Test method, device, equipment, medium and product of autonomous vehicle

Abstract

The invention discloses a testing method, device and equipment of an automatic driving vehicle, a medium and a product. The method comprises the following steps: determining a motion adjustment parameter according to a first motion parameter and a second motion parameter of a current test period; inputting the motion adjustment parameter into the kinetic model to obtain a third motion parameter; inputting the third motion parameter into the test vehicle to enable the test vehicle to output the first motion parameter of the next test period; and updating the next test period to the current test period, returning to execute the acquisition of the first motion parameter and the second motion parameter of the current test period until the simulation driving scene test is finished, and determining the test result of the test vehicle according to the motion adjustment parameters of each test period. According to the technical scheme, the problem of low reliability of the test result is solved, closed-loop matching of the test vehicle and the dynamical model is realized, the real response of the test vehicle to the driving scene is restored to the greatest extent, and the reliability of the test result is improved.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving technology, and in particular to a testing method, device, equipment, medium and product for an autonomous driving vehicle. Background Art

[0002] At present, autonomous driving testing has become an indispensable part of the development process of autonomous driving vehicles. Testers deploy autonomous driving algorithms on autonomous driving vehicles and use autonomous driving vehicles as test vehicles to test the performance of autonomous driving algorithms under various working conditions, repeatedly traverse multiple driving scenarios, verify the performance and deficiencies of autonomous driving algorithms, and shorten the software development cycle.

[0003] During the autonomous driving test, the matching of the dynamics model and the test vehicle is crucial for the vehicle-in-the-loop test of the autonomous driving test. The existing technology usually uses dynamics simulation software to build a dynamics model. The input and output results of the dynamics model are ideal values. During the actual driving of the autonomous driving vehicle, the dynamic response is affected by multiple factors, such as the engine oil temperature, the degree of clutch engagement, etc., resulting in the dynamics model being unable to cover the vehicle response caused by changes in the actual driving environment, and the authenticity of the test results is not high. Summary of the invention

[0004] The present invention provides a testing method, device, equipment, medium and product for an autonomous driving vehicle to solve the problem of low reliability of autonomous driving test results. By obtaining the motion parameters actually output by the test vehicle and determining the motion adjustment parameters of the dynamics model, closed-loop matching of the test vehicle and the dynamics model is achieved, and the real response of the test vehicle to the driving scene is restored to the greatest extent, which is conducive to improving the reliability of the test results.

[0005] According to one aspect of the present invention, a method for testing an autonomous driving vehicle is provided, the method comprising:

[0006] Obtaining a first motion parameter and a second motion parameter of the current test cycle; the first motion parameter is a target motion parameter output by the test vehicle based on a simulated driving scenario; the second motion parameter is a target motion parameter determined by a dynamics model based on the simulated driving scenario; the target motion parameter is a measurable motion parameter of the test vehicle;

[0007] Determining a motion adjustment parameter according to the first motion parameter and the second motion parameter;

[0008] Inputting the motion adjustment parameters into the dynamics model to obtain third motion parameters; the third motion parameters include motion parameters that cannot be measured by the test vehicle and motion parameters that can be measured by the test vehicle;

[0009] Inputting the third motion parameter into the test vehicle, so that the test vehicle outputs the first motion parameter of the next test cycle based on the third motion parameter and the simulated driving scenario;

[0010] The next test cycle is updated as the current test cycle, and the first motion parameter and the second motion parameter of the current test cycle are obtained by returning to the execution until the simulation driving scenario test is completed, and the test result of the test vehicle is determined according to the motion adjustment parameters of each test cycle.

[0011] According to another aspect of the present invention, there is provided a testing device for an autonomous driving vehicle, the device comprising:

[0012] A motion parameter acquisition module, used to acquire a first motion parameter and a second motion parameter of a current test cycle; the first motion parameter is a target motion parameter output by the test vehicle based on a simulated driving scenario; the second motion parameter is a target motion parameter determined by a dynamics model based on the simulated driving scenario; the target motion parameter is a measurable motion parameter of the test vehicle;

[0013] an adjustment parameter determination module, configured to determine a motion adjustment parameter according to the first motion parameter and the second motion parameter;

[0014] A motion parameter generation module, used for inputting the motion adjustment parameter into the dynamic model to obtain a third motion parameter; the third motion parameter includes a motion parameter that cannot be measured by the test vehicle and a motion parameter that can be measured by the test vehicle;

[0015] A motion parameter output module, used for inputting the third motion parameter into the test vehicle, so that the test vehicle outputs the first motion parameter of the next test cycle based on the third motion parameter and the simulated driving scenario;

[0016] The test result determination module is used to update the next test cycle to the current test cycle, return to execute and obtain the first motion parameter and the second motion parameter of the current test cycle until the simulation driving scenario test is completed, and determine the test result of the test vehicle according to the motion adjustment parameters of each test cycle.

[0017] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0018] At least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the method for testing an autonomous driving vehicle as described in any embodiment of the present invention.

[0019] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the testing method for an autonomous driving vehicle described in any embodiment of the present invention when executed.

[0020] According to another aspect of the present invention, there is provided a computer program product, comprising a computer program, which, when executed by a processor, implements the method for testing an autonomous driving vehicle as described in any embodiment of the present invention.

[0021] The technical solution of the embodiment of the present invention is to obtain the first motion parameter and the second motion parameter of the current test cycle; the first motion parameter is the target motion parameter output by the test vehicle based on the simulated driving scene; the second motion parameter is the target motion parameter determined by the dynamic model based on the simulated driving scene; the target motion parameter is the motion parameter that can be measured by the test vehicle; according to the first motion parameter and the second motion parameter, a motion adjustment parameter is determined; the motion adjustment parameter is input into the dynamic model to obtain a third motion parameter; the third motion parameter includes the motion parameter that cannot be measured by the test vehicle and the motion parameter that can be measured by the test vehicle; the third motion parameter is input into the test vehicle so that the test vehicle outputs the first motion parameter of the next test cycle based on the third motion parameter and the simulated driving scene; the next test cycle is updated to the current test cycle, and the first motion parameter and the second motion parameter of the current test cycle are obtained again until the simulated driving scene test is completed, and the test result of the test vehicle is determined according to the motion adjustment parameter of each test cycle. This technical solution solves the problem of low reliability of test results. By obtaining the motion parameters of the actual output of the test vehicle and determining the motion adjustment parameters of the dynamics model, closed-loop matching of the test vehicle and the dynamics model is achieved, and the actual response of the test vehicle to driving scenarios is restored to the greatest extent, which is conducive to improving the reliability of the test results.

[0022] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0024] Figure 1is a flow chart of a method for testing an autonomous driving vehicle provided according to Embodiment 1 of the present invention;

[0025] Figure 2 is a flow chart of a method for testing an autonomous driving vehicle provided according to Embodiment 2 of the present invention;

[0026] Figure 3 is a schematic diagram of the structure of a testing device for an autonomous driving vehicle provided according to Embodiment 3 of the present invention;

[0027] Figure 4 It is a schematic diagram of the structure of an electronic device for implementing the testing method of an autonomous driving vehicle according to an embodiment of the present invention. DETAILED DESCRIPTION

[0028] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0029] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices. The acquisition, storage, use, processing, etc. of data in the technical solution of this application comply with the relevant provisions of national laws and regulations.

[0030] Embodiment 1

[0031] Figure 1 A flowchart of a method for testing an autonomous vehicle is provided for the first embodiment of the present invention. This embodiment is applicable to the vehicle-in-the-loop testing scenario of an autonomous vehicle, especially the testing of an autonomous vehicle. The method can be performed by a testing device for an autonomous vehicle, which can be implemented in the form of hardware and / or software, and can be configured in an electronic device. Figure 1 As shown, the method includes:

[0032] S110, obtaining the first motion parameter and the second motion parameter of the current test cycle; the first motion parameter is the target motion parameter output by the test vehicle based on the simulated driving scenario; the second motion parameter is the target motion parameter determined by the dynamics model based on the simulated driving scenario; the target motion parameter is a motion parameter that can be measured by the test vehicle.

[0033] This solution can be executed by a vehicle-in-the-loop test system, which may include a test vehicle, a hardware test platform, and a simulation test platform. The test vehicle is an autonomous driving vehicle to be tested, and an autonomous driving algorithm is deployed in the test vehicle to respond to simulated driving scenarios. The hardware test platform can be used to set up the test vehicle, so that the test vehicle runs on the hardware test platform, and some motion parameters of the test vehicle are collected. For example, a rotating hub test bench can be used to simulate the lateral and longitudinal motion of the test vehicle and collect the wheel angle of the test vehicle. The simulation test platform is used to generate simulated driving scenarios and inject the simulated driving scenarios into the test vehicle and the dynamic model. The dynamic model can run on the simulation test platform. The hardware test platform can communicate with the test vehicle via the CAN bus, and the simulation test platform can communicate with the hardware test platform via Ethernet. The simulation test platform can inject data such as simulated driving scenarios and motion parameters into the test vehicle through the hardware test platform.

[0034] The simulated driving scenario can have a certain duration. The vehicle-in-the-loop test system can obtain the motion parameters of the test vehicle and the output of the dynamics model according to the preset test cycle. The duration of the simulated driving scenario can be much longer than the test cycle and is an integer multiple of the test cycle. For example, the duration of the simulated driving scenario is 5 minutes and the test cycle is 5 microseconds.

[0035] The vehicle-in-the-loop test system can obtain the first motion parameter and the second motion parameter of the current test cycle. Among them, the first motion parameter is the target motion parameter output by the autonomous driving algorithm in the test vehicle based on the simulated driving scene, and the second motion parameter is the target motion parameter determined by the dynamic model based on the simulated driving scene. It is understandable that during the test of the test vehicle, it is difficult for the hardware test platform to obtain all the motion parameters of the autonomous driving vehicle during the actual driving scene. For example, when the test vehicle performs lateral and longitudinal movements on the rotating hub test bench, the physical position of the test vehicle has not changed, and the vehicle-in-the-loop test system cannot obtain the position parameters of the test vehicle. Therefore, the target motion parameters are the motion parameters that can be measured by the test vehicle, that is, some motion parameters, such as vehicle speed, wheel angle, etc.

[0036] S120: Determine a motion adjustment parameter according to the first motion parameter and the second motion parameter.

[0037] It can be understood that the vehicle-in-the-loop test system can use the first motion parameter as the actual value and the second motion parameter as the simulation value to calculate the difference between the first motion parameter and the second motion parameter. According to the difference between the first motion parameter and the second motion parameter, based on the PID control model, the motion adjustment parameter is determined so that the actual value and the simulation value gradually approach each other.

[0038] S130, inputting the motion adjustment parameters into the dynamics model to obtain third motion parameters; the third motion parameters include motion parameters that cannot be measured by the test vehicle and motion parameters that can be measured by the test vehicle.

[0039] The vehicle-in-the-loop test system can input the motion adjustment parameters into the dynamics model, so that the dynamics model can calculate all the motion parameters of the test vehicle based on the motion adjustment parameters, that is, the third motion parameters include both the measurable motion parameters of the test vehicle such as vehicle speed and wheel angle, and the unmeasurable motion parameters of the test vehicle such as lateral position and longitudinal position. The specific parameter content of the third motion parameter can be determined based on the model design of the dynamics model.

[0040] S140: Input the third motion parameter to the test vehicle, so that the test vehicle outputs the first motion parameter of the next test cycle based on the third motion parameter and the simulated driving scenario.

[0041] The vehicle-in-the-loop test system can input the third motion parameter into the test vehicle to provide the test vehicle with all motion parameters so that the test vehicle can complete the test of the next test cycle. The autonomous driving algorithm in the test vehicle can output the control instructions of the test vehicle based on the third motion parameter and the simulated driving scene to enter the test of the next test cycle. Hardware test platforms such as the rotary hub test bench can collect the first motion parameters of the next test cycle output by the test vehicle based on the control instructions.

[0042] S150, updating the next test cycle to the current test cycle, returning to execute to obtain the first motion parameter and the second motion parameter of the current test cycle, until the simulation driving scenario test is completed, and determining the test result of the test vehicle according to the motion adjustment parameters of each test cycle.

[0043] The vehicle-in-the-loop test system can update the next test cycle to the current test cycle, and return to execute S110-S140 until the simulated driving scenario test is completed. The vehicle-in-the-loop test system can adjust the parameters according to the motion of each test cycle, determine whether the response of the autonomous driving algorithm in the test vehicle to the simulated driving scenario is within the preset error range, and then output the test results of the test vehicle.

[0044] The technical solution of the embodiment of the present invention is to obtain the first motion parameter and the second motion parameter of the current test cycle; the first motion parameter is the target motion parameter output by the test vehicle based on the simulated driving scene; the second motion parameter is the target motion parameter determined by the dynamic model based on the simulated driving scene; the target motion parameter is the motion parameter that can be measured by the test vehicle; according to the first motion parameter and the second motion parameter, a motion adjustment parameter is determined; the motion adjustment parameter is input into the dynamic model to obtain a third motion parameter; the third motion parameter includes the motion parameter that cannot be measured by the test vehicle and the motion parameter that can be measured by the test vehicle; the third motion parameter is input into the test vehicle so that the test vehicle outputs the first motion parameter of the next test cycle based on the third motion parameter and the simulated driving scene; the next test cycle is updated to the current test cycle, and the first motion parameter and the second motion parameter of the current test cycle are obtained again until the simulated driving scene test is completed, and the test result of the test vehicle is determined according to the motion adjustment parameter of each test cycle. This technical solution solves the problem of low reliability of test results. By obtaining the motion parameters of the actual output of the test vehicle and determining the motion adjustment parameters of the dynamics model, closed-loop matching of the test vehicle and the dynamics model is achieved, and the actual response of the test vehicle to driving scenarios is restored to the greatest extent, which is conducive to improving the reliability of the test results.

[0045] Embodiment 2

[0046] Figure 2 This is a flow chart of a method for testing an autonomous driving vehicle provided in the second embodiment of the present invention. This embodiment is based on the above embodiment and is refined. Figure 2 As shown, the method includes:

[0047] S210, obtaining the first motion parameter and the second motion parameter of the current test cycle; the first motion parameter is the target motion parameter output by the test vehicle based on the simulated driving scenario; the second motion parameter is the target motion parameter determined by the dynamics model based on the simulated driving scenario; the target motion parameter is a motion parameter that can be measured by the test vehicle.

[0048] In this solution, the target motion parameters include vehicle speed and wheel turning angle; the motion adjustment parameters include vehicle speed adjustment parameters and turning angle adjustment parameters.

[0049] In a feasible solution, the dynamic model is a mathematical model obtained by performing dynamic simulation in advance based on the structural parameters of the test vehicle; the structural parameters include vehicle appearance parameters, power structure parameters and steering structure parameters.

[0050] Specifically, the vehicle appearance parameters may include the test vehicle mass, body length, body width, body height, wheelbase, and tire specifications. The power structure parameters may include the operating parameters of the test vehicle's engine, transmission, clutch, drive shaft and other power structures, such as engine horsepower, torque and other parameters. The steering structure parameters may include the operating parameters of the test vehicle's steering wheel, steering gear, steering rod and other steering structures, such as steering transmission ratio, turning radius and other parameters. The vehicle-in-the-loop test system can design the dynamic model of the test vehicle based on the structural parameters of the test vehicle and dynamics software such as CarSim.

[0051] S220 . Determine a motion adjustment parameter according to a difference between the first motion parameter and the second motion parameter based on a PID control model.

[0052] In a feasible solution, determining the motion adjustment parameter based on the difference between the first motion parameter and the second motion parameter and based on a PID control model includes:

[0053] Determining a vehicle speed adjustment parameter based on a PID control model according to a difference between the first vehicle speed and the second vehicle speed;

[0054] According to the difference between the first wheel steering angle and the second wheel steering angle, a steering angle adjustment parameter is determined based on a PID control model.

[0055] It can be understood that the first vehicle speed is the vehicle speed in the first motion parameter, the second vehicle speed is the vehicle speed in the second motion parameter, the first wheel angle is the wheel angle in the first motion parameter, and the second wheel angle is the wheel angle in the second motion parameter.

[0056] Since the actual response of the test vehicle during the vehicle-in-the-loop test comes from the chassis action, there is no need to pay too much attention to the detailed parameters of the vehicle chassis in the dynamics model for the dynamics model. After the dynamics model is built, the simulation visualization requirements can be covered. The vehicle-in-the-loop test system can determine the speed adjustment parameter based on the PID control model according to the difference between the first speed and the second speed. The speed adjustment parameter can be the throttle opening or the braking force, or the engine torque. The PID control model can control the dynamics model and the test vehicle to move synchronously according to the simulated driving scene, and adjust the speed synchronously to achieve longitudinal matching between the dynamics model and the test vehicle.

[0057] In the process of lateral matching between the dynamic model and the test vehicle, the principle of the test vehicle's Electric Power Steering (EPS) system and the specific parameter details such as the steering gear rack ratio are not paid attention to. Since the steering relationship between the steering wheel input steering command and the actual wheel steering is affected by many factors such as vehicle speed, driving resistance and slope, it is impossible to directly establish a steering relationship model in a white box. Therefore, the hub test bench is connected to the wheels of the test vehicle through a flange assembly, and the hub test bench can collect the actual steering angle value of the wheel. The vehicle-in-the-loop test system can determine the steering angle adjustment parameter based on the PID control model according to the difference between the first wheel angle and the second wheel angle. Among them, the steering angle adjustment parameter can be the change value of the wheel angle.

[0058] S230, inputting the motion adjustment parameters into the dynamics model to obtain third motion parameters; the third motion parameters include motion parameters that cannot be measured by the test vehicle and motion parameters that can be measured by the test vehicle.

[0059] Optionally, the third motion parameter includes a speed parameter, a posture parameter and a position parameter of the test vehicle.

[0060] It is easy to understand that the third motion parameter may include the speed parameters of the test vehicle, such as the speed, acceleration, lateral speed and longitudinal speed, and may also include the posture parameters of the test vehicle, such as the center of gravity, wheelbase, front overhang and rear overhang, and may also include the map position of the test vehicle in the simulated driving scene and the position parameters of the direction angle lamp. The vehicle-in-the-loop test system can inject a variety of motion parameters into the test vehicle for subsequent testing of the test vehicle.

[0061] S240: Input the third motion parameter to the test vehicle, so that the test vehicle outputs the first motion parameter of the next test cycle based on the third motion parameter and the simulated driving scenario.

[0062] S250, updating the next test cycle to the current test cycle, returning to execute to obtain the first motion parameter and the second motion parameter of the current test cycle, until the simulation driving scenario test is completed, and determining the test result of the test vehicle according to the motion adjustment parameters of each test cycle.

[0063] The technical solution of the embodiment of the present invention only requires basic vehicle structural parameters to build a dynamic model, and does not require detailed parameters such as engine characteristic curve tables, gearbox shifting logic, and suspension parameters, nor does it require a large number of tests to obtain the dynamic data of the test vehicle. By subtracting the target motion parameters output by the dynamic model from the target motion parameters output by the test vehicle, a data closed loop is formed based on the PID control model to achieve matching between the dynamic model and the test vehicle, and to restore the true response of the test vehicle to the driving scene to the greatest extent. The third motion parameter output by the dynamic model is injected into the test vehicle to make up for the limitation that the test vehicle lacks some motion parameters during the in-loop test of the whole vehicle.

[0064] Embodiment 3

[0065] Figure 3 This is a schematic diagram of the structure of a test device for an autonomous driving vehicle provided in Embodiment 3 of the present invention. Figure 3 As shown, the device comprises:

[0066] The motion parameter acquisition module 310 is used to acquire the first motion parameter and the second motion parameter of the current test cycle; the first motion parameter is the target motion parameter output by the test vehicle based on the simulated driving scene; the second motion parameter is the target motion parameter determined by the dynamics model based on the simulated driving scene; the target motion parameter is a measurable motion parameter of the test vehicle;

[0067] An adjustment parameter determination module 320, configured to determine a motion adjustment parameter according to the first motion parameter and the second motion parameter;

[0068] A motion parameter generating module 330 is used to input the motion adjustment parameter into the dynamic model to obtain a third motion parameter; the third motion parameter includes a motion parameter that cannot be measured by the test vehicle and a motion parameter that can be measured by the test vehicle;

[0069] A motion parameter output module 340, configured to input the third motion parameter into the test vehicle, so that the test vehicle outputs the first motion parameter of the next test cycle based on the third motion parameter and the simulated driving scenario;

[0070] The test result determination module 350 is used to update the next test cycle to the current test cycle, return to execute to obtain the first motion parameter and the second motion parameter of the current test cycle until the simulation driving scenario test is completed, and determine the test result of the test vehicle according to the motion adjustment parameters of each test cycle.

[0071] In this solution, the adjustment parameter determination module 320 is specifically used to:

[0072] According to the difference between the first motion parameter and the second motion parameter, a motion adjustment parameter is determined based on a PID control model.

[0073] In a feasible solution, the target motion parameters include vehicle speed and wheel steering angle; the motion adjustment parameters include vehicle speed adjustment parameters and steering angle adjustment parameters.

[0074] Based on the above solution, the adjustment parameter determination module 320 is specifically used to:

[0075] Determining a vehicle speed adjustment parameter based on a PID control model according to a difference between the first vehicle speed and the second vehicle speed;

[0076] According to the difference between the first wheel steering angle and the second wheel steering angle, a steering angle adjustment parameter is determined based on a PID control model.

[0077] In this embodiment, the third motion parameter includes a speed parameter, a posture parameter and a position parameter of the test vehicle.

[0078] In a preferred solution, the dynamic model is a mathematical model obtained by performing dynamic simulation in advance based on the structural parameters of the test vehicle; the structural parameters include vehicle appearance parameters, power structure parameters and steering structure parameters.

[0079] The testing device for an autonomous driving vehicle provided in an embodiment of the present invention can execute the testing method for an autonomous driving vehicle provided in any embodiment of the present invention, and has functional modules and beneficial effects corresponding to the execution method.

[0080] Embodiment 4

[0081] Figure 4 A schematic diagram of an electronic device 410 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0082] like Figure 4As shown, the electronic device 410 includes at least one processor 411, and a memory connected to the at least one processor 411 in communication, such as a read-only memory (ROM) 412, a random access memory (RAM) 413, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 411 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 412 or the computer program loaded from the storage unit 418 to the random access memory (RAM) 413. In the RAM 413, various programs and data required for the operation of the electronic device 410 can also be stored. The processor 411, the ROM 412, and the RAM 413 are connected to each other via a bus 414. An input / output (I / O) interface 415 is also connected to the bus 414.

[0083] Multiple components in the electronic device 410 are connected to the I / O interface 415, including: an input unit 416, such as a keyboard, a mouse, etc.; an output unit 417, such as various types of displays, speakers, etc.; a storage unit 418, such as a disk, an optical disk, etc.; and a communication unit 419, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 419 allows the electronic device 410 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0084] Processor 411 may be a variety of general and / or dedicated processing components with processing and computing capabilities. Some examples of processor 411 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. Processor 411 performs the various methods and processes described above, such as a test method for an autonomous driving vehicle.

[0085] In some embodiments, the test method for the autonomous driving vehicle may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 418. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 410 via the ROM 412 and / or the communication unit 419. When the computer program is loaded into the RAM 413 and executed by the processor 411, one or more steps of the test method for the autonomous driving vehicle described above may be performed. Alternatively, in other embodiments, the processor 411 may be configured to execute the test method for the autonomous driving vehicle in any other appropriate manner (e.g., by means of firmware).

[0086] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0087] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable autonomous vehicle test device, so that when the computer program is executed by the processor, the functions / operations specified in the flowchart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine as a stand-alone software package and partially on a remote machine, or entirely on a remote machine or server.

[0088] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0089] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0090] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0091] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0092] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0093] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for testing an autonomous driving vehicle, characterized in that: The method comprises: Obtaining a first motion parameter and a second motion parameter of the current test cycle; the first motion parameter is a target motion parameter output by the test vehicle based on a simulated driving scenario; the second motion parameter is a target motion parameter determined by a dynamics model based on the simulated driving scenario; the target motion parameter is a measurable motion parameter of the test vehicle; Determining a motion adjustment parameter according to the first motion parameter and the second motion parameter; Inputting the motion adjustment parameters into the dynamics model to obtain third motion parameters; the third motion parameters include motion parameters that cannot be measured by the test vehicle and motion parameters that can be measured by the test vehicle; Inputting the third motion parameter into the test vehicle, so that the test vehicle outputs the first motion parameter of the next test cycle based on the third motion parameter and the simulated driving scenario; The next test cycle is updated as the current test cycle, and the first motion parameter and the second motion parameter of the current test cycle are obtained by returning to the execution until the simulation driving scenario test is completed, and the test result of the test vehicle is determined according to the motion adjustment parameters of each test cycle.

2. The method according to claim 1, characterized in that The determining the motion adjustment parameter according to the first motion parameter and the second motion parameter includes: According to the difference between the first motion parameter and the second motion parameter, a motion adjustment parameter is determined based on a PID control model.

3. The method according to claim 2, characterized in that The target motion parameters include vehicle speed and wheel turning angle; the motion adjustment parameters include vehicle speed adjustment parameters and turning angle adjustment parameters.

4. The method according to claim 3, characterized in that The determining the motion adjustment parameter based on the difference between the first motion parameter and the second motion parameter and based on the PID control model includes: Determining a vehicle speed adjustment parameter based on a PID control model according to a difference between the first vehicle speed and the second vehicle speed; According to the difference between the first wheel steering angle and the second wheel steering angle, a steering angle adjustment parameter is determined based on a PID control model.

5. The method according to claim 3, characterized in that: The third motion parameters include speed parameters, posture parameters and position parameters of the test vehicle.

6. The method according to claim 1, characterized in that The dynamic model is a mathematical model obtained by performing dynamic simulation in advance based on the structural parameters of the test vehicle; the structural parameters include vehicle appearance parameters, power structure parameters and steering structure parameters.

7. A testing device for an autonomous driving vehicle, characterized in that: The device comprises: A motion parameter acquisition module, used to acquire a first motion parameter and a second motion parameter of a current test cycle; the first motion parameter is a target motion parameter output by the test vehicle based on a simulated driving scenario; the second motion parameter is a target motion parameter determined by a dynamics model based on a simulated driving scenario; the target motion parameter is a measurable motion parameter of the test vehicle; an adjustment parameter determination module, configured to determine a motion adjustment parameter according to the first motion parameter and the second motion parameter; A motion parameter generation module, used for inputting the motion adjustment parameter into the dynamic model to obtain a third motion parameter; the third motion parameter includes a motion parameter that cannot be measured by the test vehicle and a motion parameter that can be measured by the test vehicle; A motion parameter output module, used for inputting the third motion parameter into the test vehicle, so that the test vehicle outputs the first motion parameter of the next test cycle based on the third motion parameter and the simulated driving scenario; The test result determination module is used to update the next test cycle to the current test cycle, return to execute and obtain the first motion parameter and the second motion parameter of the current test cycle until the simulation driving scenario test is completed, and determine the test result of the test vehicle according to the motion adjustment parameters of each test cycle.

8. An electronic device, characterized in that: The electronic device comprises: At least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the test method for an autonomous driving vehicle as described in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, which are used to enable a processor to implement the testing method for an autonomous driving vehicle according to any one of claims 1 to 6 when executed.

10. A computer program product, comprising a computer program, which, when executed by a processor, implements the testing method for an autonomous driving vehicle according to any one of claims 1 to 6.

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