Unmanned driving test method and device for drive-by-wire vehicle

Abstract

The invention provides an unmanned driving test method for a drive-by-wire vehicle, and the method comprises the steps: constructing a plurality of test task scene models according to different test tasks of the drive-by-wire vehicle, and setting corresponding test parameters; selecting a corresponding test task scene model and test parameters according to the test task sequence, performing fusion processing on vehicle surrounding environment information collected by various sensors, generating corresponding environment sensing and positioning data, generating an optimized driving path through decision planning, and converting the optimized driving path into a control instruction to control the control vehicle to perform a driving test; various vehicle state information and test system operation data are collected and integrated into a test data recording file; and analyzing and evaluating the test data record file to generate a test report. The invention further provides an unmanned driving test device of the drive-by-wire vehicle, a storage medium and electronic equipment. Therefore, the drive-by-wire vehicle test system can perform the drive-by-wire vehicle test through the unmanned driving technology so as to realize automation, precision and high efficiency of the drive-by-wire vehicle test.

Description

Technical Field

[0001] The present invention relates to the field of vehicle testing technology, and in particular to an unmanned driving testing method, device, storage medium and electronic equipment for a controlled-by-wire vehicle. Background Art

[0002] With the continuous development of the automobile industry, the technology of drive-by-wire vehicles has gradually emerged and become an important direction for the future development of automobiles. Drive-by-wire vehicles replace traditional mechanical or hydraulic connections with electronic signals to achieve precise control of various driving functions of the vehicle, such as drive-by-wire steering, drive-by-wire braking, and drive-by-wire throttle. In the development process of drive-by-wire vehicles, vehicle testing is a crucial link, which can verify whether the various performance indicators of the vehicle meet the design requirements and ensure the safety, reliability and comfort of the vehicle.

[0003] The traditional vehicle whole vehicle testing method mainly relies on manual driving tests, that is, the tester drives the vehicle to perform test operations in various test sites and working conditions, and records relevant data. However, this manual driving test method has many limitations. First, manual driving is difficult to ensure the high repeatability and accuracy of the test process, because factors such as the tester's driving habits, reaction speed, and physical strength will inevitably introduce test errors. Secondly, for tests under some dangerous or extreme conditions, such as high-speed emergency braking and vehicle loss of control simulation, manual driving poses a greater safety risk and may cause harm to the tester. In addition, the efficiency of manual driving tests is relatively low, and it requires a lot of manpower and time costs, which makes it difficult to meet the needs of rapid development and iteration of wire-controlled vehicles.

[0004] With the rapid development of unmanned driving technology, its application in the field of vehicle testing of wire-controlled vehicles has great potential and advantages. Unmanned driving technology can realize the autonomous operation of vehicles in various test scenarios through precise sensor perception, intelligent decision-making algorithms and precise execution control, effectively overcoming the above-mentioned defects of traditional manual driving test methods. Therefore, the development of a vehicle testing method and system for wire-controlled vehicles based on unmanned driving technology has important practical significance and application value.

[0005] In summary, the prior art obviously has inconveniences and defects in practical use, so it is necessary to improve it. Summary of the invention

[0006] In view of the above-mentioned defects, the purpose of the present invention is to provide an unmanned driving test method, device, storage medium and electronic equipment for a wire-controlled vehicle, which can perform a whole-vehicle test of the wire-controlled vehicle through unmanned driving technology to achieve automation, precision and efficiency of the whole-vehicle test of the wire-controlled vehicle.

[0007] In order to solve the above-mentioned technical problems, the present invention is achieved as follows:

[0008] In a first aspect, an embodiment of the present invention provides an unmanned driving test method for a controlled-by-wire vehicle, comprising the following steps:

[0009] Constructing a variety of test task scenario models according to different test tasks of the wire-controlled vehicle, and setting corresponding test parameters for different test tasks;

[0010] Connecting the controlled-by-wire vehicle to an unmanned driving test system and initializing the unmanned driving test system;

[0011] Selecting the corresponding test task scenario model and the test parameters according to the test task sequence, fusing the vehicle surrounding environment information collected by multiple sensors to generate corresponding environmental perception and positioning data, generating an optimized driving path through decision planning based on the environmental perception and positioning data, and converting the optimized driving path into control instructions to control the controlled-by-wire vehicle to perform a driving test;

[0012] During the unmanned driving test of the controlled-by-wire vehicle, various vehicle status information and test system operation data are collected, integrated into a complete test data record file and stored;

[0013] Analyze and evaluate the test data record files and generate corresponding test reports.

[0014] According to the unmanned driving test method of a controlled-by-wire vehicle of the present invention, the steps of constructing a plurality of test task scenario models according to different test tasks of the controlled-by-wire vehicle and setting corresponding test parameters for different test tasks include:

[0015] The test parameters and the test task scenario model are associated and stored to form a test scenario database.

[0016] According to the unmanned driving test method of a controlled-by-wire vehicle of the present invention, the steps of constructing a plurality of test task scenario models according to different test tasks of the controlled-by-wire vehicle and setting corresponding test parameters for different test tasks include:

[0017] According to the different test tasks of the controlled-by-wire vehicle, a plurality of test task scenario models are constructed using the task map construction module, wherein the test task scenario models include at least one or more combinations of a straight-line acceleration test task scenario, a curve driving test task scenario, a braking test task scenario, a special road condition driving test task scenario, and a combined working condition test task scenario;

[0018] Using the mission map construction module to set at least one or more combinations of road geometry, road friction coefficient, traffic signs and markings, and surrounding obstacle parameter information in the scene to simulate the environment of a real test site;

[0019] The corresponding test parameters are set according to different test tasks, and the test tasks include at least one or more combinations of vehicle initial speed, target speed, acceleration, deceleration, steering angle and steering angular velocity.

[0020] According to the unmanned driving test method of a controlled-by-wire vehicle of the present invention, the step of connecting the controlled-by-wire vehicle to an unmanned driving test system and initializing the unmanned driving test system comprises:

[0021] Connecting the controlled-by-wire vehicle to the unmanned driving test system through wired or wireless communication to establish a vehicle control signal transmission channel and a vehicle status information feedback channel;

[0022] Initialization operations are performed on the unmanned driving test system, including loading a test task map, calibrating a sensor system, and initializing at least one or more combinations of vehicle environment perception, positioning, decision planning, and motion control parameters.

[0023] According to the unmanned driving test method of a controlled-by-wire vehicle of the present invention, the steps of selecting a corresponding test task scenario model and the test parameters according to a test task sequence, fusing the vehicle surrounding environment information collected by multiple sensors to generate corresponding environmental perception and positioning data, generating an optimized driving path through decision planning based on the environmental perception and positioning data, and converting the optimized driving path into a control instruction to control the controlled-by-wire vehicle to perform a driving test include:

[0024] The task map construction module generates the global path and the test task sequence according to the test task;

[0025] Selecting the corresponding test task scenario model and the test parameters from the test scenario database according to the test task sequence, and loading them into the unmanned driving test system;

[0026] Fusing the vehicle surrounding environment information collected by the multiple sensors to generate high-precision environment perception and positioning data;

[0027] Generate the optimized driving path using a predetermined path planning algorithm and a motion decision algorithm according to the environmental perception and positioning data;

[0028] The optimized driving path is converted into a control instruction and sent to the electronic control unit of the drive-by-wire vehicle according to the drive-by-wire vehicle communication protocol to control the drive-by-wire vehicle to perform a driving test.

[0029] According to the unmanned driving test method of a controlled-by-wire vehicle of the present invention, during the unmanned driving test of the controlled-by-wire vehicle, the steps of collecting various vehicle status information and test system operation data, integrating them to form a complete test data record file and storing them include:

[0030] During the unmanned driving test of the controlled-by-wire vehicle, various vehicle status information is collected in real time or at a fixed time, wherein the vehicle status information includes at least one or more combinations of vehicle speed, acceleration, steering angle, brake pressure, motor torque, battery power, and vehicle position coordinates, and is recorded in time series;

[0031] Collecting the test system operation data of the unmanned driving test system, wherein the test system operation data includes at least one or more combinations of sensor data, environmental perception and positioning data, decision planning data, and control instruction data;

[0032] The vehicle status information and the test system operation data are integrated and processed to form a complete test data record file and store it.

[0033] According to the unmanned driving test method of a controlled-by-wire vehicle of the present invention, the step of analyzing and evaluating the test data record file and generating a corresponding test report includes:

[0034] Read the test data record file and perform processing and analysis;

[0035] For different test tasks, corresponding performance evaluation indicators and analysis algorithms are used to evaluate and obtain evaluation results;

[0036] The corresponding test report is generated according to the evaluation result, and the test report includes at least one or more combinations of test tasks, scenarios, parameters, data, evaluation results, problems and improvement suggestions.

[0037] In a second aspect, an embodiment of the present invention provides an unmanned driving test device for a wire-controlled vehicle, the device comprising:

[0038] A task map construction module, used to construct a variety of test task scenario models according to different test tasks of the wire-controlled vehicle, and set corresponding test parameters for different test tasks;

[0039] A system initialization module, used to connect the controlled-by-wire vehicle to the unmanned driving test system and initialize the unmanned driving test system;

[0040] A vehicle test execution module is used to select the corresponding test task scenario model and the test parameters according to the test task sequence, fuse the vehicle surrounding environment information collected by multiple sensors, generate corresponding environmental perception and positioning data, generate an optimized driving path through decision planning based on the environmental perception and positioning data, and convert the optimized driving path into a control instruction to control the wire-controlled vehicle to perform a driving test;

[0041] A test data acquisition module, used to collect various vehicle status information and test system operation data during the unmanned driving test of the wire-controlled vehicle, integrate them into a complete test data record file and store them;

[0042] The test result evaluation module is used to analyze and evaluate the test data record files and generate corresponding test reports.

[0043] In a third aspect, an embodiment of the present invention provides a storage medium for storing a computer program for executing any of the above-mentioned unmanned driving test methods for a controlled-by-wire vehicle.

[0044] In a fourth aspect, an embodiment of the present invention provides an electronic device, comprising a storage medium, a processor, and a computer program stored on the storage medium and executable on the processor, wherein the processor implements any of the above-mentioned unmanned driving test methods for a wire-controlled vehicle when executing the computer program.

[0045] The unmanned driving test technology of the wire-controlled vehicle of the present invention specifically includes: constructing a variety of test task scenario models according to different test tasks of the wire-controlled vehicle, and setting corresponding test parameters; selecting corresponding test task scenario models and test parameters according to the test task sequence, fusing and processing the vehicle surrounding environment information collected by a variety of sensors, generating corresponding environmental perception and positioning data, generating an optimized driving path through decision-making planning, and converting it into control instructions to control the wire-controlled vehicle for driving test; collecting various vehicle status information and test system operation data, integrating them into test data record files; analyzing and evaluating the test data record files, and generating test reports. In this way, the present invention can perform full-vehicle testing of wire-controlled vehicles through unmanned driving technology to achieve automation, precision and efficiency of full-vehicle testing of wire-controlled vehicles, improve the reliability and effectiveness of test results, and reduce safety risks during the test process. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 It is a flowchart of an unmanned driving test method for a controlled-by-wire vehicle provided in Embodiment 1 of the present invention;

[0047] Figure 2 is a flow chart of an unmanned driving test method for a controlled-by-wire vehicle provided in Embodiment 2 of the present invention;

[0048] Figure 3 is a structural schematic diagram of an unmanned driving test device for a wire-controlled vehicle provided in Embodiment 1 of the present invention;

[0049] Figure 4 is a schematic structural diagram of an unmanned driving test device for a controlled-by-wire vehicle provided in a second embodiment of the present invention;

[0050] Figure 5 It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0052] It should be noted that references to "one embodiment", "embodiment", "example embodiment", etc. in this specification refer to the embodiment described, which may include specific features, structures or characteristics, but not every embodiment must include these specific features, structures or characteristics. In addition, such expressions do not refer to the same embodiment. Furthermore, when describing specific features, structures or characteristics in conjunction with an embodiment, whether or not there is an explicit description, it has been shown that it is within the knowledge of those skilled in the art to combine such features, structures or characteristics into other embodiments.

[0053] In addition, certain words are used in the specification and subsequent claims to refer to specific components or parts. Those with ordinary knowledge in the relevant field should understand that manufacturers can use different nouns or terms to refer to the same component or part. This specification and subsequent claims do not use differences in names as a way to distinguish components or parts, but use differences in the functions of components or parts as the criteria for distinction. "Including" and "including" mentioned throughout the specification and subsequent claims are open-ended terms and should be interpreted as "including but not limited to". In addition, the word "connected" here includes any direct and indirect electrical connection means. Indirect electrical connection means include connection through other devices.

[0054] The unmanned driving test method for a controlled-by-wire vehicle provided by an embodiment of the present invention is described in detail below through specific embodiments and application scenarios in conjunction with the accompanying drawings.

[0055] Figure 1 1 is a flow chart of an unmanned driving test method for a controlled-by-wire vehicle provided in Embodiment 1 of the present invention, the method comprising the following steps:

[0056] Step S101 , constructing a variety of test task scenario models according to different test tasks of the controlled-by-wire vehicle, and setting corresponding test parameters for different test tasks.

[0057] Preferably, this step S101 further includes:

[0058] (1011) According to different test tasks of the controlled-by-wire vehicle, different test tasks have different test requirements. A task map construction module is used to construct a variety of test task scenario models. The test task scenario models include straight-line acceleration test task scenarios, cornering test task scenarios, braking test task scenarios, special road condition driving test task scenarios, and at least one or more combinations of combined working condition test task scenarios.

[0059] (1012) Using the task map construction module to set at least one or more combinations of road geometry, road friction coefficient, traffic signs and markings, and surrounding obstacle parameter information in the scene to simulate the environment of a real test site.

[0060] (1013) Corresponding test parameters are set according to different test tasks, where the test tasks include at least one or more combinations of vehicle initial speed, target speed, acceleration, deceleration, steering angle and steering angular velocity, and these parameters are associated with corresponding test scenario models and stored to form a test scenario database.

[0061] Preferably, this step S101 also includes:

[0062] Calibrate the sensor system, which includes laser radar, visible light camera, infrared camera, satellite navigation system, inertial measurement unit, millimeter wave radar, etc.

[0063] Step S102, connecting the controlled-by-wire vehicle to the unmanned driving test system and initializing the unmanned driving test system.

[0064] Preferably, this step S102 further includes:

[0065] (1021) Connect the wire-controlled vehicle to the unmanned driving test system through wired or wireless communication to establish a vehicle control signal transmission channel and a vehicle status information feedback channel. Specifically, connect the wire-controlled vehicle to be tested to the unmanned driving test system to establish a stable communication link. The communication link includes a vehicle control signal transmission channel and a vehicle status information feedback channel to ensure that the unmanned driving test system can send accurate control instructions to the wire-controlled vehicle and receive the real-time status information of the vehicle in a timely manner, such as vehicle speed, acceleration, steering angle, wheel speed, brake pressure, etc. Start the multimodal sensor installed on the vehicle to be tested and check whether the data acquisition and time synchronization are normal.

[0066] (1022) Initializing the unmanned driving test system, including loading a test mission map, calibrating a sensor system, initializing at least one or more combinations of vehicle environment perception, positioning, decision planning, and motion control parameters. Specifically, initializing the unmanned driving test system, including loading a test scenario database, initializing vehicle control algorithm parameters, etc., puts the unmanned driving test system in a ready state.

[0067] Step S103, select the corresponding test task scenario model and test parameters according to the test task sequence, fuse the vehicle surrounding environment information collected by multiple sensors, generate corresponding environmental perception and positioning data, generate an optimized driving path based on the environmental perception and positioning data through decision planning, and convert the optimized driving path into control instructions to control the wire-controlled vehicle for driving test.

[0068] Preferably, the step S103 further comprises:

[0069] (1031) Using the task map construction module to construct and store the global path and test task sequence. (1031) Selecting the corresponding test task scenario model and test parameters from the test scenario database according to the test task sequence and loading them into the unmanned driving test system.

[0070] (1032) Fusing the vehicle surrounding environment information collected by multiple sensors to generate high-precision environmental perception and positioning data. Preferably, the perception and positioning module of the unmanned driving test system uses a sensor fusion algorithm to fuse the vehicle surrounding environment information collected by multiple sensors such as laser radar, visible light camera, infrared camera, satellite navigation system, inertial measurement unit, millimeter wave radar, etc. based on the selected test scenario model and test parameters to generate high-precision environmental perception and positioning data, including vehicle posture, distance between the vehicle and surrounding obstacles, relative speed, road boundary information, etc.

[0071] (1033) Based on the environmental perception and positioning data, a predetermined path planning algorithm and a motion decision algorithm are used to generate an optimized driving path. Specifically, based on the environmental perception and positioning data, the decision planning module uses a predetermined path planning algorithm and a motion decision algorithm to generate an optimized driving path for the vehicle in the current test scenario, and the motion control module converts it into a control instruction sequence, such as an acceleration, deceleration, steering, and other control instruction sequences.

[0072] (1034) The optimized driving path is converted into a control command, and is sent to the electronic control unit (ECU) of the drive-by-wire vehicle according to the drive-by-wire vehicle communication protocol, so as to control the drive-by-wire vehicle to perform a driving test. Specifically, the motion control module sends the control command to the electronic control unit of the drive-by-wire vehicle through the vehicle control signal transmission channel according to the drive-by-wire vehicle communication protocol, and accurately controls the drive-by-wire steering system, the drive-by-wire braking system, the drive-by-wire throttle system, etc., so as to realize the driving test of the vehicle in an unmanned driving state according to the predetermined test scenario model and test parameters.

[0073] Step S104, during the unmanned driving test of the wire-controlled vehicle, various vehicle status information and test system operation data are collected, integrated into a complete test data record file and stored.

[0074] Preferably, the step S104 further comprises:

[0075] (1041) During the unmanned driving test of the wire-controlled vehicle, various vehicle status information is collected in real time or at a fixed time. The vehicle status information includes at least one or more combinations of vehicle speed, acceleration, steering angle, brake pressure, motor torque, battery power, and vehicle position coordinates, and is recorded in a time series.

[0076] (1042) collecting test system operation data of the unmanned driving test system, the test system operation data including at least one or more combinations of sensor data, environmental perception and positioning data, decision planning data, and control instruction data. Specifically, collecting relevant operation data of the unmanned driving test system, such as sensor data, environmental perception and positioning data, decision planning data, and control instruction data, so as to comprehensively monitor and analyze the test process.

[0077] (1043) Integrate the vehicle status information and the test system operation data to form a complete test data record file and store it. Specifically, integrate the collected vehicle status information and the test system operation data and store them in the test data storage module to form a complete test data record file, providing data support for subsequent test result analysis and vehicle performance evaluation.

[0078] Step S105: Analyze and evaluate the test data record file and generate a corresponding test report.

[0079] Preferably, the step S105 further comprises:

[0080] (1051) Read the test data record file and process and analyze it. Specifically, read the test data record file and use data analysis software to process and analyze the data. According to different test tasks, corresponding performance evaluation indicators and analysis algorithms are used. For example, the straight-line acceleration performance can be evaluated by indicators such as 0-100 km / h acceleration time and acceleration curve during acceleration; the braking performance can be analyzed by indicators such as braking distance, braking deceleration, and braking stability; the cornering performance can be evaluated by indicators such as understeering or oversteering, roll angle, and tire lateral force.

[0081] (1052) Corresponding performance evaluation indicators and analysis algorithms are used to evaluate different test tasks and obtain evaluation results.

[0082] (1053) Generate a corresponding test report based on the evaluation results, the test report including at least one or more combinations of test tasks, scenarios, parameters, data, evaluation results, problems and improvement suggestions. Specifically, generate a detailed test report based on the evaluation results, the report content including test tasks, test scenarios, test parameters, test data, performance evaluation results, existing problems and improvement suggestions, etc., to provide a strong basis for the research and development and optimization of the controlled-by-wire vehicle.

[0083] Figure 2 : is a flow chart of an unmanned driving test method for a controlled-by-wire vehicle provided in Embodiment 2 of the present invention, the method comprising the following steps:

[0084] Step S201 , constructing a variety of test task scenario models according to different test tasks of the controlled-by-wire vehicle, and setting corresponding test parameters for different test tasks.

[0085] Specifically, it is implemented through the task map construction module, which is used to build a variety of test scenario models according to the test requirements of the wire-controlled vehicle, and set the corresponding test parameters to form a test scenario database. This module has powerful 3D modeling and parameter editing functions, can create high-precision maps and high-precision test task scenarios, generate global paths and test task sequences, and flexibly adjust task scenario parameters to meet different test task requirements.

[0086] Preferably, this step S201 further includes:

[0087] (2011) According to different test tasks of the controlled-by-wire vehicle, a variety of test task scenario models are constructed using a task map construction module. The test task scenario models include at least one or more combinations of straight-line acceleration test task scenarios, cornering driving test task scenarios, braking test task scenarios, special road condition driving test task scenarios, and combined working condition test task scenarios.

[0088] (2012) used the task map construction module to set at least one or more combinations of road geometry, road friction coefficient, traffic signs and markings, and surrounding obstacle parameter information in the scene to simulate the environment of a real test site.

[0089] (2013) set corresponding test parameters according to different test tasks, and the test tasks include at least one or more combinations of vehicle initial speed, target speed, acceleration, deceleration, steering angle and steering angular velocity.

[0090] Preferably, this step S201 also includes:

[0091] Calibrate the sensor system, which includes laser radar, visible light camera, infrared camera, satellite navigation system, inertial measurement unit, millimeter wave radar, etc.

[0092] Step S202: associate and store the test parameters and the test task scenario model to form a test scenario database.

[0093] Step S203, connecting the controlled-by-wire vehicle to the unmanned driving test system and initializing the unmanned driving test system.

[0094] Specifically, the wire-controlled vehicle is connected to the unmanned driving test system, a stable communication link is established, and the unmanned driving test system is initialized, including loading the test scenario database, calibrating the sensor system, initializing vehicle perception and positioning, decision-making planning and control algorithm parameters, etc., to ensure that the unmanned driving test system and the vehicle can communicate normally and work together.

[0095] Preferably, the vehicle and the test system can be connected via CAN bus, Ethernet or 5G.

[0096] Preferably, this step S203 further includes:

[0097] (2031) Connect the controlled-by-wire vehicle to the unmanned driving test system through wired or wireless communication to establish a vehicle control signal transmission channel and a vehicle status information feedback channel.

[0098] (2032) Performing initialization operations on the unmanned driving test system, including loading a test mission map, calibrating a sensor system, and initializing at least one or more combinations of vehicle environment perception, positioning, decision planning, and motion control parameters.

[0099] Step S204: Use the task map construction module to construct and store the global path and test task sequence.

[0100] Step S205 , selecting corresponding test task scenario models and test parameters from the test scenario database according to the test task sequence, and loading them into the unmanned driving test system.

[0101] Step S206: Fusion processing is performed on the vehicle surrounding environment information collected by various sensors to generate high-precision environment perception and positioning data.

[0102] Specifically, the multiple sensors can be composed of one or more sensors such as lidar, visible light camera, infrared camera, satellite navigation system, inertial measurement unit, millimeter wave radar, etc., which are used to collect information about the vehicle's surrounding environment and fuse the collected data through sensor fusion algorithms to generate high-precision environmental perception and positioning data, providing accurate input information for the decision-making and planning module.

[0103] Step S207, based on the environmental perception and positioning data, a predetermined path planning algorithm and motion decision algorithm are used to generate an optimized driving path.

[0104] Specifically, based on environmental perception and positioning data, the pre-set path planning algorithm and motion decision algorithm are used to generate an optimized reference path for the vehicle in the current test scenario.

[0105] Step S208, converting the optimized driving path into a control instruction, and sending it to the electronic control unit of the drive-by-wire vehicle according to the drive-by-wire vehicle communication protocol, so as to control the drive-by-wire vehicle to perform a driving test.

[0106] Specifically, the optimized reference path is converted into control instructions and sent to the electronic control unit of the wire-controlled vehicle according to the wire-controlled vehicle communication protocol to achieve precise control of the vehicle's driving state.

[0107] Step S209, during the unmanned driving test of the wire-controlled vehicle, various vehicle status information and test system operation data are collected, integrated into a complete test data record file and stored.

[0108] Preferably, the step S209 further comprises:

[0109] (2091) During the unmanned driving test of the wire-controlled vehicle, various vehicle status information is collected in real time or at a fixed time. The vehicle status information includes at least one or more combinations of vehicle speed, acceleration, steering angle, brake pressure, motor torque, battery power, and vehicle position coordinates, and is recorded in a time series.

[0110] (2092) Collecting test system operation data of the unmanned driving test system, the test system operation data including at least one or more combinations of sensor data, environmental perception and positioning data, decision planning data, and control instruction data.

[0111] (2093) The vehicle status information and the test system operation data are integrated and processed to form a complete test data record file and store it, so as to provide data support for subsequent test result analysis and vehicle performance evaluation.

[0112] Step S210: Analyze and evaluate the test data record file and generate a corresponding test report.

[0113] Preferably, the step S210 further includes:

[0114] (2101) Read the test data record file and perform processing and analysis.

[0115] (2102) Corresponding performance evaluation indicators and analysis algorithms are used to evaluate different test tasks and obtain evaluation results.

[0116] (2103) Generate a corresponding and detailed test report based on the evaluation results, the test report includes at least one or more combinations of test tasks, scenarios, parameters, data, evaluation results, problems and improvement suggestions, providing a strong basis for the research and development and optimization of the wire-controlled vehicle.

[0117] The specific implementation methods and systems for conducting a full vehicle test of a controlled-by-wire vehicle using unmanned driving technology of the present invention are described in detail below in conjunction with the accompanying drawings.

[0118] (1) Test task map construction and parameter setting

[0119] Step 1: Set test conditions according to the vehicle's test requirements, including but not limited to weather, road material, undulations, curvature, obstacle conditions and their combinations; set test tasks according to the vehicle's test requirements, including but not limited to straight-line acceleration test tasks, cornering test tasks, braking test tasks, special road condition test tasks and combined working condition test tasks; test conditions and test tasks are combined to form the required test scenario.

[0120] Step 2: Multimodal sensor calibration, for common sensors such as LiDAR, visible light camera, infrared camera, satellite navigation system, inertial measurement unit, millimeter wave radar, etc., perform internal and external parameter calibration. For example, for LiDAR calibration, by emitting a specific calibration pattern, using high-precision calibration equipment to measure the scanning angle error, distance measurement error, etc. of the LiDAR, and store the calibration parameters in the test system to improve the measurement accuracy of the sensor.

[0121] Step 3: Build the test mission map, collect data using lidar or visible light cameras, and use one or more of the traditional 3D modeling technology, 3D Gaussian sputtering technology, and neural radiation field technology to build a 3D high-precision map of the actual test site.

[0122] Step 4: Expert trajectory collection. For test scenarios that do not have the ability to produce three-dimensional high-precision maps, before the test is executed, an expert driver drives the vehicle to be tested along the set test route. At the same time, the test system is used to record the driving trajectory, throttle, steering wheel, brake, gear position and other information to form an expert trajectory. For the same test scenario, the expert trajectory only needs to be collected once.

[0123] Step 5: Vehicle control parameter setting. Set the parameters related to vehicle control according to the test conditions and test tasks. The following is an explanation of the straight-line acceleration and curve driving as examples: For the straight-line acceleration test, select a horizontal, straight and certain length of road in the three-dimensional high-precision map or expert trajectory of the test site, set the road friction coefficient to the value of a normal dry road according to the actual weather and road conditions on the test day, such as 0.8-1.0, set the vehicle initial position and initial speed to 0km / h at the start of the road, and set the target speed to 100km / h at the end of the road, and associate these parameters with the straight-line acceleration test scenario model and store them in the test scenario database. For the curve driving test, select a road model with curves of different curvature radii according to the three-dimensional high-precision map or expert trajectory of the test site, set the vehicle initial speed at the entrance of the curve, the maximum allowable speed in the curve, the steering angle range and other parameters, and set the appropriate road friction coefficient according to the actual conditions of the curve to correspond to different actual conditions of curve driving.

[0124] (2) Vehicle and test system connection and initialization

[0125] Step 1: Connect the electronic control unit of the controlled-by-wire vehicle to the corresponding interface of the unmanned driving test system through wired or wireless communication (such as CAN bus, Ethernet, 5G, etc.) to ensure the real-time and stability of data transmission.

[0126] Step 2: Check the communication links including the vehicle control signal transmission channel, vehicle status information feedback channel, and sensor data transmission to ensure that the unmanned driving test system can send accurate control instructions to the wire-controlled vehicle and promptly receive multimodal sensor data and the vehicle's real-time status information, such as vehicle speed, acceleration, steering angle, wheel speed, brake pressure, etc.

[0127] Step 3: Check the validity and time consistency of multimodal sensor data. Through sensor data visualization, determine whether the data is normal, such as whether the camera data is clear, whether the satellite positioning data has jumps, etc.; by comparing the timestamps of each sensor data, determine whether the time consistency meets the requirements. For example, if the maximum timestamp error between sensors is less than 40 milliseconds, it is considered to have passed the time consistency check.

[0128] Step 4: Initialize the unmanned driving test system, including loading the test scenario database, initializing vehicle control algorithm parameters, etc.

[0129] (3) Unmanned driving test execution

[0130] Take the curve driving test as an example.

[0131] Step 1: The lidar and camera installed on the vehicle to be tested scan the vehicle's surroundings in real time and transmit the information to the test system through the communication unit.

[0132] Step 2: The environmental perception module deployed in the test system uses the received multimodal sensor data to calculate the shape of the curve, radius of curvature, road boundaries, and surrounding obstacles. The satellite navigation system and inertial measurement unit measure the real-time position and posture information of the vehicle. When a three-dimensional high-precision map is available, the environmental perception module can use the map information to improve recognition and positioning accuracy.

[0133] Step 3: The decision-making planning module deployed in the test system uses the path planning algorithm based on model predictive control according to the output of the environmental perception module to calculate the optimal path for the vehicle to drive safely and smoothly on the curve; when there is expert trajectory information, the decision-making planning module can output a path consistent with the trajectory information.

[0134] Step 4: The motion control module deployed in the test system converts the path output by the decision plan into control instructions through MPC, LQR, PID and other algorithms, and encodes them according to the wire-controlled vehicle communication protocol.

[0135] Step 5: The control instructions generated by the test system are sent to the wire-controlled chassis through the communication module, and the vehicle under test executes the instructions. For example, the steering angle instruction is sent to the wire-controlled steering system to control the steering wheel so that the vehicle can smoothly pass the curve according to the predetermined path.

[0136] (4) Test data collection and storage

[0137] Step 1: Multimodal sensor data acquisition and storage. The data acquisition module collects and saves data according to the frequency set by each sensor. For example, the lidar speed is 10Hz, and each frame of data is saved as a pcd file. The camera speed is 20Hz, and each frame of data is saved as a png file.

[0138] Step 2: Data collection and storage of the control-by-wire chassis. The data collection module collects vehicle status information at a higher sampling frequency (such as 100Hz-1000Hz). For example, for the vehicle speed information, the wheel speed sensor is used to collect the wheel speed, and the actual driving speed of the vehicle is calculated in combination with the wheel diameter; for the brake pressure information, the pressure sensor installed in the brake line is used for collection. After preliminary processing, the collected data is stored in the test data storage module. The storage format can adopt common data file formats, such as CSV format or binary format, to facilitate subsequent data reading and analysis.

[0139] (5) Test results analysis and evaluation

[0140] The analysis of braking performance test results is taken as an example.

[0141] Step 1: Replay the stored multimodal sensor data and drive-by-wire chassis data, extract the values ​​of vehicle speed, brake pressure, braking distance, etc. during the braking test, and analyze indicators such as the magnitude, stability, multiple consistency of the braking deceleration, and the time to reach the maximum deceleration.

[0142] Step 2: Compare the braking distance data with the braking distance required by the design to evaluate whether the braking performance meets the standard. If the braking distance is too long or the braking deceleration is unstable, analyze the possible reasons, such as delayed response of the braking system, abnormal friction coefficient between the brake pad and the brake disc, and put forward corresponding improvement suggestions in the test report, such as optimizing the braking control algorithm, replacing the brake pad material, etc.

[0143] An embodiment of the unmanned driving test method of a wire-controlled vehicle of the present invention can be applied to any device with data processing capabilities, and the device with data processing capabilities can be a device or apparatus such as a computer. The device embodiment can be implemented through software, or through hardware or a combination of software and hardware. Taking software implementation as an example, as a device in a logical sense, it is formed by the processor of any device with data processing capabilities in which it is located reading the corresponding computer program instructions in the non-volatile memory into the internal memory for execution. From the hardware level, if Figure 3 As shown, it is a hardware structure diagram of any device with data processing capability according to the present invention, except Figure 3 In addition to the processor, memory, network interface, and non-volatile memory shown, any device with data processing capabilities in which the apparatus in the embodiments is located may also include other hardware, generally based on the actual functions of the device with data processing capabilities, which will not be described in detail.

[0144] For the device embodiment, since it basically corresponds to the method embodiment, the relevant parts can refer to the partial description of the method embodiment. The device embodiment described above is only schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of the present invention. Ordinary technicians in this field can understand and implement it without paying creative work.

[0145] Another embodiment of the present invention provides the steps of performing a designated road test using an unmanned driving test method of a wire-controlled vehicle.

[0146] Step 1: Build a road test mission scenario, set the target test speed and total mileage, and obtain a global road map.

[0147] Step 2: Connect the drive-by-wire test system to the vehicle to be tested, and install the sensor of the drive-by-wire test system at the specified position of the vehicle.

[0148] Step 3: For roads that are not end-to-end connected, the test vehicle starts to accelerate at the start of the road until it reaches the test target speed and then drives at the target speed. It starts to decelerate when approaching the end of the road, turns around slowly near the end of the road, re-accelerates, drives at the target speed, starts to decelerate when approaching the start of the road, turns around near the start of the road, and re-enters the road for testing, repeating this cycle until the total mileage of the test target is reached. For loops, accelerate to the target test speed after slowly entering the loop, and then repeat the driving until the test mileage requirement in that direction is reached, then decelerate, stop, turn around, and then repeat the driving test in the reverse direction. This process is completed completely autonomously by the vehicle. Only when the vehicle's fuel (for fuel-powered vehicles) or power (for new energy vehicles) is lower than the warning value, or when a fault occurs, the vehicle will sound an alarm or autonomously leave the test site.

[0149] During driving, the vehicle generates a local path in real time based on the global path, environmental perception and positioning data. The local path needs to stay within the road and avoid static or dynamic obstacles. The path planning algorithm for lane keeping and obstacle avoidance can use TEB, Dijkstra algorithm, etc.

[0150] Other test vehicles are allowed to be tested simultaneously in the closed test site, and the number of test vehicles can be increased or decreased at any time without manual scheduling.

[0151] After the test vehicle's environmental perception module detects an oncoming vehicle, the decision-making and planning module makes a decision on whether to meet or reverse to give way based on the width of the road and plans a new reference local path.

[0152] When the test vehicle's environmental perception module detects a slower vehicle traveling in the same direction ahead, the decision-making and planning module makes a decision on whether to follow the vehicle or change lanes to overtake based on the test target test speed and road conditions, and plans a new reference local path.

[0153] The local path is sent to the motion control module, and the motion control module converts the reference path into control instructions and sends them to the vehicle chassis for execution.

[0154] Step 4: Record and report all test results.

[0155] Step 5: Classify, track and fix the problems found until they are closed and verified through retesting.

[0156] Beneficial effects of this embodiment: Since the unmanned driving test method of the wire-controlled vehicle of the present invention has the function of real-time local path planning, it can avoid obstacles when encountering static or dynamic obstacles, so that multiple test vehicles can be tested safely at the same time in the same venue and on the same road, and the number of test vehicles can be increased or reduced at any time without manual scheduling. In the event that the road in the test site is changed, damaged, or impassable, the vehicle can also autonomously change lanes, detour, turn around, etc. to ensure the continuation of the test, thereby improving the safety and efficiency of the test and reducing the need for manual intervention. Since the test vehicle has an automatic driving function, it can also be used for open road tests permitted by laws and regulations.

[0157] Yet another embodiment of the present invention provides a method for performing a vehicle durability test using an unmanned driving test method for a controlled-by-wire vehicle.

[0158] The perception and positioning module of the test system includes at least a camera, a lidar and a combined inertial navigation sensor, as well as temperature and humidity sensors.

[0159] The added temperature and humidity sensors are relatively cheap, while the high-precision lidar and combined inertial navigation sensor are expensive detection equipment. In this embodiment, the vehicle's autonomous driving and durability testing can be shared.

[0160] For durability testing, the camera and lidar data are post-fused to obtain three-dimensional road undulation data, the combined inertial navigation sensor is used to collect the vehicle's vibration and position data, and the temperature and humidity sensors are used to record the test environment. The road spectrum is formed by continuously recording the road undulations, vehicle vibration and environmental data during the actual road autonomous driving process.

[0161] In the process of test result analysis and evaluation, on the one hand, the key vibration frequency and amplitude of the vehicle under different working conditions can be found through road spectrum data analysis and statistics, so as to guide vehicle designers to optimize the structure and improve the anti-fatigue performance of the vehicle. On the other hand, the collected road spectrum data can be applied to virtual tests and simulations. By establishing a vehicle vibration model and a working condition loading model, virtual tests and simulations can be performed on the computer to provide more comprehensive and accurate data support for vehicle design and evaluation.

[0162] The existing technology of road spectrum measurement only uses GPS, inertial sensors, and displacement sensors, and the measurement accuracy is low. This embodiment uses cameras, lidars, and combined inertial navigation sensors for vehicle durability testing, which improves the measurement accuracy. Since the test system itself contains these sensors, the cost is reduced. The automatic driving method has better repeatability than human driving. The road to be measured is driven multiple times by automatic driving, and the same working condition data is collected multiple times, which can eliminate errors and random interference in the experiment and obtain more reliable results.

[0163] Through the above implementation modes, the present invention can effectively realize the automation, precision and efficiency of the whole vehicle test of the wire-controlled vehicle, and provide reliable technical support for the research and development and optimization of the wire-controlled vehicle.

[0164] It should be noted that the unmanned driving test method for a wire-controlled vehicle provided in an embodiment of the present invention can be performed by an electronic device, a device, or a control module in the device for performing the method. In the embodiment of the present invention, the unmanned driving test device for a wire-controlled vehicle provided in an embodiment of the present invention is described by taking the device performing the method as an example.

[0165] Figure 3 1 is a schematic diagram of the structure of an unmanned driving test device for a controlled-by-wire vehicle provided in Embodiment 1 of the present invention. The device 100 includes a task map construction module 10, a system initialization module 20, a vehicle test execution module 30, a test data acquisition module 40, and a test result evaluation module 50, wherein:

[0166] The task map construction module 10 is used to construct a variety of test task scenario models according to different test tasks of the wire-controlled vehicle, and set corresponding test parameters for different test tasks.

[0167] The system initialization module 20 is used to connect the controlled-by-wire vehicle to the unmanned driving test system and initialize the unmanned driving test system.

[0168] The vehicle test execution module 30 is used to select the corresponding test task scenario model and test parameters according to the test task sequence, fuse the vehicle surrounding environment information collected by multiple sensors, generate corresponding environmental perception and positioning data, generate an optimized driving path based on the environmental perception and positioning data through decision planning, and convert the optimized driving path into control instructions to control the wire-controlled vehicle for driving testing.

[0169] The test data acquisition module 40 is used to collect various vehicle status information and test system operation data during the unmanned driving test of the wire-controlled vehicle, integrate them into a complete test data record file and store them.

[0170] The test result evaluation module 50 is used to analyze and evaluate the test data record file and generate a corresponding test report.

[0171] Figure 4 1 is a schematic diagram of the structure of an unmanned driving test device for a controlled-by-wire vehicle provided in Embodiment 2 of the present invention. The device 100 includes a task map construction module 10, a system initialization module 20, a vehicle test execution module 30, a test data acquisition module 40, and a test result evaluation module 50, wherein:

[0172] The task map construction module 10 is used to construct a variety of test task scenario models according to different test tasks of the wire-controlled vehicle, and set corresponding test parameters for different test tasks.

[0173] Preferably, the task map construction module 10 further comprises:

[0174] The map construction submodule 11 is used to construct a variety of test task scenario models using the task map construction module according to different test tasks of the wire-controlled vehicle. The test task scenario models include at least one or more combinations of straight-line acceleration test task scenarios, cornering driving test task scenarios, braking test task scenarios, special road condition driving test task scenarios, and combined working condition test task scenarios.

[0175] The scene setting submodule 12 is used to set at least one or more combinations of road geometry, road friction coefficient, traffic signs and markings, and surrounding obstacle parameter information in the scene to simulate the environment of a real test site.

[0176] The parameter setting submodule 13 is used to set corresponding test parameters according to different test tasks, and the test tasks include at least one or more combinations of vehicle initial speed, target speed, acceleration, deceleration, steering angle and steering angular velocity.

[0177] The data storage submodule 14 is used to associate and store the test parameters and the test task scenario model to form a test scenario database.

[0178] The system initialization module 20 is used to connect the controlled-by-wire vehicle to the unmanned driving test system and initialize the unmanned driving test system.

[0179] Preferably, the system initialization module 20 further includes:

[0180] The communication connection submodule 21 is used to connect the wire-controlled vehicle to the unmanned driving test system through wired or wireless communication to establish a vehicle control signal transmission channel and a vehicle status information feedback channel.

[0181] The initialization submodule 22 is used to perform initialization operations on the unmanned driving test system, including loading the test task map, calibrating the sensor system, and initializing at least one or more combinations of vehicle environment perception, positioning, decision planning, and motion control parameters.

[0182] The vehicle test execution module 30 is used to select the corresponding test task scenario model and test parameters according to the test task sequence, fuse the vehicle surrounding environment information collected by multiple sensors, generate corresponding environmental perception and positioning data, generate an optimized driving path based on the environmental perception and positioning data through decision planning, and convert the optimized driving path into control instructions to control the wire-controlled vehicle for driving testing.

[0183] Preferably, the vehicle test execution module 30 further includes:

[0184] The global path construction submodule 31 is used to generate a global path and a test task sequence according to the test task.

[0185] The model selection submodule 32 is used to select corresponding test task scenario models and test parameters from the test scenario database according to the test task sequence, and load them into the unmanned driving test system.

[0186] The information fusion submodule 33 is used to fuse the vehicle surrounding environment information collected by various sensors to generate high-precision environment perception and positioning data.

[0187] The path optimization submodule 34 is used to generate an optimized driving path using a predetermined path planning algorithm and a motion decision algorithm according to the environmental perception and positioning data.

[0188] The vehicle test submodule 35 is used to convert the optimized driving path into a control instruction and send it to the electronic control unit of the wire-controlled vehicle according to the wire-controlled vehicle communication protocol to control the wire-controlled vehicle to perform a driving test.

[0189] The test data acquisition module 40 is used to collect various vehicle status information and test system operation data during the unmanned driving test of the wire-controlled vehicle, integrate them into a complete test data record file and store them.

[0190] Preferably, the test data collection module 40 further comprises:

[0191] The status information collection submodule 41 is used to collect various vehicle status information in real time or at a fixed time during the unmanned driving test of the wire-controlled vehicle. The vehicle status information includes at least one or more combinations of vehicle speed, acceleration, steering angle, brake pressure, motor torque, battery power, and vehicle position coordinates, and is recorded in time series.

[0192] The operation data collection submodule 42 is used to collect the test system operation data of the unmanned driving test system, and the test system operation data includes at least one or more combinations of sensor data, environmental perception and positioning data, decision planning data, and control instruction data.

[0193] The data integration submodule 43 is used to integrate the vehicle status information and the test system operation data to form a complete test data record file and store it.

[0194] The test result evaluation module 50 is used to analyze and evaluate the test data record file and generate a corresponding test report.

[0195] Preferably, the test result evaluation module 50 further comprises:

[0196] The data analysis submodule 51 is used to read the test data record file and perform processing and analysis.

[0197] The performance evaluation submodule 52 is used to evaluate different test tasks using corresponding performance evaluation indicators and analysis algorithms to obtain evaluation results.

[0198] The report generation submodule 53 is used to generate a corresponding test report according to the evaluation results. The test report includes at least one or more combinations of test tasks, scenarios, parameters, data, evaluation results, problems and improvement suggestions.

[0199] The unmanned driving test device of the wire-controlled vehicle provided by the embodiment of the present invention can achieve Figures 1-2 To avoid repetition, the various processes implemented in the embodiment of the unmanned driving test method for a wire-controlled vehicle are not described again here.

[0200] The unmanned driving testing device for a controlled-by-wire vehicle provided in an embodiment of the present invention can perform a controlled-by-wire vehicle whole vehicle test through unmanned driving technology, so as to realize the automation, precision and efficiency of the controlled-by-wire vehicle whole vehicle test, improve the reliability and effectiveness of the test results, and reduce the safety risks during the test process.

[0201] The present invention also provides a storage medium for storing Figure 1-2A computer program for any of the unmanned driving test methods for a wire-controlled vehicle. For example, a computer program instruction, 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, and can achieve the same technical effect. To avoid repetition, it will not be repeated here. The program instructions for calling the method of the present invention may be stored in a fixed or removable storage medium, and / or transmitted through a data stream in a broadcast or other signal-bearing medium and / or stored in a storage medium of a computer device that runs according to the program instructions.

[0202] According to one embodiment of the present invention, the present invention also provides a Figure 5 The electronic device 400 shown, the electronic device 400 optionally includes a storage medium 200 for storing a computer program and a processor 300 for executing the computer program, wherein when the computer program is executed by the processor 300, any of the above-mentioned unmanned driving test methods for a wire-controlled vehicle is implemented, triggering the electronic device 400 to execute the method and / or technical solution based on the aforementioned multiple embodiments, and can achieve the same technical effect, to avoid repetition, it is not repeated here. It should be noted that the electronic device in the embodiment of the present invention includes a mobile electronic device and a non-mobile electronic device. Exemplarily, the mobile electronic device can be a mobile phone, a tablet computer, a laptop computer, a PDA, an in-vehicle electronic device, a wearable device, a super mobile personal computer, a netbook or a personal digital assistant, etc., and the non-mobile electronic device can be a server, a network attached storage (Network Attached Storage, NAS), a personal computer (personal computer, PC), a television (television, TV), a teller machine or a self-service machine, etc., which is not specifically limited in the embodiment of the present invention.

[0203] It should be noted that the present invention can be implemented in software and / or a combination of software and hardware, for example, can be implemented using an application specific integrated circuit (ASIC), a general purpose computer or any other similar hardware device. In one embodiment, the software program of the present invention can be executed by a processor to implement the above steps or functions. Similarly, the software program of the present invention (including related data structures) can be stored in a computer-readable recording medium, for example, a RAM memory, a magnetic or optical drive or a floppy disk and the like. In addition, some steps or functions of the present invention can be implemented using hardware, for example, as a circuit that cooperates with a processor to perform each step or function.

[0204] The present invention can be implemented on a computer as a computer-implemented method, or implemented in dedicated hardware, or implemented in a combination of the two. The executable code or part thereof for the method according to the present invention can be stored on a computer program product. Examples of computer program products include memory devices, optical storage devices, integrated circuits, servers, online software, etc. Optionally, the computer program product includes a non-temporary program code component stored on a computer-readable medium so as to perform the method according to the present invention when the program product is executed on a computer.

[0205] In an alternative embodiment, the computer program comprises computer program code means adapted to perform all the steps of the method according to the invention when the computer program is run on a computer. Optionally, the computer program is embodied on a computer readable medium.

[0206] It should be noted that, in this article, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the method and device in the embodiment of the present invention is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0207] Of course, the present invention may have many other embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art may make various corresponding changes and modifications based on the present invention, but these corresponding changes and modifications should all fall within the scope of protection of the claims attached to the present invention.

Claims

1. A method for testing an unmanned driving of a controlled-by-wire vehicle, characterized in that: The following steps are involved: Constructing a variety of test task scenario models according to different test tasks of the wire-controlled vehicle, and setting corresponding test parameters for different test tasks; Connecting the controlled-by-wire vehicle to an unmanned driving test system and initializing the unmanned driving test system; Selecting the corresponding test task scenario model and the test parameters according to the test task sequence, fusing the vehicle surrounding environment information collected by multiple sensors to generate corresponding environmental perception and positioning data, generating an optimized driving path through decision planning based on the environmental perception and positioning data, and converting the optimized driving path into control instructions to control the controlled-by-wire vehicle to perform a driving test; During the unmanned driving test of the controlled-by-wire vehicle, various vehicle status information and test system operation data are collected, integrated into a complete test data record file and stored; Analyze and evaluate the test data record files and generate corresponding test reports.

2. The unmanned driving test method of a controlled-by-wire vehicle according to claim 1, characterized in that: The steps of constructing a plurality of test task scenario models according to different test tasks of the wire-controlled vehicle and setting corresponding test parameters for different test tasks include: The test parameters and the test task scenario model are associated and stored to form a test scenario database.

3. The unmanned driving test method of a controlled-by-wire vehicle according to claim 2, characterized in that: The steps of constructing a plurality of test task scenario models according to different test tasks of the wire-controlled vehicle and setting corresponding test parameters for different test tasks include: According to the different test tasks of the controlled-by-wire vehicle, a plurality of test task scenario models are constructed using the task map construction module, wherein the test task scenario models include at least one or more combinations of a straight-line acceleration test task scenario, a curve driving test task scenario, a braking test task scenario, a special road condition driving test task scenario, and a combined working condition test task scenario; Using the mission map construction module to set at least one or more combinations of road geometry, road friction coefficient, traffic signs and markings, and surrounding obstacle parameter information in the scene to simulate the environment of a real test site; The corresponding test parameters are set according to different test tasks, and the test tasks include at least one or more combinations of vehicle initial speed, target speed, acceleration, deceleration, steering angle and steering angular velocity.

4. The unmanned driving test method of a controlled-by-wire vehicle according to claim 2, characterized in that: The step of connecting the controlled-by-wire vehicle to the unmanned driving test system and initializing the unmanned driving test system includes: Connecting the controlled-by-wire vehicle to the unmanned driving test system through wired or wireless communication to establish a vehicle control signal transmission channel and a vehicle status information feedback channel; Initialization operations are performed on the unmanned driving test system, including loading a test task map, calibrating a sensor system, and initializing at least one or more combinations of vehicle environment perception, positioning, decision planning, and motion control parameters.

5. The unmanned driving test method of a controlled-by-wire vehicle according to claim 2, characterized in that: The steps of selecting a corresponding test task scenario model and the test parameters according to the test task sequence, fusing the vehicle surrounding environment information collected by multiple sensors to generate corresponding environment perception and positioning data, generating an optimized driving path through decision planning based on the environment perception and positioning data, and converting the optimized driving path into a control instruction to control the controlled-by-wire vehicle to perform a driving test include: The task map construction module generates the global path and the test task sequence according to the test task; Selecting the corresponding test task scenario model and the test parameters from the test scenario database according to the test task sequence, and loading them into the unmanned driving test system; Fusing the vehicle surrounding environment information collected by the multiple sensors to generate high-precision environment perception and positioning data; Generate the optimized driving path using a predetermined path planning algorithm and a motion decision algorithm according to the environmental perception and positioning data; The optimized driving path is converted into a control instruction and sent to the electronic control unit of the drive-by-wire vehicle according to the drive-by-wire vehicle communication protocol to control the drive-by-wire vehicle to perform a driving test.

6. The unmanned driving test method of a controlled-by-wire vehicle according to claim 2, characterized in that: During the unmanned driving test of the controlled-by-wire vehicle, the steps of collecting various vehicle status information and test system operation data, integrating them to form a complete test data record file and storing them include: During the unmanned driving test of the controlled-by-wire vehicle, various vehicle status information is collected in real time or at a fixed time, wherein the vehicle status information includes at least one or more combinations of vehicle speed, acceleration, steering angle, brake pressure, motor torque, battery power, and vehicle position coordinates, and is recorded in time series; Collecting the test system operation data of the unmanned driving test system, wherein the test system operation data includes at least one or more combinations of sensor data, environmental perception and positioning data, decision planning data, and control instruction data; The vehicle status information and the test system operation data are integrated and processed to form a complete test data record file and store it.

7. The unmanned driving test method of a controlled-by-wire vehicle according to claim 2, characterized in that: The step of analyzing and evaluating the test data record file and generating a corresponding test report comprises: Read the test data record file and perform processing and analysis; For different test tasks, corresponding performance evaluation indicators and analysis algorithms are used to evaluate and obtain evaluation results; The corresponding test report is generated according to the evaluation result, and the test report includes at least one or more combinations of test tasks, scenarios, parameters, data, evaluation results, problems and improvement suggestions.

8. An unmanned driving test device for a controlled-by-wire vehicle constructed based on the method described in any one of claims 1 to 7, characterized in that: The device comprises: A task map construction module, used to construct a variety of test task scenario models according to different test tasks of the wire-controlled vehicle, and set corresponding test parameters for different test tasks; A system initialization module, used to connect the controlled-by-wire vehicle to the unmanned driving test system and initialize the unmanned driving test system; A vehicle test execution module is used to select the corresponding test task scenario model and the test parameters according to the test task sequence, fuse the vehicle surrounding environment information collected by multiple sensors, generate corresponding environmental perception and positioning data, generate an optimized driving path through decision planning based on the environmental perception and positioning data, and convert the optimized driving path into a control instruction to control the wire-controlled vehicle to perform a driving test; A test data acquisition module, used to collect various vehicle status information and test system operation data during the unmanned driving test of the wire-controlled vehicle, integrate them into a test data record file and store them; The test result evaluation module is used to analyze and evaluate the test data record files and generate corresponding test reports.

9. A storage medium, characterized in that: A computer program for storing a computer program for executing an unmanned driving test method for a wire-controlled vehicle according to any one of claims 1 to 7.

10. An electronic device comprising a storage medium, a processor, and a computer program stored on the storage medium and executable on the processor, characterized in that: When the processor executes the computer program, the unmanned driving test method for a wire-controlled vehicle according to any one of claims 1 to 7 is implemented.

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