In-loop test method and device for fixed line of automatic driving vehicle

Abstract

The embodiment of the invention discloses an in-the-loop test method and device for a fixed route of an automatic driving vehicle, and the method comprises the steps: obtaining an original map information file obtained by enabling the automatic driving of a to-be-tested vehicle on a preset fixed driving route, generating a reproduction map according to the original map information file, and carrying out the visual display; editing and generating at least one in-the-loop test scene based on the visual reproduction map, and storing the in-the-loop test scene as a test scene file, wherein the in-the-loop test scene comprises basic information and obstacle information; and in the in-loop test process, when the to-be-tested vehicle runs to the scene trigger point, the test scene file is run to carry out in-loop scene test. By means of the mode, the scene library can be conveniently constructed, scene making is flexible, cost is low, efficiency is high, editing, modifying, adding, deleting, modifying and checking are convenient, and the occupied memory space is quite small.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of autonomous vehicle testing, and in particular, to a method and device for in-loop testing of an autonomous vehicle on a fixed route. Background Art

[0002] Real vehicle testing is the most accurate environment for autonomous vehicle testing. However, real vehicle testing has problems such as high costs in terms of testing time, manpower, and venue, time-consuming and laborious in changing different scenarios, difficult to ensure safety in the presence of both people and lanes, many random factors, and low repeatability. Therefore, a testing method between hardware-in-the-loop and real vehicle testing - vehicle-in-the-loop testing - can help solve this series of problems. In vehicle-in-the-loop testing, if the number and travel route, movement speed, etc. of simulated obstacles can be customized, and automatic triggering and automatic ending of scenario testing can be achieved, then multiple testing scenarios can be simulated through customized configuration combinations, realizing repeatable test conditions, customizable test scenarios, constructible test scenario libraries, saving time and costs, and reducing the probability of dangerous events, greatly improving the efficiency of autonomous driving scenario testing.

[0003] Currently, methods such as simulation construction are used for generating and triggering vehicle-in-the-loop testing scenarios of autonomous vehicles. For example, a simulation traffic flow environment is constructed for the vehicle to train the decision control of the vehicle. The simulation environment includes various scenario elements such as roads, traffic flows, traffic lights, and roadblock environments, which have problems such as high production costs, complex scenario production, large computer resource occupation by the scenario library, difficult to fully reproduce scenario testing, difficult to define the timing of test triggering and ending, and large difficulty in producing continuous scenario testing. Summary of the Invention

[0004] In view of the above problems, the embodiments of the present invention provide a method and device for in-loop testing of an autonomous vehicle on a fixed route, which overcome or at least partially solve the above problems.

[0005] According to one aspect of the embodiments of the present invention, there is provided a method for in-loop testing of an autonomous vehicle on a fixed route, the method including: obtaining an original map information file obtained by the vehicle under test when starting autonomous driving on a preset fixed driving route, generating a reproduced map based on the original map information file and performing visual display; editing and generating at least one in-loop testing scenario based on the visual reproduced map and saving it as a test scenario file, the in-loop testing scenario including basic information and obstacle information; during the in-loop testing process, when the vehicle under test runs to a scenario trigger point, running the test scenario file to perform in-loop scenario testing.

[0006] Optionally, the obtaining of the original map information file obtained by turning on automatic driving for the vehicle to be tested on a preset fixed driving route includes: turning on an in-the-loop test of automatic driving for the vehicle to be tested on a preset fixed driving route; during the in-the-loop test, obtaining the operating status information recorded by the vehicle to be tested at preset time intervals, including GPS longitude and latitude, heading angle, vehicle speed, acceleration, and automatic driving status bit, to form an original map information file.

[0007] Optionally, generating a driving trajectory according to the original map information file and displaying it visually includes: obtaining the relative position distance of each point with the first GPS point as the origin according to the original map information file to obtain the driving trajectory, and obtaining a reproduced map in combination with the operating status information of each point; and visually displaying the reproduced map.

[0008] Optionally, the visual display of the reproduced map further includes: detecting that the mouse is resting on any GPS point on the reproduced map, and automatically displaying the motion state information of the vehicle to be tested when it passes through the GPS point.

[0009] Optionally, the visualization-based reappearance map edits and generates at least one in-loop test scenario and saves it as a test scenario file, including: determining basic information of any in-loop test scenario based on the visualization of the reappearance map, the basic information including scene name, scene number, scene trigger GPS point, scene simulation signal, and judgment conditions for whether the scene is passed; adjusting and displaying the reappearance map with the scene trigger GPS point as the origin according to the basic information; adding the motion trajectory of at least one obstacle based on the reappearance map, and determining the motion parameter information of each point on the motion trajectory to complete the generation of the in-loop test scenario; repeatedly generating multiple in-loop test scenarios based on the visualization of the reappearance map, obtaining and saving the test scenario file.

[0010] Optionally, the visualization-based editing of the reproduction map generates at least one in-loop test scenario and saves it as a test scenario file, and also includes: obtaining the test scenario file and displaying it on the visualization of the reproduction map; and modifying the motion trajectory and / or motion parameter information of the obstacle in the test scenario file on the reproduction map.

[0011] Optionally, when the vehicle to be tested runs to a scenario trigger point, the test scenario file is run to perform an in-the-loop scenario test, including: interacting with a vehicle controller of the vehicle to be tested to obtain operating status information of the vehicle to be tested; when the vehicle to be tested runs to a scenario trigger point, the real-time relative position and motion parameter information of the moving obstacle is transmitted to the vehicle controller; and actual performance data of the vehicle is received in real time to realize vehicle-in-the-loop testing.

[0012] Based on the same inventive concept, an in-the-loop test device for a fixed route of an autonomous driving vehicle is provided, comprising: a map reproduction unit, used to obtain an original map information file obtained when the vehicle to be tested turns on autonomous driving on a preset fixed driving route, generate a reproduced map based on the original map information file and display it visually; a scene setting unit, used to edit and generate at least one in-the-loop test scene based on the visualized reproduced map and save it as a test scene file, wherein the in-the-loop test scene includes basic information and obstacle information; an in-the-loop test unit, used to run the test scene file to perform an in-the-loop scene test when the vehicle to be tested runs to a scene trigger point during the in-the-loop test.

[0013] Based on the same inventive concept, an embodiment of the present invention further proposes an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the aforementioned method when executing the program.

[0014] Based on the same inventive concept, an embodiment of the present invention further proposes a computer storage medium, in which at least one executable instruction is stored, and the executable instruction enables a processor to execute the aforementioned method.

[0015] The embodiment of the present invention obtains an original map information file obtained by turning on automatic driving of a vehicle to be tested on a preset fixed driving route, generates a reproduced map according to the original map information file and displays it visually; based on the visualized reproduced map, at least one in-the-loop test scenario is edited and generated and saved as a test scenario file, wherein the in-the-loop test scenario includes basic information and obstacle information; during the in-the-loop test, when the vehicle to be tested runs to an in-the-loop scenario trigger point, the test scenario file is run to perform an in-the-loop scenario test, so that a scenario library can be conveniently constructed, and the scene production is flexible, low-cost, and high-efficiency, and is convenient for editing, modification, addition, deletion, and query, and occupies very little memory space.

[0016] The above description is only an overview of the technical solution of the embodiment of the present invention. In order to more clearly understand the technical means of the embodiment of the present invention, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the embodiment of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0018] Figure 1A schematic diagram of a flow chart of an in-the-loop test method for a fixed route of an autonomous driving vehicle provided by an embodiment of the present invention is shown;

[0019] Figure 2 A schematic diagram of a recurring map according to an embodiment of the present invention is shown;

[0020] Figure 3 A schematic diagram of a pop-up window display of any GPS point on a reproduced map according to an embodiment of the present invention is shown;

[0021] Figure 4 A schematic diagram of a recurring map after adjustment according to an embodiment of the present invention is shown;

[0022] Figure 5 A schematic diagram of editing a simulated obstacle on a reproduced map according to an embodiment of the present invention is shown;

[0023] Figure 6 A schematic diagram showing the export of a test scenario file according to an embodiment of the present invention is shown;

[0024] Figure 7 A schematic diagram of modifying a test scenario file according to an embodiment of the present invention is shown;

[0025] Figure 8 A schematic diagram of an in-loop test according to an embodiment of the present invention is shown;

[0026] Fig. 9 A schematic diagram of the structure of an in-the-loop test device for a fixed route of an autonomous driving vehicle provided by an embodiment of the present invention is shown;

[0027] Fig.10 A schematic diagram of an electronic device in an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0028] The exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present invention and to enable the scope of the present invention to be fully communicated to those skilled in the art.

[0029] Figure 1 FIG. 1 is a flow chart showing a method for in-the-loop testing of a fixed route of an autonomous driving vehicle provided by an embodiment of the present invention. Figure 1 As shown, the in-loop test method of the fixed route of the autonomous driving vehicle includes:

[0030] Step S11: obtaining an original map information file obtained by turning on automatic driving of the vehicle to be tested on a preset fixed driving route, generating a reproduced map according to the original map information file and performing a visual display.

[0031] In an embodiment of the present invention, the in-the-loop test method for a fixed route of an autonomous driving vehicle is applied to a server, which can be any electronic device such as a computer or PC that communicates with an autonomous driving vehicle controller on the vehicle to be tested. The server is installed with in-the-loop test scenario editing interface software and vehicle in-the-loop test software.

[0032] In step S11, optionally, an autonomous driving in-the-loop test is started for the vehicle to be tested on a preset fixed driving route; during the in-the-loop test, the operating status information including GPS longitude and latitude, heading angle, vehicle speed, acceleration, and autonomous driving status bit recorded by the vehicle to be tested is obtained at preset time intervals to form an original map information file. The preset time can be set as needed, preferably, such as 100ms. The autonomous driving vehicle controller on the vehicle to be tested records the vehicle GPS longitude and latitude, heading angle, vehicle speed, acceleration, autonomous driving status bit and other information of the autonomous driving vehicle at this moment at regular time intervals (such as 100ms) to form an original map information file.

[0033] After obtaining the original map information file, import the file into the vehicle-in-the-loop test scenario editing interface software. According to the original map information file, the relative position distance of each point is obtained with the first GPS point as the origin, the driving trajectory is obtained, and the reappearance map is obtained in combination with the running status information of each point; the reappearance map is visualized. Specifically, the original map information file is parsed in a certain way, and the relative position distance of each point is displayed with the first GPS point as the origin, so as to visualize the driving trajectory. Figure 2 As shown, when the mouse is detected to be at any GPS point on the reproduced map, the motion state information of the vehicle to be tested when passing through the GPS point is automatically displayed. Figure 3 , click any GPS point on the reproduced map and a pop-up window will display the information of the GPS point.

[0034] Step S12: Based on the visualized reproduced map, at least one in-the-loop test scenario is edited and generated and saved as a test scenario file, wherein the in-the-loop test scenario includes basic information and obstacle information.

[0035] In step S12, optionally, based on the visualized reappearance map, basic information of any in-loop test scenario is determined, the basic information includes scenario name, scenario number, scenario trigger GPS point, scenario simulation signal, and judgment condition of whether the scenario is passed; based on the basic information, the reappearance map is adjusted and displayed with the scenario trigger GPS point as the origin; based on the reappearance map, the motion trajectory of at least one obstacle is added, and the motion parameter information of each point on the motion trajectory is determined to complete the generation of the in-loop test scenario; based on the visualized reappearance map, multiple in-loop test scenarios are repeatedly generated to obtain and save the test scenario file. The obstacle is a simulated obstacle.

[0036] The scenario trigger GPS point is the GPS point that triggers the scenario test when the vehicle to be tested drives to. Practice has shown that directly selecting a GPS point on the reproducing map as the scenario trigger GPS point can trigger the scenario test more accurately, while selecting a GPS point on the original autonomous driving map as the scenario trigger GPS point has a high chance of failure. The reason is that due to many factors, the actual autonomous driving trajectory of the vehicle will not completely follow the GPS point on the autonomous driving map. The reproducing map can better reflect the actual situation of the vehicle's actual autonomous driving trajectory. Therefore, directly select a scenario trigger GPS point on the reproducing map and fill its latitude and longitude into the table of scenario trigger GPS points.

[0037] In the embodiment of the present invention, after the basic information of the scene is edited, it is saved, and then Figure 4 As shown, click Edit, and the interface will change to a map with the trigger GPS point of the scene as the origin, showing the relative position distance between each GPS point on the reproduced map and the trigger GPS point, making it convenient to edit the movement trajectory of the simulated obstacle in the scene.

[0038] At this point, the editing of the basic information of the in-loop test scenario is completed, and then the information of the simulated obstacle in the in-loop test scenario is edited. In the embodiment of the present invention, a simulated obstacle is added, such as number 1, and the fixed driving route of the vehicle to be tested contained in the reappearance map is referenced ( Figure 5 Select the simulated obstacle No. 1 and use the mouse to edit and draw its movement trajectory ( Figure 5 The mouse is placed on each point on the interface to display the relative distance from the point to the scene test trigger point. Use this as a reference to draw the desired simulated obstacle motion trajectory. After the motion trajectory is drawn, click Save Trajectory. The simulated obstacle trajectory can become a different color from the fixed driving line. Then edit the motion parameter information of the simulated obstacle, such as its initial speed, acceleration, width, upper and lower speed limits, etc. Figure 5 As shown in the figure, one trigger point corresponds to a vehicle-in-the-loop scenario test, and one scenario test can contain several simulated obstacles.

[0039] After editing the trajectory and motion parameters of the simulated obstacle with reference to the reproduction map, you can continue to add the next obstacle of the scene. A scene contains several simulated obstacles. After the scene is edited, you can add and edit the next scene, and so on. Each scene has its own scene trigger GPS point. When the vehicle to be tested moves to the scene trigger GPS point on the fixed driving route, the corresponding in-the-loop test scene is triggered. The simulated obstacles contained in the triggered in-the-loop test scene will move according to the edited trajectory and motion parameters, and the real-time relative body position of the simulated obstacle will be sent to the autonomous driving vehicle controller in real time, so that a vehicle in-the-loop scene test can be completed. Several in-the-loop test scenes of the vehicle to be tested can be edited on an autonomous driving information reproduction map of the vehicle to be tested (corresponding to a fixed driving route of the vehicle to be tested). Such as Figure 6 As shown in the figure, after all the in-loop test scenarios are edited, you can select the Export to XML option in the upper left menu bar. After the export is successful, you can view the XML file locally.

[0040] In an embodiment of the present invention, the edited vehicle-in-the-loop test scenario can also be modified. Optionally, the test scenario file is obtained and displayed on the visual reproduction map; the motion trajectory and / or motion parameter information of the obstacle in the test scenario file is modified on the reproduction map. If you want to modify an XML scenario library file, you only need to import the reproduction map corresponding to the XML file first, and then import the XML file. All the information in the XML file will be displayed on the map and can be edited, added, deleted, modified, and checked, including the basic information of all scenes, the trajectory and motion parameters of all simulated obstacles, the triggering GPS points, etc. can all be modified. Figure 7 As shown in the figure, the trajectory and motion parameters of the simulated obstacle No. 2 are modified. After editing and modifying, you can save and export the modified XML.

[0041] Step S13: During the in-the-loop test, when the vehicle to be tested runs to a scenario trigger point, the test scenario file is run to perform an in-the-loop scenario test.

[0042] In an embodiment of the present invention, during in-the-loop testing, a server installed with in-the-loop testing software interacts with the vehicle controller of the vehicle under test to obtain the operating status information of the vehicle under test; when the vehicle under test runs to the in-scene trigger point, the real-time relative position and motion parameter information of the moving obstacle are transmitted to the vehicle controller; and the actual performance data of the vehicle is received in real time to realize vehicle in-the-loop testing.

[0043] The application-in-the-loop test software parses the test scenario file in XML format and interacts with the vehicle controller of the vehicle under test. Figure 8As shown in the figure, when the vehicle to be tested reaches the scene test trigger GPS point, the scene test will be automatically triggered. The software will send the real-time relative position and movement information of the moving simulated obstacles to the vehicle, record the actual performance data of the vehicle, and realize the in-loop test of the vehicle to be tested. When all the simulated obstacles in the triggered scene test move to their respective end points, the scene test will automatically end, and the vehicle to be tested can continue to drive forward automatically until the next scene trigger point automatically triggers the next scene test. XML files can also be imported repeatedly to reuse the test scene tests in them.

[0044] In an embodiment of the present invention, for an autonomous driving vehicle with a fixed driving route, its autonomous driving route is determined. On this basis, its autonomous driving reappearance map is used as an important reference for editing and triggering the in-loop test scene of the autonomous driving vehicle. The reappearance map of the autonomous driving vehicle is a route map recorded and generated during the autonomous driving process of the autonomous driving vehicle on its fixed autonomous driving route. Each point of the route map records in real time the GPS information, speed information, acceleration information, heading angle information, autonomous driving status information, etc. of the bus during the autonomous driving process on the fixed route. This reappearance map can be used as a reference for editing the vehicle in-loop test scene and determining the timing of triggering the scene test. It can be used to customize the motion parameters, motion trajectory and number of simulated obstacles, as well as the trigger point of the scene test to ensure the practicality and pertinence of the test. The trigger point is set on the trajectory point of the reappearance map. When the autonomous driving vehicle passes through the point automatically, the vehicle in-loop test scene will be automatically triggered, and the data during the test will be recorded for analysis. When each simulated obstacle moves to its own end point, the scene ends automatically, and the vehicle can move to the next scene trigger point to trigger the next scene test. The scene trigger points can be set at certain intervals on the visual reproduction map, and the scene test can be performed continuously. In addition, the motion trajectory, motion parameters, and number of simulated obstacles can be customized according to the needs of the test case based on the information of the visual reproduction map, which can meet the actual needs of different test cases. Since the scene elements except for simulated obstacles and some simulated signals are actual road scenes (fixed autonomous driving lines), editing and making scenes is simple, low-cost, and highly practical. The scenes can be reproduced, and the computer resources consumed by scene saving are low. It is very convenient to build a scene library. The scene production is flexible and meets the actual test needs. The scene is automatically triggered and ended, and the test data can be recorded and saved. In addition, multiple tests can be performed automatically on a line continuously, saving time and manpower.

[0045] The in-the-loop testing method for a fixed route of an autonomous driving vehicle in an embodiment of the present invention has the advantages of a simple scene production process, low cost, high efficiency, easy construction of a scene library, reusable scenes, automatic triggering and automatic termination of scenes and continuous triggering, convenient data recording and analysis, etc., simple and visual acquisition of reproduced maps, convenient and fast editing of scene testing operations, and the ability to specifically produce and edit scenes that meet the requirements of test cases. XML files are used as information carriers for storing and reading all information in the vehicle in-the-loop test scene collection, which facilitates editing, modification, addition, deletion, modification, and query, storage, and reading of the scene library, and occupies very little memory space.

[0046] In summary, the in-the-loop test method for a fixed route of an autonomous driving vehicle in an embodiment of the present invention obtains the original map information file obtained by turning on autonomous driving on a preset fixed driving route for the vehicle to be tested, generates a reproduced map based on the original map information file and displays it visually; based on the visualized reproduced map, at least one in-the-loop test scene is edited and generated and saved as a test scene file, and the in-the-loop test scene includes basic information and obstacle information; during the in-the-loop test, when the vehicle to be tested runs to the scene trigger point, the test scene file is run to perform an in-the-loop scene test, so that a scene library can be conveniently constructed, and scene production is flexible, low-cost, and highly efficient, and editing, modification, addition, deletion, and query are convenient, and very little memory space is occupied.

[0047] The above specific embodiments of the present invention are described. In some cases, the actions or steps recorded in the embodiments of the present invention can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the process depicted in the accompanying drawings does not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0048] Based on the same concept, an embodiment of the present invention also provides an in-loop test device for a fixed route of an autonomous driving vehicle. Applied to a server. Fig. 9 As shown, the in-loop test device for a fixed route of an autonomous driving vehicle includes: a map reproduction unit, a scene setting unit and an in-loop test unit.

[0049] A map reproduction unit, used to obtain an original map information file obtained by turning on automatic driving on a preset fixed driving route for the vehicle to be tested, generate a reproduced map according to the original map information file, and perform visual display;

[0050] A scene setting unit, configured to generate at least one in-the-loop test scene based on the visualized recurring map and save the scene as a test scene file, wherein the in-the-loop test scene includes basic information and obstacle information;

[0051] The in-the-loop test unit is used to run the test scenario file to perform in-the-loop scenario testing when the vehicle to be tested runs to a scenario trigger point during the in-the-loop test.

[0052] For the convenience of description, the above device is described as various modules according to their functions. Of course, when implementing the embodiment of the present invention, the functions of each module can be implemented in the same or multiple software and / or hardware.

[0053] The device of the above embodiment is applied to the corresponding method in the above embodiment, and has the beneficial effects of the corresponding method embodiment, which will not be described in detail here.

[0054] Based on the same inventive concept, an embodiment of the present invention further provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method described in any one of the above embodiments is implemented.

[0055] An embodiment of the present invention provides a non-volatile computer storage medium, wherein the computer storage medium stores at least one executable instruction, and the computer executable instruction can execute the method described in any of the above embodiments.

[0056] Fig.10 A more specific schematic diagram of the hardware structure of an electronic device provided in this embodiment is shown, and the device may include: a processor 1001, a memory 1002, an input / output interface 1003, a communication interface 1004, and a bus 1005. The processor 1001, the memory 1002, the input / output interface 1003, and the communication interface 1004 are connected to each other through the bus 1005 in the device.

[0057] The processor 1001 can be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solution provided by the method embodiment of the present invention.

[0058] The memory 1002 can be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 1002 can store an operating system and other application programs. When the technical solution provided by the method embodiment of the present invention is implemented by software or firmware, the relevant program code is stored in the memory 1002 and called and executed by the processor 1001.

[0059] The input / output interface 1003 is used to connect the input / output module to realize information input and output. The input / output module can be configured in the device as a component (not shown in the figure), or it can be externally connected to the device to provide corresponding functions. The input device can include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output device can include a display, a speaker, a vibrator, an indicator light, etc.

[0060] The communication interface 1004 is used to connect a communication module (not shown) to realize communication interaction between the device and other devices. The communication module can realize communication through a wired mode (such as USB, network cable, etc.) or a wireless mode (such as mobile network, WIFI, Bluetooth, etc.).

[0061] The bus 1005 includes a path that transmits information between various components of the device (eg, the processor 1001 , the memory 1002 , the input / output interface 1003 , and the communication interface 1004 ).

[0062] It should be noted that, although the above device only shows the processor 1001, the memory 1002, the input / output interface 1003, the communication interface 1004 and the bus 1005, in the specific implementation process, the device may also include other components necessary for normal operation. In addition, it can be understood by those skilled in the art that the above device may also only include the components necessary for implementing the embodiments of the present invention, and does not necessarily include all the components shown in the figure.

[0063] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present disclosure is limited to these examples. Based on the concept of the present disclosure, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the present invention as described above, which are not provided in detail for the sake of simplicity.

[0064] This application is intended to cover all such substitutions, modifications and variations that fall within the broad scope of all embodiments. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present invention should be included in the scope of protection of this disclosure.

Claims

1. An in-the-loop testing method for a fixed route of an autonomous driving vehicle, It is characterized in that The method comprises: Obtaining an original map information file obtained by turning on automatic driving of the vehicle to be tested on a preset fixed driving route, generating a reproduced map according to the original map information file and performing visual display; Generating at least one in-the-loop test scenario based on the visualized reproduction map editing and saving it as a test scenario file, wherein the in-the-loop test scenario includes basic information and obstacle information; During the in-loop test, the vehicle to be tested runs the test scenario file when it reaches the scenario trigger point to perform an in-loop scenario test.

2. The method according to claim 1, It is characterized in that The obtaining of the original map information file obtained by starting the automatic driving of the vehicle to be tested on a preset fixed driving route includes: Start the autonomous driving in-the-loop test on the vehicle under test on a preset fixed driving route; During the loop test, the operating status information including GPS longitude and latitude, heading angle, vehicle speed, acceleration, and automatic driving status recorded by the vehicle to be tested is obtained at preset intervals to form an original map information file.

3. The method according to claim 2, It is characterized in that The generating of the driving trajectory according to the original map information file and performing visual display includes: According to the original map information file, the relative position distance of each point is obtained with the first GPS point as the origin, the driving trajectory is obtained, and the reappearance map is obtained in combination with the running status information of each point; The reproduced map is visually displayed.

4. The method according to claim 2, It is characterized in that The visual display of the reproduced map further includes: When it is detected that the mouse is stopped at any GPS point on the reproduced map, the motion state information of the vehicle to be tested when passing through the GPS point is automatically displayed.

5. The method according to claim 1, It is characterized in that The visualization-based editing of the recurring map generates at least one in-the-loop test scenario and saves it as a test scenario file, including: Determine the basic information of any in-the-loop test scenario based on the visualized reproduction map, the basic information including the scenario name, scenario number, scenario trigger GPS point, scenario simulation signal, and the judgment condition of whether the scenario passes; According to the basic information, the reproduced map is adjusted and displayed with the scene triggering GPS point as the origin; Adding a motion trajectory of at least one obstacle based on the reproduced map, and determining motion parameter information of each point on the motion trajectory, to complete the generation of the in-the-loop test scenario; Based on the visualized reproduction map, multiple in-the-loop test scenarios are repeatedly generated to obtain and save the test scenario files.

6. The method according to claim 5, It is characterized in that The visualization-based recurrence map editing generates at least one in-the-loop test scenario and saves it as a test scenario file, further comprising: Acquire the test scenario file and display it on the visual reproduction map; The motion trajectory and / or motion parameter information of the obstacle in the test scene file is modified on the reproduced map.

7. The method according to claim 1, It is characterized in that When the vehicle to be tested runs to a scenario trigger point, the test scenario file is run to perform an in-the-loop scenario test, including: Interact with the vehicle controller of the vehicle under test to obtain the operating status information of the vehicle under test; When the vehicle to be tested runs to the scene trigger point, the real-time relative position and motion parameter information of the moving obstacle are transmitted to the vehicle controller; Receive the actual performance data of the vehicle in real time to realize vehicle-in-the-loop testing.

8. An in-the-loop test device for a fixed route of an autonomous driving vehicle, Its characteristics are: The device comprises: A map reproduction unit, used to obtain an original map information file obtained by turning on automatic driving on a preset fixed driving route for the vehicle to be tested, generate a reproduced map according to the original map information file, and display it visually; A scene setting unit, configured to generate at least one in-the-loop test scene based on the visualized recurring map and save the scene as a test scene file, wherein the in-the-loop test scene includes basic information and obstacle information; The in-the-loop test unit is used to run the test scenario file to perform in-the-loop scenario testing when the vehicle to be tested runs to a scenario trigger point during the in-the-loop test.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, Its characteristics are: When the processor executes the program, the method according to any one of claims 1 to 7 is implemented.

10. A computer storage medium, Its characteristics are: The storage medium stores at least one executable instruction, and the executable instruction enables the processor to execute the method according to any one of claims 1 to 7.

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