Real vehicle testing method and system, computer equipment and storage medium

Abstract

The invention relates to the technical field of intelligent driving vehicles, and discloses a real vehicle test method and system, computer equipment and a storage medium, and the method comprises the steps: determining a first path of a test vehicle from a current position to a first test starting position in a target test scene, and a second path of a target object from the current position to a second test starting position; and then the first path and the second path are respectively sent to the test vehicle and the target object, so that the test vehicle and the target object automatically drive to corresponding test starting positions, the test vehicle and the target object do not need to be manually operated to go to a test site, and the human input is reduced. And then, the test vehicle is controlled to test through the control information of the test vehicle in the target test scene, the test vehicle does not need to be manually driven for testing, and the real vehicle test efficiency and the accuracy of the test result are improved. In addition, after the test is finished, the test vehicle and the target object are controlled to be automatically reset, equipment reset does not need to be manually operated, and the labor cost is saved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent driving vehicle technology, and in particular to a real vehicle testing method, system, computer equipment and storage medium. Background Art

[0002] With the development of intelligent driving, intelligent driving assistance technology has become a key research direction in the field of automotive engineering, and many companies and research institutions have invested a lot of resources in research and development. However, in the process of its development, the testing of intelligent driving vehicles faces many challenges and difficulties.

[0003] Traditional closed-field testing of intelligent driving mainly relies on manual operation. Manual testing requires a large number of professional testers. Not only do they have to drive the test vehicle according to the predetermined scenario and record data, but they also need to repeatedly build various scenarios and operate the equipment to reset, etc. The test efficiency is low and the time cost is high. Moreover, the working hours of testers are limited, making it difficult to ensure the continuity and stability of the test. In addition, manual operation is subjective and has inevitable errors. Different testers have different driving habits and judgment standards, which will affect the accuracy and consistency of the test results. Summary of the invention

[0004] In view of this, the present invention provides a real vehicle testing method, system, computer equipment and storage medium to solve the problems of low testing efficiency, difficulty in ensuring the continuity and stability of the test, and low accuracy and consistency of the test results in the traditional manual driving test vehicle testing method.

[0005] In a first aspect, the present invention provides a real vehicle testing method, the method comprising:

[0006] Acquire scene information of a target test scene, the scene information including: a first path of the test vehicle from a current position of the test vehicle to a first test starting position of the test vehicle, control information of the test vehicle, and a second path of the target object from the current position of the target object to a second test starting position of the target object;

[0007] Sending the first path and the second path to the test vehicle and the target object respectively, so that the test vehicle reaches the first test starting position of the test vehicle according to the first path, and the target object reaches the second test starting position of the target object according to the second path;

[0008] Control the test vehicle to conduct actual vehicle testing based on the control information of the test vehicle;

[0009] When the test end conditions are met, the test vehicle and the target object are automatically reset respectively.

[0010] Beneficial effects: The present invention first determines a first path from the current position of the test vehicle to the first test starting position in the target test scenario, and a second path from the current position of the target object to the second test starting position, and then sends the first path and the second path to the test vehicle and the target object respectively, so that the test vehicle and the target object automatically drive to the corresponding test starting positions, without the need for manual operation of the test vehicle and the target object to go to the test site, thereby reducing manpower input. Then, the test vehicle is controlled to perform the test through the control information of the test vehicle in the target test scenario, without the need for manual driving of the test vehicle for the test, which is beneficial to improving the efficiency of the actual vehicle test and the accuracy of the test results. In addition, after the test is completed, the test vehicle and the target object are controlled to automatically reset, without the need for manual operation of the equipment reset, thereby further improving the test efficiency.

[0011] In an optional implementation, sending the first path and the second path to the test vehicle and the target object respectively includes:

[0012] The posture information of each first path point in the first path and the posture information of each second path point in the second path are sent to the test vehicle and the target object respectively, so that the test vehicle reaches the first test starting position of the test vehicle according to the posture information of each first path point, and the target object reaches the second test starting position of the target object according to the posture information of each second path point; wherein the posture information includes position coordinates and orientation angle.

[0013] Beneficial effects: The present invention accurately sets the test starting position of the test vehicle and target object by sending the position information of each path point, ensuring that the initial conditions of each test are highly consistent, eliminating the interference of position errors on the test results, and improving the repeatability and accuracy of the test. In addition, clear path point position information helps the test vehicle and target object to run more stably, reduces system failures or anomalies caused by uncertain position information or unreasonable path planning, and ensures the smooth progress of the test process.

[0014] In an optional implementation, automatically resetting the test vehicle and the target object respectively includes:

[0015] Get the current positions of the test vehicle and target object after the test is completed;

[0016] Performing path planning based on the current position of the test vehicle after the test and the first test starting position to obtain a first reset path for the test vehicle, and performing path planning based on the current position of the target object after the test and the second test starting position to obtain a second reset path for the target object;

[0017] The first reset path and the second reset path are sent to the test vehicle and the target object respectively, so that the test vehicle returns to the first test starting position of the test vehicle according to the first reset path, and the target object returns to the second test starting position of the target object according to the second reset path.

[0018] Beneficial effect: The present invention performs path planning based on the current positions of the test vehicle and the target object after the test and their respective test starting positions, determines the first reset path of the test vehicle and the second reset path of the target object, and controls the test vehicle and the target object to automatically return to the test starting position to facilitate testing in subsequent links. There is no need for testers to operate the equipment to return, which reduces manpower investment and improves test efficiency.

[0019] In an optional implementation, the control information of the test vehicle includes a first planned path and a first motion instruction of the test vehicle, and controlling the test vehicle to perform a real vehicle test based on the control information of the test vehicle includes:

[0020] A first planned path and a first motion instruction of the test vehicle are sent to the test vehicle, so that the test vehicle performs lateral movement and / or longitudinal movement according to the first motion instruction and travels in a target test scene according to the first planned path.

[0021] Beneficial effects: The present invention sends the first planned path and the first motion instruction to the test vehicle to control the lateral and longitudinal movements and driving path of the test vehicle during the actual vehicle test. It does not require frequent manual intervention and adjustment, and can continuously and efficiently complete various test tasks, reduce test time and costs, and improve the overall efficiency of the test work. It can also make the test process more standardized and normalized, making it easier for testers to operate and monitor.

[0022] In an optional implementation, the control information of the test vehicle includes a first motion instruction of the test vehicle, and controlling the test vehicle to perform a real vehicle test based on the control information of the test vehicle includes:

[0023] The first motion instruction of the test vehicle is sent to the test vehicle, so that the test vehicle performs lateral movement and / or longitudinal movement according to the first motion instruction, and travels in the target test scene according to the memory path stored in the test vehicle.

[0024] Beneficial effect: When the test vehicle of the present invention is tested in the target test scene for the first time, the first planned path can be stored. When the test is performed again in the target test scene, only the first motion instruction of the test vehicle can be sent to the test vehicle, and the test vehicle will drive in the target test scene according to the memory path stored in itself, thereby repeatedly utilizing the control information of the test vehicle, simplifying the sending and receiving links of test data in the test process, and improving the test efficiency.

[0025] In an optional implementation, the control information of the test vehicle includes an emergency control instruction, and controlling the test vehicle to perform a real vehicle test based on the control information of the test vehicle includes:

[0026] Control the test vehicle to drive in the target test scenario based on its own advanced driver assistance system;

[0027] When a failure is detected in the advanced driver assistance system of the test vehicle, an emergency control command is sent to the test vehicle to control the driving of the test vehicle.

[0028] Beneficial effect: After reaching the test starting position, the test vehicle of the present invention can rely on its own advanced driving assistance system to drive in the target test scene to test the advanced driving assistance system of the test vehicle. If the advanced driving assistance system of the test vehicle fails, an emergency control command is sent to the test vehicle to take over the control of the test vehicle, thereby avoiding a collision and ensuring the safety of the equipment in the test site.

[0029] In an optional implementation, when the target test scene is a dynamic test scene, the scene information further includes control information of the target object; after the target object reaches the second test starting position of the target object according to the second path, the method further includes:

[0030] The target object is controlled based on control information of the target object; wherein the control information of the target object includes a second planned path and a second motion instruction of the target object.

[0031] Beneficial effect: After the target object reaches the second test starting position, the present invention controls the target object based on the second planned path and the second motion instruction of the target object to construct a dynamic test scene, simulate various complex situations of real driving scenes, and thus improve the richness and comprehensiveness of the test results.

[0032] In an optional implementation, before controlling the target object based on the control information of the target object, the method further includes:

[0033] Detecting the calling interface of the device calling program, where the calling interface of the device calling program is used to communicate with the device interface of the target object;

[0034] After the calling interface detection of the device calling program passes, the control information of the target object is input into the device calling program to control the target object.

[0035] Beneficial effects: The present invention calls the target object through the device calling program, can communicate and work with the target object efficiently, improve the degree of system automation, and facilitate centralized management and control of the target object, thereby improving the overall operating efficiency and reliability of the system.

[0036] In an optional implementation, before controlling the test vehicle to perform a real vehicle test based on the control information of the test vehicle, the method further includes:

[0037] Obtain the latest positions of the test vehicle and the target object test equipment respectively, and determine whether a first error between the latest position of the test vehicle and a first test starting position and a second error between the latest position of the target object and a second test starting position meet an error threshold condition;

[0038] If the first error and / or the second error does not satisfy the error threshold condition, the position of the test vehicle and / or the target object is adjusted.

[0039] Beneficial effect: The present invention calibrates the positioning of the test vehicle and the target object to ensure that the test vehicle and the target object are at the set test starting position, reduces test repetitions and adjustments caused by position deviations, and improves test efficiency.

[0040] In an optional implementation, before acquiring the scene information of the target test scene, the method further includes:

[0041] Display a visualization interface, and display the drag components corresponding to the test vehicle and the target object on the visualization interface;

[0042] Obtain the user's configuration information for the drag component, and obtain the scene information of the test scene based on the configuration information.

[0043] Beneficial effect: The present invention displays drag components in a visual interface, making it convenient for users to configure the scene information of the test scenario by dragging and dropping to construct a test scenario. Compared with the traditional test scene design through complex codes or instructions, the present invention lowers the usage threshold and improves the efficiency of building the test scenario.

[0044] In an optional embodiment, the method further includes:

[0045] Respectively obtain the motion state information and / or abnormal event information of the test vehicle and the target object;

[0046] Display motion status information and / or abnormal event information.

[0047] Beneficial effects: The present invention obtains and displays the motion status information of the test vehicle and the target object, so that the test personnel can understand the motion status of the test vehicle and the target object in real time, so as to intuitively judge whether the test vehicle and the target object are running according to the predetermined trajectory and parameters; and the acquisition and display of abnormal event information can enable the test personnel to repair and adjust the test vehicle and the target object in time to ensure the safety of the equipment.

[0048] In a second aspect, the present invention provides a real vehicle testing system, which includes a scene automatic construction platform, a test vehicle and a target object, wherein the scene automatic construction platform is used for the real vehicle testing method of the above-mentioned first aspect or any corresponding embodiment thereof.

[0049] In an optional implementation, the test vehicle includes a test vehicle domain controller, the target object includes a target object domain controller, and the test vehicle domain controller and the target object domain controller respectively establish communication connections with the scene automatic construction platform through a communication base station.

[0050] In a third aspect, the present invention provides a computer device, comprising: a memory and a processor, the memory and the processor are communicatively connected to each other, computer instructions are stored in the memory, and the processor executes the actual vehicle testing method of the first aspect or any corresponding embodiment thereof by executing the computer instructions.

[0051] In a fourth aspect, the present invention provides a computer-readable storage medium having computer instructions stored thereon, the computer instructions being used to enable a computer to execute the actual vehicle testing method of the first aspect or any corresponding embodiment thereof.

[0052] The beneficial effects of the present invention are:

[0053] First, determine the first path of the test vehicle from the current position to the first test starting position in the target test scenario, and the second path of the target object from the current position to the second test starting position, and then send the first path and the second path to the test vehicle and the target object respectively, so that the test vehicle and the target object automatically drive to the corresponding test starting positions, without the need for manual operation of the test vehicle and the target object to go to the test site, thereby reducing manpower input. Then, the test vehicle is controlled to perform the test through the control information of the test vehicle in the target test scenario, without the need for manual driving of the test vehicle for the test, which is conducive to improving the efficiency of the actual vehicle test and the accuracy of the test results. In addition, after the test, the test vehicle and the target object are controlled to automatically reset, without the need for manual operation of the equipment reset, saving labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0055] Figure 1 is a structural block diagram of a real vehicle testing system according to an embodiment of the present invention;

[0056] Figure 2 is a structural schematic diagram of a real vehicle testing system according to an embodiment of the present invention;

[0057] Figure 3 is a flow chart of a real vehicle testing method according to an embodiment of the present invention;

[0058] Figure 4 is a flow chart of another real vehicle testing method according to an embodiment of the present invention;

[0059] Figure 5 is a structural block diagram of another real vehicle testing system according to an embodiment of the present invention;

[0060] Figure 6 is a structural block diagram of another real vehicle testing system according to an embodiment of the present invention;

[0061] Figure 7 It is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0062] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution 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 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 those skilled in the art without creative work are within the scope of protection of the present invention.

[0063] Traditional closed-field testing of intelligent driving mainly relies on manual operation, which has significant disadvantages. Manual testing requires a large number of professional testers. Not only do they have to drive the test vehicle according to the predetermined scenario and record data, but they also need to repeatedly build various scenarios and reset the operation equipment. The test efficiency is low and the time cost is high. For example, when switching between different scenarios in the automatic emergency braking (AEB) test, the process of operating and debugging equipment and setting parameters is relatively complicated and prone to errors. At the same time, long-term AEB test scenarios are harmful to the health of testers. Moreover, manual testing is relatively inefficient, testers have limited working hours, and long-term testing is prone to fatigue, making it difficult to ensure the continuity and stability of the test. In addition, there are subjectivity and inevitable errors in manual operation, and different testers have different driving habits and judgment criteria, which affect the accuracy and consistency of the test results.

[0064] Therefore, an embodiment of the present invention provides a real vehicle testing method, which realizes scene construction and closed field testing comprehensively, efficiently and accurately by constructing an integrated solution of automatic mobile platform and automatic scene construction, greatly reducing testing costs and manpower investment, and improving testing efficiency, accuracy and comprehensiveness.

[0065] According to an embodiment of the present invention, a real vehicle testing system is provided. Figure 1 As shown, the real vehicle testing system includes: a scene automatic building platform 101, a test vehicle 102 and a target object 103.

[0066] Specifically, the scene automatic construction platform 101 obtains scene information of the target test scene, the scene information including: a first path of the test vehicle 102 from the current position of the test vehicle 102 to the first test starting position of the test vehicle 102, control information of the test vehicle 102, and a second path of the target object 103 from the current position of the target object 103 to the second test starting position of the target object 103.

[0067] Furthermore, the scene automatic construction platform 101 sends the first path and the second path to the test vehicle 102 and the target object 103, respectively, so that the test vehicle 102 reaches the first test starting position of the test vehicle 102 according to the first path, and the target object 103 reaches the second test starting position of the target object 103 according to the second path. The scene automatic construction platform 101 controls the test vehicle 102 to perform a real vehicle test based on the control information of the test vehicle 102; when the test end condition is met, the test vehicle 102 and the target object 103 are automatically reset.

[0068] It should be noted that, in the embodiment of the present invention, the description is made by taking the actual vehicle test system including one test vehicle 102 as an example. In actual applications, the actual vehicle test system may also include: two, three or more test vehicles 102. The specific number of test vehicles 102 is related to the test requirements of the actual vehicle test system, and the present invention is not limited thereto.

[0069] The real vehicle test system provided by the embodiment of the present invention, before the real vehicle test starts, the scene automatic construction platform 101 first determines the first path of the test vehicle 102 from the current position to the first test starting position in the target test scene, and the second path of the target object 103 from the current position to the second test starting position, and then sends the first path and the second path to the test vehicle 102 and the target object 103 respectively, so that the test vehicle 102 and the target object 103 automatically drive to the corresponding test starting position, without the need to manually operate the test vehicle and the target object to go to the test site, reducing manpower input. Then, the scene automatic construction platform 101 controls the test vehicle 102 to perform the test through the control information of the test vehicle 102 in the target test scene, without the need to manually drive the test vehicle for testing, which is conducive to improving the efficiency of the real vehicle test and the accuracy of the test results. In addition, after the test is completed, the scene automatic construction platform 101 automatically resets by controlling the test vehicle 102 and the target object 103, without the need to manually operate the equipment to reset, further improving the test efficiency.

[0070] For the specific working principles and working processes of the scene automatic building platform 101, the test vehicle 102 and the target object 103, please refer to the relevant description of the method embodiment below, which will not be repeated here.

[0071] In some optional embodiments, the test vehicle 102 includes a test vehicle domain controller, the target object 103 includes a target object domain controller, and the test vehicle domain controller and the target object domain controller respectively establish a communication connection with the scene automatic construction platform through a communication base station. Exemplarily, the target object 103 can be set on a target object carrying platform, and the movement of the target object 103 is achieved through the target object carrying platform. The scene automatic construction platform 101 cooperates with the test vehicle domain controller and the target object domain controller to control the test vehicle 102 and the target object carrying platform carrying the target object 103.

[0072] Specifically, based on the second path of the target object 103, the target object carrying platform automatically goes to the second test starting position corresponding to each test scenario, and the test vehicle 102 drives according to the driving path or parking path memorized in its own high-precision map, and the two cooperate to traverse and execute closed scene real vehicle test cases. After completing each test case, the target object carrying platform carrying the target object 103 and the test vehicle 102 automatically reset, realizing the automatic construction of the test scenario and the automated execution of the test process, thereby improving the test efficiency.

[0073] In some optional embodiments, such as Figure 2 As shown, the scene automatic construction platform 101, the test vehicle 102 and the target object 103 are all based on wireless network access to the communication base station of the test site. The test vehicle 102 and the target object 103 are equipped with wireless communication equipment and positioning equipment, and the test vehicle 102 and the target object 103 send back positioning information to the scene automatic construction platform 101 in real time through the wireless network. Among them, the target object 103 can be a target vehicle, a target cyclist, a target pedestrian, a target obstacle, etc., and the present invention is not limited to this.

[0074] Furthermore, the scene automatic construction platform 101 sends the first test starting position of the test vehicle 102, the second test starting position of the target object 103, the first path of the test vehicle 102, and the second path of the target object 103 to the test vehicle 102 and the target object 103 through a wireless network according to the test scene requirements before each test scene starts testing. The test vehicle 102 and the target object 103 move to the test starting position according to the current position and the corresponding path. The scene automatic construction platform 101 can also use the site positioning data to formulate the boundary restriction information of the test site, so that the movement of the test vehicle 102 and the target object 103 does not exceed the site boundary.

[0075] The real vehicle testing system provided by the present invention, through the collaborative work between the scene automatic building platform 101, the test vehicle 102 and the target object 103, enables the test vehicle 102 and the target object 103 to automatically go to the test starting position of each test scene, and execute real vehicle test cases in the test scene, thereby automatically conducting real vehicle testing.

[0076] According to an embodiment of the present invention, an embodiment of a real vehicle testing method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0077] In this embodiment, a real vehicle testing method is provided, which can be used for example Figure 1 The scene automatic building platform 101 shown, such as computer equipment, Figure 3 is a flow chart of a real vehicle testing method according to an embodiment of the present invention. Figure 3 As shown, the process includes the following steps:

[0078] Step S301, obtain scene information of the target test scene, the scene information including: a first path of the test vehicle from the current position of the test vehicle to the first test starting position of the test vehicle, control information of the test vehicle, and a second path of the target object from the current position of the target object to the second test starting position of the target object.

[0079] In some optional implementations, a visualization interface is displayed, and drag components corresponding to the test vehicle and the target object are displayed on the visualization interface. By acquiring the configuration information of the user for the drag components, and according to the configuration information, the scene information of the test scene is obtained.

[0080] Specifically, users can drag and drop components representing different test devices in the visual interface, and configure the device type, number of devices, test start position in the test scene, planning path, motion instructions, boundary restrictions of the test site, etc. After the user clicks the Submit button, the front end sends the user configuration information to the back end, and the back end generates the scene information of the test scene based on the configuration information, thereby constructing various test scenes and storing the test scenes in the scene library of the scene building platform.

[0081] Exemplarily, an AEB field test scenario library can be constructed using towing components corresponding to target objects such as vehicles, children, pedestrians, cyclists, tricycles, etc. The AEB field test scenario library covers standard scenarios such as crossing, going straight, and turning of target objects in various scenarios.

[0082] Exemplarily, a standard scene library for parking lot testing can be constructed, including scenes of vertical parking spaces with lines, parallel parking spaces with lines, diagonal parking spaces with lines, vertical parking spaces in space, parallel parking spaces in space, diagonal parking spaces in space, and combinations of lines, space and various obstacles. Obstacles include pillars, suspended obstacles, cones, water barriers, pedestrians, ground locks, curbs, etc., but the present invention is not limited to this.

[0083] It should be noted that, for each test scenario in the scenario library, the scenario information of the test scenario includes at least the following items: a first path of the test vehicle from the current position of the test vehicle to the first test starting position of the test vehicle, control information of the test vehicle, and a second path of the target object from the current position of the target object to the second test starting position of the target object. For each test scenario, based on the site conditions, the test starting positions of the test vehicle and the target object can be fixed and memorized through the field positioning device.

[0084] In some optional implementations, the first path of the test vehicle and the second path of the target object can be planned based on the relative position between the current position and the test starting position, following the principle of the shortest route, and requiring on-site personnel to confirm that there are no obstacles within the path outline. If the test vehicle or the target object causes equipment failure due to collision when heading to the test starting position, the test personnel should be prompted.

[0085] This embodiment displays drag components in a visual interface, making it easy for users to configure the scene information of the test scenario by dragging and dropping to construct a test scenario. Compared with the traditional test scene design through complex codes or instructions, it lowers the usage threshold and improves the efficiency of building test scenarios.

[0086] Step S302, sending the first path and the second path to the test vehicle and the target object respectively, so that the test vehicle reaches the first test starting position of the test vehicle according to the first path, and the target object reaches the second test starting position of the target object according to the second path.

[0087] Specifically, the posture information of each first path point in the first path and the posture information of each second path point in the second path are sent to the test vehicle and the target object respectively, so that the test vehicle reaches the first test starting position of the test vehicle according to the posture information of each first path point, and the target object reaches the second test starting position of the target object according to the posture information of each second path point; wherein the posture information includes position coordinates and orientation angle.

[0088] This embodiment accurately sets the test starting position of the test vehicle and target object by sending the position information of each path point, ensuring that the initial conditions of each test are highly consistent, eliminating the interference of position errors on the test results, and improving the repeatability and accuracy of the test. In addition, clear path point position information helps the test vehicle and target object to operate more stably, reduces system failures or anomalies caused by uncertain position information or unreasonable path planning, and ensures the smooth progress of the test process.

[0089] In some optional embodiments, when the target test scene is a dynamic test scene, the scene information also includes control information of the target object. After the target object reaches the second test scene, the target object can also be controlled based on the control information of the target object; wherein the control information of the target object includes the second planned path and second motion instructions of the target object.

[0090] Specifically, the dynamic test scenario is relative to the static test scenario. In the static test scenario, the target object will not move after reaching the second test starting position; in the dynamic test scenario, the target object will move according to the second planned path and the second motion instruction to simulate various complex situations in real driving scenarios, thereby improving the richness and comprehensiveness of the test results.

[0091] In some optional implementations, before controlling the target object based on the control information of the target object, the calling interface of the device calling program is detected, wherein the calling interface of the device calling program is used to communicate with the device interface of the target object. After the calling interface of the device calling program passes the detection, the control information of the target object is input into the device calling program to control the target object.

[0092] Specifically, the device interface corresponding to the target object should be provided so that the target object can be called through the calling interface of the device calling program. For target devices that cannot provide a device interface, a control program can be established through icon self-learning to call the device.

[0093] Exemplarily, when testing the calling interface of the device calling program, you can try to connect to the IP address and port specified by the target device interface to check whether the target's network connection is normal; you can also send test data to the target to check whether the data can be sent successfully, and check whether the target's response data can be received. If no response is received or a communication error occurs, a corresponding prompt will be given.

[0094] This embodiment calls the target object through the device calling program, which can efficiently communicate and work with the target object, improve the degree of system automation, and facilitate centralized management and control of the target object, thereby improving the overall operating efficiency and reliability of the system.

[0095] In some optional implementations, before executing step S303, the latest positions of the test vehicle and the target object test equipment may be obtained respectively, and it is determined whether the first error between the latest position of the test vehicle and the first test starting position and the second error between the latest position of the target object and the second test starting position meet the error threshold condition. If the first error and / or the second error do not meet the error threshold condition, the position of the test vehicle and / or the target object is adjusted.

[0096] Exemplarily, the above-mentioned device call program may also include a device positioning calibration program, and the device positioning link needs to be manually debugged and confirmed to be completed, so as to facilitate device positioning calibration and device call self-test. When performing device positioning calibration, the test vehicle and the target object can automatically check whether the signal search and detection accuracy meet the requirements, and can also upload the relevant location information to the scene automatic construction platform for analysis. If it does not meet the requirements, the tester is prompted to perform the next step such as adjusting the device position.

[0097] The present invention calibrates the positioning of the test vehicle and the target object to ensure that the test vehicle and the target object are at the set test starting position, reduces test repetition and adjustment caused by position deviation, and improves test efficiency.

[0098] Step S303: controlling the test vehicle to perform a real vehicle test based on the control information of the test vehicle.

[0099] Specifically, the control information of the test vehicle includes a first planned path and / or a first motion instruction for the test vehicle. In combination with actual test requirements, the corresponding control information of the test vehicle is sent to the test vehicle to control the test vehicle for testing.

[0100] Furthermore, the motion state information and / or abnormal event information of the test vehicle and the target object can be obtained and displayed respectively, so that the test personnel can understand the motion state of the test vehicle and the target object such as speed, acceleration, position, etc. in real time, so as to intuitively judge whether the test vehicle and the target object are running according to the predetermined trajectory and parameters. In addition, the acquisition and display of abnormal event information can enable the test personnel to repair and adjust the test vehicle and the target object in time to ensure the safety of the equipment.

[0101] In some optional implementations, the displayed visual interface can also display the scenario library and selection interface, the planned path of the test vehicle and the target object, the test site area, the equipment type, the real-time positioning and motion status, the equipment failure prompt, the test scenario library test progress display and other information, so that the test personnel can view it. In addition, operation buttons such as start, end, and pause can also be provided to facilitate the test personnel to control the test process.

[0102] Step S304: When the test end condition is met, the test vehicle and the target object are automatically reset respectively.

[0103] Specifically, the reset path of the test vehicle and target object can be planned based on the current position of the test vehicle and target object after the test and the test start position in the test scene, according to the principle of the shortest route. If a failure occurs during the reset of the test vehicle or target object, the operator should be notified in a timely manner. If an equipment failure is caused by a collision, the operator should be prompted accordingly.

[0104] It should be noted that the test end condition can be set according to the actual scenario, for example, it can be receiving an end instruction from the tester, but the present invention is not limited to this.

[0105] The real vehicle testing method provided in this embodiment first determines the first path of the test vehicle from the current position to the first test starting position in the target test scene, and the second path of the target object from the current position to the second test starting position, and then sends the first path and the second path to the test vehicle and the target object respectively, so that the test vehicle and the target object automatically drive to the corresponding test starting positions, without the need for manual operation of the test vehicle and the target object to go to the test site, thereby reducing manpower input. Then, the test vehicle is controlled to perform the test through the control information of the test vehicle in the target test scene, without the need for manual driving of the test vehicle for the test, which is conducive to improving the efficiency of the real vehicle test and the accuracy of the test results. In addition, after the test is completed, the test vehicle and the target object are controlled to automatically reset, without the need for manual operation of the equipment reset, saving labor costs.

[0106] In this embodiment, a real vehicle testing method is provided, which can be used for example Figure 1 The scene automatic building platform 101 shown, such as computer equipment, Figure 4 is a flow chart of a real vehicle testing method according to an embodiment of the present invention. Figure 4 As shown, the process includes the following steps:

[0107] Step S401, obtaining scene information of the target test scene, the scene information including: a first path of the test vehicle from the current position of the test vehicle to the first test starting position of the test vehicle, control information of the test vehicle, and a second path of the target object from the current position of the target object to the second test starting position of the target object. For details, please refer to Figure 3 The specific description of step S401 of the illustrated embodiment will not be repeated here.

[0108] Step S402: Send the first path and the second path to the test vehicle and the target object respectively, so that the test vehicle reaches the first test starting position of the test vehicle according to the first path, and the target object reaches the second test starting position of the target object according to the second path. Figure 3 The specific description of step S402 of the illustrated embodiment will not be repeated here.

[0109] Step S403: controlling the test vehicle to perform a real vehicle test based on the control information of the test vehicle.

[0110] In some optional embodiments, the control information of the test vehicle includes a first planned path and a first motion instruction of the test vehicle, and the first planned path and the first motion instruction of the test vehicle are sent to the test vehicle so that the test vehicle performs lateral and / or longitudinal movement according to the first motion instruction and drives in the target test scene according to the first planned path.

[0111] The present invention sends a first planned path and a first motion instruction to the test vehicle to control the lateral and longitudinal motions and the driving path of the test vehicle during the actual vehicle test. Frequent manual intervention and adjustment are not required, and various test tasks can be completed continuously and efficiently, thereby reducing test time and costs, improving the overall efficiency of the test work, and making the test process more standardized and normalized, which is convenient for testers to operate and monitor.

[0112] In some optional embodiments, the control information of the test vehicle includes a first motion instruction of the test vehicle, and the first motion instruction of the test vehicle is sent to the test vehicle so that the test vehicle performs lateral movement and / or longitudinal movement according to the first motion instruction and drives in the target test scene according to the memory path stored in itself.

[0113] In this embodiment, when the test vehicle is tested in the corresponding test scene for the first time, it can use its own high-precision map and positioning equipment to memorize and store the first planned path to form a memory path. When the test is performed again in the test scene later, only the first movement instruction of the test vehicle can be sent to the test vehicle, and the test vehicle will drive in the test scene according to the memory path stored in itself, repeatedly using the control information of the test vehicle, simplifying the sending and receiving links of test data in the test process, and improving test efficiency.

[0114] In some optional embodiments, the control information of the test vehicle includes emergency control instructions to control the test vehicle to drive in a target test scenario based on its own advanced driving assistance system; when a failure is detected in the advanced driving assistance system of the test vehicle, the emergency control instructions are sent to the test vehicle to control the driving of the test vehicle.

[0115] Specifically, the movement and driving path of the test vehicle may not be restricted. After reaching the test starting position, the test vehicle can rely on its own advanced driver assistance system to drive in the target test scene to test the advanced driver assistance system of the test vehicle. If the advanced driver assistance system of the test vehicle fails, an emergency control command is sent to the test vehicle to take over the control of the test vehicle, thereby avoiding a collision and ensuring the safety of the equipment in the test site.

[0116] Step S404: When the test end condition is met, the test vehicle and the target object are automatically reset respectively.

[0117] Specifically, the above step S404 includes:

[0118] Step S4041, respectively obtaining the current positions of the test vehicle and the target object after the test is completed.

[0119] Step S4042, performing path planning based on the current position of the test vehicle after the test and the first test starting position to obtain a first reset path for the test vehicle, and performing path planning based on the current position of the target object after the test and the second test starting position to obtain a second reset path for the target object.

[0120] Specifically, the shortest path planning can be performed based on the current positions of the test vehicle and the target object after the test and their respective test starting positions, thereby determining the reset paths of the test vehicle and the target object.

[0121] Step S4043, sending the first reset path and the second reset path to the test vehicle and the target object respectively, so that the test vehicle returns to the first test starting position of the test vehicle according to the first reset path, and the target object returns to the second test starting position of the target object according to the second reset path.

[0122] Specifically, the first reset path and the second reset path are sent to the test vehicle and the target object respectively, so that the test vehicle and the target object can automatically return to the test starting position to facilitate the subsequent testing. There is no need for the tester to operate the equipment to return, which reduces manpower investment and improves test efficiency.

[0123] The actual vehicle testing method of the present invention is described in detail below with reference to a specific application example.

[0124] like Figure 5 As shown in the figure, the scene automatic construction platform, the test vehicle, the target object and the communication base station of the test site constitute the overall real vehicle test system. Among them, the scene automatic construction platform includes a data receiving module, a scene construction module and a data sending module, and the test vehicle domain controller and the target object domain controller respectively establish communication connections with the scene automatic construction platform through the communication base station.

[0125] The data receiving module is used to receive the high-precision positioning information, motion state information and abnormal event information of the test vehicle, and to receive the high-precision positioning information, motion state information and abnormal event information of the target object.

[0126] The scenario building module is used to process the data input by the data receiving module, including test scenario arrangement, test starting position selection of the test scenario, test vehicle / target position calculation, test vehicle / target path planning, reset path calculation and test site boundary control.

[0127] The data sending module is used to send the planned path and motion instructions of the test vehicle output by the scene building module to the test vehicle domain controller through the communication base station, and to send the planned path and motion instructions of the target object to the target object domain controller through the communication base station.

[0128] The test vehicle domain controller includes a wireless communication module, a motion control module, and a high-precision positioning module. The wireless communication module sends the received planned path and motion instructions of the test vehicle to the motion control module; the motion control module executes the planned path and motion instructions to control the test vehicle to move horizontally and vertically, and feeds back the motion status information of the test vehicle to the wireless communication module; the high-precision positioning module obtains the high-precision positioning information of the test vehicle and feeds it back to the wireless communication module; the wireless communication module sends the high-precision positioning information, motion status information, and abnormal event information of the test vehicle to the scene automatic construction platform.

[0129] The target object domain controller also includes a wireless communication module, a motion control module and a high-precision positioning module. Its specific working principle is similar to that of the test vehicle domain controller and will not be repeated here.

[0130] The above-mentioned real vehicle test system uses the scene automatic construction platform to receive the test vehicle and target object information, and after processing, imports the scene construction module to perform position calculation, scene starting point selection, reset path calculation, path planning, etc. to complete the test scene arrangement, and outputs the planned path and motion instructions to send to the test vehicle and target object. The communication base station serves as an information transfer to ensure network communication. The test vehicle domain controller provides positioning information through its own high-precision positioning module, executes motion instructions through the motion control module, and sends positioning information, motion status information, and receives planned path and motion instruction information through the wireless communication module. The target object domain controller provides positioning information through its own high-precision positioning module, executes motion instructions through the motion control module, and sends positioning information, motion status information, and receives planned path and motion instruction information through the wireless communication module.

[0131] like Figure 6 As shown, the vehicle system includes the vehicle under test, the domain control system, and equipment such as cameras / millimeter wave radars.

[0132] As a platform for advanced driver assistance systems, the vehicle under test must have good mechanical performance and electrical compatibility to ensure the stable operation of the advanced driver assistance system. The vehicle's power system, braking system, steering system and other key components can accurately respond to control commands issued by the external domain controller to achieve acceleration, deceleration, steering and other operations.

[0133] The domain control system saves fixed planned paths in parking or driving test scenarios through high-precision maps, and traverses and executes them according to the test scenario library and the scenario automatic platform construction. The external domain controller can be placed in the trunk of the vehicle under test, and is responsible for sending vehicle control commands to the vehicle-side actuator in real time. It can control the vehicle's driving status. The external domain controller adapts to the vehicle communication protocol and controls the vehicle under test to repeat the test during the advanced driving assistance system test. At the same time, when the advanced driving assistance system fails or an abnormal situation occurs, the domain controller takes over the control of the vehicle in time to ensure the safe driving of the vehicle, and monitors and records the operating status of the advanced driving assistance system in real time, providing additional data support for the test result analysis, and ensuring the safety and reliability of unmanned testing.

[0134] In addition, a high-precision integrated navigation system can be installed in the trunk of the vehicle under test to provide centimeter-level high-precision positioning data for the entire real vehicle test system. During unmanned testing, this high-precision positioning data is crucial for the cloud to accurately grasp the vehicle's position, make precise scheduling arrangements, and generate reasonable pre-control instructions.

[0135] See again Figure 6 The roadside system can include cameras, millimeter-wave radars, traffic lights, edge computing devices (Multi-access Edge Computing, MEC), positioning base stations, local area private networks, and global positioning satellite systems. The positioning base station is fixed based on the test site and mainly receives the location signals of related equipment. Based on high-precision maps and local area private networks, the parking test path, test starting position and other information are located and memorized. Using global positioning satellite systems such as GPS and Beidou, accurate positioning services are provided for the vehicles under test on the road. The combination of multi-star positioning technology and ground enhancement technology is used to achieve centimeter-level or even millimeter-level positioning accuracy.

[0136] The equipment system includes a mobile platform that carries the target object, various obstacles in the test scene, positioning equipment, positioning base stations, etc. The target object accepts the call of the device call program, reaches the test start position of the test scene from the current position according to the corresponding path, and automatically completes the reset. Based on the scene automatic construction platform and MQTT communication protocol, relying on the local real-time network, send control commands to the external domain controller of the target object for control and call. The target object carrying platform control system may include a scheduling control platform, a control box, an integrated antenna, a target carrying platform, and a base station. The scheduling control platform sends a start-stop control command to the control box (the communication interface is open), and the control box transmits the relevant commands to the target carrying platform in real time through the integrated antenna. The base station receives the position data of the platform under test in real time and sends it to the target carrying platform.

[0137] In addition, a coordinate transformation system can be provided, with a fixed coordinate origin. This coordinate origin is used as the reference point of the test scene. All test scene construction data is expanded from this reference point. The coordinate origin has a fixed geometric relationship with the base station location point and the target object carrying platform control system, and the coordinate system transformation is performed to adapt to various closed venues.

[0138] This application example also provides a real vehicle testing process, which mainly includes the following steps:

[0139] Step 1, equipment assembly and self-test. The positioning base station, vehicle-side positioning equipment and the target on the target carrying platform need to be manually assembled to ensure that all equipment communicates normally and smoothly. Build the base station, install the positioning equipment on the vehicle, and complete the communication self-test and equipment self-test and preparation through the equipment program. The self-test content includes search status, signal strength, positioning accuracy and response of each device, whether the field-side signal is smooth, and whether the target address is accurate.

[0140] Step 2, select the test scene and the test starting position of the test vehicle and target object in the test scene. Select the scene to be tested in the platform according to the test requirements, determine the test starting position of the test benchmark point, base station fixed point, test vehicle, and target object. The fixed scene needs to save the corresponding position and the trajectory of the equipment operation in advance through the high-precision map. The platform calls the device to go to the test starting position through the device interface or other methods (buttons in the device software), and controls the vehicle to go to the memorized test starting position according to the planned path through the external domain control matching the vehicle protocol. Path planning can be based on the principle of the shortest driving distance between its own position and the target position, and the posture is adjusted to be consistent with the original memorized posture. This process requires the tester to confirm that there are no obstacles within the path outline.

[0141] Step 3, repeat the test. The platform is automatically built in conjunction with the scenario, and each test scenario is traversed according to the scenario library. After each scenario test is completed, the vehicle returns to the test starting position according to the memorized route, and the target object carrying platform is automatically reset to the test starting position.

[0142] Step 4: Exception handling: When a target object or vehicle collides or a remote end command is received, the vehicle and related equipment automatically stop and wait for manual inspection and recovery.

[0143] Step 5, the test ends. When the test task scenario traversal is completed, the vehicle and the equipment automatically return to the test starting position; or when a remote emergency stop command is received, the vehicle immediately stops safely and the equipment stops moving.

[0144] The embodiment of the present invention also provides a computer device having the above Figure 1 The scene shown automatically builds platform 101.

[0145] See also Figure 7 , Figure 7is a schematic diagram of the structure of a computer device provided by an optional embodiment of the present invention, such as Figure 7 As shown, the computer device includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. Various components are connected to each other using different buses for communication, and can be installed on a common mainboard or installed in other ways as needed. The processor can process the instructions executed in the computer device, including instructions stored in or on the memory to display the graphical information of the GUI on an external input / output device (such as, a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple computer devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Figure 7 A processor 10 is taken as an example.

[0146] The processor 10 may be a central processing unit, a network processor or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be a dedicated integrated circuit, a programmable logic device or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic or any combination thereof.

[0147] The memory 20 stores instructions executable by at least one processor 10, so that the at least one processor 10 executes the method shown in the above embodiment.

[0148] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the computer device, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely arranged relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0149] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid state drive; the memory 20 may also include a combination of the above types of memory.

[0150] The computer device also includes an input device 30 and an output device 40. The processor 10, the memory 20, the input device 30 and the output device 40 may be connected via a bus or other means. Figure 7 The example of connecting through bus is taken in the following.

[0151] The input device 30 can receive input digital or character information, and generate key signal input related to the user settings and function control of the computer device, such as a touch screen, a keypad, a mouse, a track pad, a touch pad, an indicator bar, one or more mouse buttons, a trackball, a joystick, etc. The output device 40 may include a display device, an auxiliary lighting device (e.g., an LED) and a tactile feedback device (e.g., a vibration motor), etc. The above-mentioned display device includes but is not limited to a liquid crystal display, a light emitting diode, a display and a plasma display. In some optional embodiments, the display device can be a touch screen.

[0152] The embodiment of the present invention also provides a computer-readable storage medium. The method according to the embodiment of the present invention can be implemented in hardware, firmware, or can be implemented as a computer code that can be recorded in a storage medium, or can be implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium through a network download, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state hard disk, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor, or hardware, the method shown in the above embodiment is implemented.

[0153] A part of the present invention may be applied as a computer program product, such as a computer program instruction, which, when executed by a computer, can call or provide the method and / or technical solution according to the present invention through the operation of the computer. Those skilled in the art should understand that the existence of the computer program instruction in a computer-readable medium includes, but is not limited to, a source file, an executable file, an installation package file, etc., and accordingly, the way in which the computer program instruction is executed by the computer includes, but is not limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding installed program. Here, the computer-readable medium may be any available computer-readable storage medium or communication medium accessible to the computer.

[0154] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A real vehicle testing method, characterized in that: The method comprises: Acquire scene information of a target test scene, the scene information including: a first path of the test vehicle from a current position of the test vehicle to a first test starting position of the test vehicle, control information of the test vehicle, and a second path of the target object from the current position of the target object to a second test starting position of the target object; Sending the first path and the second path to the test vehicle and the target object respectively, so that the test vehicle reaches a first test starting position of the test vehicle according to the first path, and the target object reaches a second test starting position of the target object according to the second path; Control the test vehicle to conduct actual vehicle testing based on the control information of the test vehicle; When the test end conditions are met, the test vehicle and the target object are automatically reset respectively.

2. The method according to claim 1, characterized in that The sending the first path and the second path to the test vehicle and the target object respectively includes: The posture information of each first path point in the first path and the posture information of each second path point in the second path are sent to the test vehicle and the target object respectively, so that the test vehicle reaches the first test starting position of the test vehicle according to the posture information of each first path point, and the target object reaches the second test starting position of the target object according to the posture information of each second path point; wherein the posture information includes position coordinates and orientation angle.

3. The method according to claim 2, characterized in that The automatic resetting of the test vehicle and the target object respectively includes: Get the current positions of the test vehicle and target object after the test is completed; Performing path planning based on the current position of the test vehicle after the test and the first test starting position to obtain a first reset path for the test vehicle, and performing path planning based on the current position of the target object after the test and the second test starting position to obtain a second reset path for the target object; The first reset path and the second reset path are sent to the test vehicle and the target object respectively, so that the test vehicle returns to the first test starting position of the test vehicle according to the first reset path, and the target object returns to the second test starting position of the target object according to the second reset path.

4. The method according to claim 1, characterized in that: The control information of the test vehicle includes a first planned path and a first motion instruction of the test vehicle, and the control of the test vehicle to perform a real vehicle test based on the control information of the test vehicle includes: A first planned path and a first motion instruction of the test vehicle are sent to the test vehicle, so that the test vehicle performs lateral movement and / or longitudinal movement according to the first motion instruction and travels in the target test scene according to the first planned path.

5. The method according to claim 1, characterized in that The control information of the test vehicle includes a first motion instruction of the test vehicle, and the control of the test vehicle to perform a real vehicle test based on the control information of the test vehicle includes: A first motion instruction of the test vehicle is sent to the test vehicle, so that the test vehicle performs lateral movement and / or longitudinal movement according to the first motion instruction, and travels in the target test scene according to the memory path stored in the test vehicle.

6. The method according to claim 1, characterized in that The control information of the test vehicle includes an emergency control instruction, and the control of the test vehicle to perform a real vehicle test based on the control information of the test vehicle includes: Controlling the test vehicle to drive in the target test scenario based on its own advanced driver assistance system; When a failure of the advanced driver assistance system of the test vehicle is detected, the emergency control instruction is sent to the test vehicle to control the driving of the test vehicle.

7. The method according to claim 1, characterized in that When the target test scene is a dynamic test scene, the scene information further includes control information of the target object; after the target object reaches the second test starting position of the target object according to the second path, the method further includes: The target object is controlled based on control information of the target object; wherein the control information of the target object includes a second planned path and a second motion instruction of the target object.

8. The method according to claim 7, characterized in that Before controlling the target object based on the control information of the target object, the method further includes: Detecting the calling interface of the device calling program, where the calling interface of the device calling program is used to communicate with the device interface of the target object; After the calling interface detection of the device calling program is passed, the control information of the target object is input into the device calling program to control the target object.

9. The method according to any one of claims 1 to 8, characterized in that Before controlling the test vehicle to perform a real vehicle test based on the control information of the test vehicle, the method further includes: Obtain the latest positions of the test vehicle and the target object test equipment respectively, and determine whether a first error between the latest position of the test vehicle and a first test starting position and a second error between the latest position of the target object and a second test starting position meet an error threshold condition; If the first error and / or the second error does not satisfy the error threshold condition, the position of the test vehicle and / or the target object is adjusted.

10. The method according to any one of claims 1 to 8, characterized in that Before acquiring the scene information of the target test scene, the method further includes: Displaying a visualization interface, and displaying drag components corresponding to the test vehicle and the target object on the visualization interface; The configuration information of the user for the drag component is obtained, and the scene information of the test scene is obtained according to the configuration information.

11. The method according to any one of claims 1 to 8, characterized in that The method further comprises: Respectively obtain the motion state information and / or abnormal event information of the test vehicle and the target object; The motion status information and / or the abnormal event information are displayed.

12. A real vehicle testing system, characterized in that: The system includes a scene automatic construction platform, a test vehicle and a target object, wherein the scene automatic construction platform is used to execute any one of the real vehicle testing methods 1 to 11.

13. The system according to claim 12, characterized in that The test vehicle includes a test vehicle domain controller, and the target object includes a target object domain controller. The test vehicle domain controller and the target object domain controller respectively establish communication connections with the scene automatic construction platform through a communication base station.

14. A computer device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the actual vehicle testing method according to any one of claims 1 to 11 by executing the computer instructions.

15. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the actual vehicle testing method according to any one of claims 1 to 11.

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