the first destination reached in step S810.

[0143] In step S830, Carla drives in automatic driving mode.

[0144] In step S840, the automatic driving / manual driving mode is switched.

[0145] When the distance between the vehicle and the passage is less than 0.9*vehicle length+0.1*vehicle speed, Carla's automatic driving mode switches to manual driving mode; when the distance between the vehicle and the passage is greater than 0.5*vehicle length, Carla's manual driving mode switches to automatic driving mode.

[0146] In step S850, the sub-route n is calculated using the A* algorithm.

[0147] Specifically, Carla's vehicle starting point and end point are set, wherein the starting point is the current location of the vehicle, and the end point is the next stop in step S810.

[0148] Repeat steps S830 to S850 until the vehicle reaches the destination.

[0149] In step S760, Carla tests the navigation function in the autonomous driving mode.

[0150] Carla's vehicle position travels along the route, and the navigation vehicle position and Carla's vehicle position are synchronized to obtain a test result of the navigation function.

[0151] In the exemplary embodiment of the present disclosure, the first position information of the vehicle in the simulation software is compiled into the second position information for accurate positioning of the vehicle navigation module, which solves the problem of inconsistent vehicle positions between the autonomous driving simulation platform and the vehicle navigation module, and provides data support and theoretical basis for the joint simulation of the autonomous driving simulation platform and the vehicle navigation module. Furthermore, the navigation route of the vehicle navigation module is used to determine the simulation route used for testing in the simulation software, so as to achieve the joint simulation effect of testing the vehicle navigation module in the autonomous driving simulation platform, solve the problem of inconsistent routes between the autonomous driving simulation platform and the vehicle navigation module, and avoid the excessive cost and danger of testing the vehicle navigation module function through road testing, thereby providing a navigation test method with high accuracy, low cost and guaranteed safety.

[0152] In addition, in an exemplary embodiment of the present disclosure, a testing device for a vehicle navigation module is also provided. Fig. 9 The structure diagram of the test device of the vehicle navigation module is shown as follows: Fig. 9 As shown, the vehicle navigation module testing device 900 may include: an information writing module 910, an information sending module 920, a route determination module 930 and a route testing module 940. Among them:

[0153] The information writing module 910 is configured to obtain the first position information of the vehicle and write the first position information into the second position information, where the second position information is in a target format, and the target format is a format representing the position that can be recognized by the vehicle navigation module;

[0154] The information sending module 920 is configured to send the second location information to the vehicle navigation module;

[0155] The route determination module 930 is configured to obtain route feature points of a navigation route, where the navigation route is obtained by the vehicle navigation module performing route calculation according to the second position information, and the route feature points are determined on the navigation route;

[0156] The route test model 940 is configured to calculate the route feature points in sections to obtain a simulated route, so that the vehicle simulates driving along the simulated route to implement the test of the vehicle navigation module, and the simulated route is consistent with the navigation route.

[0157] In some embodiments of the present disclosure, the route test model 940 is configured as follows:

[0158] Acquire a feature point sequence, wherein the feature point sequence includes a plurality of the route feature points arranged in order of arrival;

[0159] A sub-route is calculated between every two adjacent route feature points in the feature point sequence, and a plurality of the sub-routes are sequentially spliced ​​end to end to obtain the simulated route, so that the vehicle can simulate driving along the plurality of the sub-routes sequentially and implement the test of the vehicle navigation module.

[0160] In some embodiments of the present disclosure, the route test model 940 is configured as follows:

[0161] The first of every two adjacent route feature points in the feature point sequence is used as a first starting point, and the second of every two adjacent route feature points is used as a first end point, and the shortest path between the first starting point and the first end point is calculated to obtain the first sub-route, so that the vehicle simulates driving along the first sub-route;

[0162] until the vehicle simulates driving to a first end point of the first sub-route, taking the first end point as a second starting point, taking a route feature point in the feature point sequence that is located next to the second starting point as the second end point, calculating the shortest path between the second starting point and the second end point, and obtaining a second sub-route, so that the vehicle continues to simulate driving along the second sub-route;

[0163] The calculation of all the sub-routes is completed in sequence, and a plurality of the sub-routes are sequentially spliced ​​end to end to obtain the simulated route, so that the vehicle simulates driving along all the sub-routes in sequence and realizes the test of the vehicle-mounted navigation module.

[0164] In some embodiments of the present disclosure, the route feature points include: a starting point, an end point and a way point; the route feature points also include: a route key point, and the route key point is a point where the navigation route turns.

[0165] In some embodiments of the present disclosure, the vehicle-mounted navigation module testing device 900 is further configured as follows:

[0166] causing the vehicle to simulate driving in a first driving mode on the first sub-route toward the first end point, and switching to a second driving mode when the vehicle is a first preset distance away from the first end point;

[0167] The vehicle is driven through the first destination in the second driving mode, and is switched back to the first driving mode when the vehicle is driven a second preset distance away from the first destination, so that the vehicle is simulated to drive toward the second destination on the second sub-route in the first driving mode, so as to realize the test of the vehicle navigation module.

[0168] In some embodiments of the present disclosure, the vehicle-mounted navigation module testing device 900 is further configured as follows:

[0169] Performing a yaw intervention on the vehicle so that the vehicle deviates from the simulated route;

[0170] Updating the first position information and the second position information to update the route feature point;

[0171] The simulated route is recalculated according to the updated route feature points.

[0172] In some embodiments of the present disclosure, the vehicle-mounted navigation module testing device 900 is further configured as follows:

[0173] Map data of a test scene is loaded to create scene elements in the test scene, wherein the scene elements include a vehicle.

[0174] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0175] The present disclosure also provides a computer-readable storage medium having computer program instructions stored thereon, and when the program instructions are executed by a processor, the steps of the vehicle navigation module testing method provided by the present disclosure are implemented.

[0176] Fig.10 1 is a block diagram of another testing device 1000 for a vehicle navigation module according to an exemplary embodiment. For example, the device 1000 may be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, etc.

[0177] Reference Fig.10 , the device 1000 may include one or more of the following components: a processing component 1002 , a memory 1004 , a power component 1006 , a multimedia component 1008 , an audio component 1010 , an input / output interface 1012 , a sensor component 1014 , and a communication component 1016 .

[0178] The processing component 1002 generally controls the overall operation of the device 1000, such as operations associated with display, phone calls, data communications, camera operations, and recording operations. The processing component 1002 may include one or more processors 1020 to execute instructions to complete all or part of the steps of the above method. In addition, the processing component 1002 may include one or more modules to facilitate the interaction between the processing component 1002 and other components. For example, the processing component 1002 may include a multimedia module to facilitate the interaction between the multimedia component 1008 and the processing component 1002.

[0179] The memory 1004 is configured to store various types of data to support the operation of the device 1000. Examples of such data include instructions for any application or method operating on the device 1000, contact data, phone book data, messages, pictures, videos, etc. The memory 1004 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0180] The power supply component 1006 provides power to the various components of the device 1000. The power supply component 1006 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the device 1000.

[0181] The multimedia component 1008 includes a screen that provides an output interface between the device 1000 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundaries of the touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 1008 includes a front camera and / or a rear camera. When the device 1000 is in an operating mode, such as a shooting mode or a video mode, the front camera and / or the rear camera may receive external multimedia data. Each front camera and rear camera may be a fixed optical lens system or have a focal length and optical zoom capability.

[0182] The audio component 1010 is configured to output and / or input audio signals. For example, the audio component 1010 includes a microphone (MIC), and when the device 1000 is in an operating mode, such as a call mode, a recording mode, and a speech recognition mode, the microphone is configured to receive an external audio signal. The received audio signal can be further stored in the memory 1004 or sent via the communication component 1016. In some embodiments, the audio component 1010 also includes a speaker for outputting audio signals.

[0183] The input / output interface 1012 provides an interface between the processing component 1002 and the peripheral interface modules, which may be keyboards, click wheels, buttons, etc. These buttons may include but are not limited to: a home button, a volume button, a start button, and a lock button.

[0184] The sensor assembly 1014 includes one or more sensors for providing various aspects of the status assessment of the device 1000. For example, the sensor assembly 1014 can detect the open / closed state of the device 1000, the relative positioning of components, such as the display and keypad of the device 1000, the sensor assembly 1014 can also detect the position change of the device 1000 or a component of the device 1000, the presence or absence of user contact with the device 1000, the orientation or acceleration / deceleration of the device 1000, and the temperature change of the device 1000. The sensor assembly 1014 can include a proximity sensor configured to detect the presence of a nearby object without any physical contact. The sensor assembly 1014 can also include an optical sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 1014 can also include an accelerometer, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

[0185] The communication component 1016 is configured to facilitate wired or wireless communication between the device 1000 and other devices. The device 1000 can access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 1016 receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 1016 also includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology and other technologies.

[0186] In an exemplary embodiment, the apparatus 1000 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the above-described methods.

[0187] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 1004 including instructions, and the instructions can be executed by the processor 1020 of the device 1000 to perform the above method. For example, the non-transitory computer-readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0188] In addition to being an independent electronic device, the above-mentioned device can also be a part of an independent electronic device. For example, in one embodiment, the device can be an integrated circuit (IC) or a chip, wherein the integrated circuit can be an IC or a collection of multiple ICs; the chip can include but is not limited to the following types: GPU (Graphics Processing Unit), CPU (Central Processing Unit), FPGA (Field Programmable Gate Array), DSP (Digital Signal Processor), ASIC (Application Specific Integrated Circuit), SOC (System on Chip, SoC, system on chip or system-level chip), etc. The above-mentioned integrated circuit or chip can be used to execute executable instructions (or codes) to implement the above-mentioned test method of the vehicle navigation module. The executable instructions can be stored in the integrated circuit or chip, or can be obtained from other devices or equipment, such as the integrated circuit or chip includes a processor, a memory, and an interface for communicating with other devices. The executable instruction can be stored in the memory, and when the executable instruction is executed by the processor, the above-mentioned vehicle navigation module testing method is implemented; alternatively, the integrated circuit or chip can receive the executable instruction through the interface and transmit it to the processor for execution, so as to implement the above-mentioned method.

[0189] In another exemplary embodiment, a computer program product is further provided. The computer program product includes a computer program executable by a programmable device. The computer program has a code portion for executing the above-mentioned vehicle navigation module testing method when executed by the programmable device.

[0190] Fig.11 1 is a block diagram of another testing device 1100 for a vehicle navigation module according to an exemplary embodiment. For example, the device 1100 may be provided as a server. Fig.11 The device 1100 includes a processing component 1122, which further includes one or more processors, and a memory resource represented by a memory 1132 for storing instructions executable by the processing component 1122, such as an application. The application stored in the memory 1132 may include one or more modules each corresponding to a set of instructions. In addition, the processing component 1122 is configured to execute instructions to perform the above-mentioned vehicle navigation module testing method.

[0191] The device 1100 may also include a power supply component 1126 configured to perform power management of the device 1100, a wired or wireless network interface 1150 configured to connect the device 1100 to a network, and an input / output interface 1158. The device 1100 may operate based on an operating system stored in the memory 1132.

[0192] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the present disclosure. The present disclosure is intended to cover any variations, uses or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The description and examples are to be considered as exemplary only, and the true scope and spirit of the present disclosure are indicated by the following claims.

[0193] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A method for testing a vehicle navigation module, characterized in that: include: Acquire first position information of the vehicle, and write the first position information into second position information, where the second position information is in a target format, and the target format is a format representing the position that can be recognized by the vehicle navigation module; Sending the second location information to the vehicle navigation module; Acquire route feature points of a navigation route, where the navigation route is obtained by the vehicle-mounted navigation module performing route calculation according to the second position information, and the route feature points are determined on the navigation route; The route feature points are calculated in sections to obtain a simulated route, so that the vehicle simulates driving along the simulated route to implement the test of the vehicle navigation module, and the simulated route is consistent with the navigation route.

2. The method for testing a vehicle navigation module according to claim 1, characterized in that: The step of calculating the route feature points in sections to obtain a simulated route includes: Acquire a feature point sequence, wherein the feature point sequence includes a plurality of the route feature points arranged in order of arrival; A sub-route is calculated between every two adjacent route feature points in the feature point sequence, and a plurality of the sub-routes are sequentially spliced ​​end to end to obtain the simulated route, so that the vehicle can simulate driving along the plurality of the sub-routes sequentially and implement the test of the vehicle navigation module.

3. The method for testing a vehicle navigation module according to claim 2, characterized in that: A sub-route is calculated between every two adjacent route feature points in the feature point sequence, and a plurality of the sub-routes are sequentially spliced ​​head to tail to obtain the simulated route, so that the vehicle is simulated driving along the plurality of the sub-routes sequentially and the vehicle navigation module is tested, including: The first of every two adjacent route feature points in the feature point sequence is used as a first starting point, and the second of every two adjacent route feature points is used as a first end point, and the shortest path between the first starting point and the first end point is calculated to obtain the first sub-route, so that the vehicle simulates driving along the first sub-route; until the vehicle simulates driving to a first end point of the first sub-route, taking the first end point as a second starting point, taking a route feature point in the feature point sequence that is located next to the second starting point as the second end point, calculating the shortest path between the second starting point and the second end point, and obtaining a second sub-route, so that the vehicle continues to simulate driving along the second sub-route; The calculation of all the sub-routes is completed in sequence, and a plurality of the sub-routes are sequentially spliced ​​end to end to obtain the simulated route, so that the vehicle simulates driving along all the sub-routes in sequence and realizes the test of the vehicle-mounted navigation module.

4. The method for testing a vehicle navigation module according to claim 3, characterized in that: The route feature points include: a starting point, an end point and a way point; the route feature points also include: a route key point, and the route key point is a point where the navigation route turns.

5. The method for testing a vehicle navigation module according to claim 4, characterized in that: The method further comprises: causing the vehicle to simulate driving in a first driving mode on the first sub-route toward the first end point, and switching to a second driving mode when the vehicle is a first preset distance away from the first end point; The vehicle is driven through the first destination in the second driving mode, and is switched back to the first driving mode when the vehicle is driven a second preset distance away from the first destination, so that the vehicle is simulated to drive toward the second destination on the second sub-route in the first driving mode, so as to realize the test of the vehicle navigation module.

6. The method for testing a vehicle navigation module according to claim 1, characterized in that: The method further comprises: Performing a yaw intervention on the vehicle so that the vehicle deviates from the simulated route; Updating the first position information and the second position information to update the route feature point; The simulated route is recalculated according to the updated route feature points.

7. The method for testing a vehicle navigation module according to claim 1, characterized in that: Before acquiring the first position information of the vehicle, the method further includes: Map data of a test scene is loaded to create scene elements in the test scene, wherein the scene elements include a vehicle.

8. A test device for a vehicle navigation module, characterized in that: include: An information writing module is configured to obtain first position information of the vehicle and write the first position information into second position information, where the second position information is in a target format, and the target format is a format representing the position that can be recognized by the vehicle navigation module; An information sending module, configured to send the second location information to a vehicle navigation module; a route determination module, configured to obtain route feature points of a navigation route, wherein the navigation route is obtained by the vehicle-mounted navigation module performing route calculation according to the second position information, and the route feature points are determined on the navigation route; The route testing module is configured to perform segmented calculations on the route feature points to obtain a simulated route, so that the vehicle simulates driving along the simulated route to implement the test of the vehicle navigation module, and the simulated route is consistent with the navigation route.

9. A computer-readable storage medium having computer program instructions stored thereon, characterized in that: When the program instructions are executed by a processor, the steps of the method described in any one of claims 1 to 7 are implemented.

10. An electronic device, characterized in that: include: a memory having a computer program stored thereon; A processor, configured to execute the computer program in the memory to implement the steps of the method according to any one of claims 1 to 7.

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