Scene test vehicle path guidance method, device, terminal, system and medium

Abstract

The invention is suitable for the technical field of automatic driving test, and provides a scene test vehicle path induction method, device, terminal and system, and a medium. The vehicle path guidance method comprises the following steps: acquiring current driving information of a corresponding collaborative participant and preset driving information of the corresponding collaborative participant in a key node in a test case; and according to the current driving information and preset driving information of the key node, generating an induction path of the corresponding collaborative participant, and displaying the induction path on an induction interface so as to guide the corresponding collaborative participant of the test vehicle to complete a preset event in the test case according to the induction path in real time. Through the scheme, the collaborative participants can be assisted to collaborate with the automatic driving test vehicle to complete the test task.

Description

Technical Field

[0001] The present application belongs to the field of autonomous driving test technology, and in particular, relates to a vehicle path induction method, device, terminal, system and medium for scenario testing. Background Art

[0002] The rapid development of autonomous driving technology has brought about a rapid growth in demand for autonomous vehicle testing. In order to ensure the safety and performance of autonomous vehicles, a wide range of real-world scenarios need to be simulated during testing, including complex traffic conditions, road conditions, and collaborative participants.

[0003] In autonomous driving tests, the task of collaborative participants is to ensure that the simulation process proceeds smoothly to produce reliable test results. Collaborative participants usually include simulator operators, virtual vehicle drivers, virtual pedestrians, etc. They need to use simulators to simulate various traffic scenarios and test cases, but the simulators involved in the test themselves do not know how to drive or act to meet the test cases. Therefore, a path induction method needs to be provided to assist collaborative participants in cooperating with autonomous driving vehicles to complete test tasks. Summary of the invention

[0004] The embodiments of the present application provide a vehicle path induction method, device, terminal, system and medium for scenario testing, which can assist collaborative participants in cooperating with the autonomous driving test vehicle to complete the test task.

[0005] In a first aspect, an embodiment of the present application provides a vehicle path induction method for scenario testing, the vehicle path induction method comprising:

[0006] Obtaining current driving information of the corresponding collaborative participant and preset driving information of the corresponding collaborative participant at key nodes in the test case;

[0007] Based on the current driving information and the preset driving information of key nodes, the induced path of the corresponding collaborative participants is generated and displayed on the induced interface to guide the corresponding collaborative participants of the test vehicle in real time to complete the preset events in the test case according to the induced path.

[0008] In a possible implementation of the first aspect, the current driving information includes at least the current position, current speed and current time of the corresponding collaborative participant; the preset driving information includes at least the target position and target time of the corresponding collaborative participant.

[0009] In a possible implementation of the first aspect, generating a guided path corresponding to the collaborative participant according to the current driving information and the preset driving information of the key node includes:

[0010] Determine the current expected position and current expected speed of the corresponding collaborative participant according to the current position and target position, current time and target time, and current speed of the corresponding collaborative participant;

[0011] According to the current expected position and the current expected speed, an induced path of the corresponding collaborative participant is generated, and the induced path includes the current expected position or the current expected speed of the corresponding collaborative participant.

[0012] In a possible implementation manner of the first aspect, the method further includes:

[0013] If the current expected position is ahead of the current position, the deceleration warning information and the current expected speed will be displayed on the guidance interface;

[0014] If the current expected position lags behind the current position, the acceleration warning information and the current expected speed will be displayed on the guidance interface;

[0015] If the current expected position is the same as the current position, the preset completion information will be displayed on the induction interface.

[0016] In a possible implementation of the first aspect, the obtaining of preset driving information corresponding to a collaborative participant at a key node in the test effort includes:

[0017] The content of the test case is previewed in three dimensions through the three-dimensional visualization platform to obtain the preset driving information of the corresponding collaborative participants at key nodes.

[0018] In a possible implementation of the first aspect, the three-dimensional preview of the test case content through the three-dimensional visualization platform to obtain preset driving information of the corresponding collaborative participants at key nodes includes:

[0019] Demonstrate the contents of the test case in three dimensions through a three-dimensional visualization platform, and set preset driving information of the corresponding collaborative participant in response to a target setting instruction of the corresponding collaborative participant;

[0020] In response to the data import instruction of the simulator, preset driving information of the corresponding collaborative participant imported by the three-dimensional visualization platform is received.

[0021] In a possible implementation manner of the first aspect, the method further includes:

[0022] The induction interface also includes the current driving information of the corresponding collaborative participants and the current driving scene.

[0023] In a second aspect, an embodiment of the present application provides a vehicle path induction device for scenario testing, the vehicle induction device comprising:

[0024] An information acquisition module, used to acquire the current driving information of the corresponding collaborative participant and the preset driving information of the corresponding collaborative participant at key nodes in the test case;

[0025] The path guidance module is used to generate the guidance path of the corresponding collaborative participants according to the current driving information and the preset driving information of the key nodes, and display it on the guidance interface to guide the corresponding collaborative participants of the test vehicle in real time to complete the preset events in the test case according to the guidance path.

[0026] In a possible implementation of the second aspect, the current driving information in the above-mentioned vehicle path induction device includes at least the current position, current speed and current time of the corresponding collaborative participant; the preset driving information includes at least the target position and target time of the corresponding collaborative participant.

[0027] Optionally, in a possible implementation manner of the second aspect, the path induction module includes:

[0028] A first determining unit, configured to determine a current expected position and a current expected speed of the corresponding collaborative participant according to the current position and the target position, the current time and the target time, and the current speed of the corresponding collaborative participant;

[0029] The first generating unit is used to generate an induced path corresponding to the collaborative participant according to the current expected position and the current expected speed, where the induced path includes the current expected position or the current expected speed of the corresponding collaborative participant.

[0030] Optionally, in another possible implementation of the second aspect, the vehicle path induction device further includes:

[0031] A first judgment unit is used to display a deceleration warning message and a current expected speed on the guidance interface if the current expected position is ahead of the current position;

[0032] A second judgment unit is used to display acceleration warning information and the current expected speed on the guidance interface if the current expected position lags behind the current position;

[0033] The third judgment unit is used to display preset completion information on the induction interface if the current expected position is the same as the current position.

[0034] Optionally, in another possible implementation of the second aspect, the information acquisition module includes:

[0035] The first acquisition unit is used to perform a three-dimensional preview of the content of the test case through a three-dimensional visualization platform to obtain preset driving information of the corresponding collaborative participants at key nodes.

[0036] Optionally, in yet another possible implementation manner of the second aspect, the first acquiring unit may be specifically configured to:

[0037] Demonstrate the contents of the test case in three dimensions through a three-dimensional visualization platform, and set preset driving information of the corresponding collaborative participant in response to a target setting instruction of the corresponding collaborative participant;

[0038] In response to the data import instruction, the preset driving information of the corresponding collaborative participant imported by the three-dimensional visualization platform is received.

[0039] Optionally, in a possible implementation manner of the second aspect, the guidance interface in the above-mentioned vehicle path guidance device also includes current driving information of the corresponding collaborative participant and a current driving scene.

[0040] In a third aspect, an embodiment of the present application provides a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the vehicle path induction method of the first aspect when executing the computer program.

[0041] In a fourth aspect, an embodiment of the present application provides a vehicle path guidance system for scenario testing, the vehicle path guidance system comprising: a three-dimensional visualization platform, at least one terminal device and corresponding collaborative participants, and a test vehicle;

[0042] A three-dimensional visualization platform for demonstrating the content of the test case and the scenario of the scenario test, and setting the preset driving information of the corresponding collaborative participant in response to the target setting instruction of the corresponding collaborative participant;

[0043] The terminal device is used to obtain the current driving information of the corresponding collaborative participant and the preset driving information of the corresponding collaborative participant at the key nodes in the test case; generate the induced path of the corresponding collaborative participant according to the current driving information and the preset driving information of the key nodes, and display it on the induced interface, so as to guide the corresponding collaborative participant of the test vehicle to complete the preset events in the test case according to the induced path in real time;

[0044] A test vehicle is used to travel according to the content of the test case to complete preset events in the test case with at least one collaborative participant.

[0045] Optionally, in a possible implementation manner of the fourth aspect, the terminal device is bound to a corresponding collaborative participant;

[0046] The above-mentioned terminal device is used to simulate the driving behavior of the corresponding collaborative participant and display it on the induction interface of the terminal device.

[0047] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the vehicle path induction method of the first aspect is implemented.

[0048] A fifth aspect of an embodiment of the present application provides a computer program product. When the computer program product is run on a terminal device, the terminal device executes the vehicle path induction method of the first aspect.

[0049] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0050] By obtaining the current driving information of the corresponding collaborative participant and the preset driving information of the corresponding collaborative participant at the key node in the test case, it can be concluded whether the corresponding collaborative participant has driven to the target position of the key node in the test case at the key node, and then generate the induced path of the corresponding collaborative participant, which is displayed in the induced interface to guide the corresponding collaborative participant of the test vehicle to complete the preset events in the test case according to the induced path in real time. The above scheme can assist the collaborative participants to cooperate with the autonomous driving test vehicle to complete the test task, that is, the target task in the test case. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0052] Figure 1 It is a structural schematic diagram of a vehicle path guidance system for scenario testing provided by an embodiment of the present application;

[0053] Figure 2 It is a flow chart of a vehicle path induction method for scenario testing provided by an embodiment of the present application;

[0054] Figure 3 This is a schematic diagram of the induction display of the cooperatively participating vehicles provided in an embodiment of the present application;

[0055] Figure 4 This is a schematic diagram of the induction display of collaboratively participating pedestrians provided in an embodiment of the present application;

[0056] Figure 5 It is a structural schematic diagram of a vehicle path induction device for scenario testing provided by an embodiment of the present application;

[0057] Figure 6 It is a structural diagram of a terminal device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0058] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0059] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0060] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0061] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0062] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0063] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0064] It should be understood that the size of the serial numbers of each step in this embodiment does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of this application.

[0065] Autonomous driving tests require collaborative vehicles and collaborative pedestrians to participate in the test. The task of the collaborative participants is to ensure that the simulation process goes smoothly to produce reliable test results. The collaborative participants usually include simulator operators, virtual vehicle drivers, virtual pedestrians, etc. They need to use simulators to simulate various traffic scenarios and test cases, but the simulators involved in the test themselves do not know how to drive or act to meet the test cases. Therefore, a path induction method is needed to assist the collaborative participants in cooperating with the autonomous driving vehicle to complete the test task.

[0066] In order to enable collaborative participants to complete the test task in collaboration with the autonomous driving vehicle, the present application provides a vehicle path induction method for scenario testing. By obtaining the current driving information of the corresponding collaborative participants and the preset driving information of the corresponding collaborative participants at the key nodes in the test case, it can be obtained whether the corresponding collaborative participants drive to the target position of the key nodes in the test case at the key nodes, and then generate the induced path of the corresponding collaborative participants, which is displayed in the induction interface to guide the corresponding collaborative participants of the test vehicle to complete the preset events in the test case according to the induced path in real time. The above scheme can assist collaborative participants to complete the test task in collaboration with the autonomous driving test vehicle.

[0067] The vehicle path induction method, device, terminal, system, storage medium and computer program for scenario testing provided by the present application are described in detail below with reference to the accompanying drawings.

[0068] Figure 1 A schematic diagram of the structure of a vehicle path guidance system for scenario testing provided by an embodiment of the present application is shown, wherein the vehicle path guidance system comprises: a three-dimensional visualization platform, at least one terminal device and corresponding collaborative participants, and a test vehicle.

[0069] When assisting collaborative participants to collaborate with autonomous driving test vehicles to complete test tasks, the three-dimensional visualization platform can first demonstrate the content of the test case and the scenario of the scenario test, and set the preset driving information of the corresponding collaborative participants. Secondly, the preset driving information is transmitted to the terminal device, and the terminal device obtains the current driving information of the corresponding collaborative participants and the preset driving information of the key nodes. Finally, the terminal device generates an induced path for the corresponding collaborative participants based on the current driving information of the corresponding collaborative participants and the preset driving information of the corresponding collaborative participants at the key nodes in the test case, and displays it on the induced interface to guide the corresponding collaborative participants of the test vehicle in real time to complete the preset events in the test case according to the induced path, thereby ensuring that the test conditions of the test vehicle are met. Furthermore, the test vehicle can travel according to the content of the test case to complete the preset events in the test case with at least one collaborative participant. The present application can assist collaborative participants to collaborate with autonomous driving test vehicles to complete test tasks by generating induced paths for collaborative participants.

[0070] The terminal device and the corresponding collaborative participant are bound to each other, that is, the terminal device can display the driving behavior of the corresponding collaborative participant. It should be understood that the terminal device can refer to a simulator, which can be installed on a collaborative participating vehicle or worn on a collaborative participating pedestrian.

[0071] In a possible implementation, the terminal device is bound to a corresponding collaborative participant; it is used to simulate the driving behavior of the corresponding collaborative participant and is displayed on an induction interface of the terminal device.

[0072] In the embodiment of the present application, for different corresponding collaborative participants, the binding of the terminal device and the corresponding collaborative participant has different definitions, that is, when the corresponding collaborative participant is a collaborative vehicle, the binding of the terminal device and the corresponding collaborative participant may refer to the terminal device being installed in the collaborative vehicle, and the driver can drive the collaborative vehicle according to the induced path through the induced interface of the terminal device. When the corresponding collaborative participant is a collaborative pedestrian, the binding of the terminal device and the corresponding collaborative participant may refer to the terminal device being worn on the body of the collaborative pedestrian. In this case, the terminal device may refer to a simulator for simulating pedestrian behavior. The pedestrian wears the simulator and drives according to the induced path through the induced interface of the simulator.

[0073] It should be understood that the corresponding collaborative participants may also refer to other participating objects in the test case, all of which may be bound to the terminal device. This application does not specifically limit other participating objects.

[0074] Taking the corresponding collaborative participant as a collaborative vehicle as an example, the specific execution process of the vehicle path guidance system of the scenario test can be: assuming that the target task of the test vehicle in this test case is to avoid the collaborative vehicle at the target corner position, the test case is first demonstrated on a three-dimensional visualization platform to confirm the driving path of the collaborative vehicle and the preset driving information at key nodes, such as arriving at the first position at the first time point, arriving at the second position at the second time point, and arriving at the target corner position at the third time point. After determining the driving path of the collaborative participating vehicle and the preset driving information of the key nodes, the preset driving information of the collaborative participants at the key nodes in the test case is transmitted to the terminal device, and the terminal device obtains the driving information at the key nodes and the current driving information of the collaborative participating vehicle, such as the current position, current speed, and current time; based on the current driving information and the driving information at the key nodes, it can be predicted whether the collaborative participating vehicle can reach the key node at the specified time, for example, whether it can reach the first position at the first time point. If it is predicted that it cannot reach the first position at the first time point, then according to the current driving information and the first position corresponding to the first time point, the induced path of the collaborative participating vehicle is generated and displayed on the induced interface, that is, the collaborative participating vehicle can reach the first position at the first time point according to the induced path. According to the above method, it is ensured that the collaborative participating vehicle can reach the target corner position at the target speed at the third time point to assist the test vehicle in completing the target task in the test case.

[0075] In an embodiment of the present application, process control of collaborative participants is achieved through three-phase mapping of the platform, collaborative participants and test vehicles, and an induced path is generated through real-time detection of collaborative participants, which can ensure the occurrence of preset events corresponding to the target tasks in the test case and complete the test tasks.

[0076] Figure 2 A schematic flow chart of a vehicle path induction method for scenario testing provided in an embodiment of the present application is shown.

[0077] Step 201 : obtaining current driving information of a corresponding collaborative participant and preset driving information of a corresponding collaborative participant at a key node in a test case.

[0078] It should be noted that the vehicle path induction method for scenario testing of the embodiment of the present application can be executed by the vehicle path induction device for scenario testing of the embodiment of the present application. The vehicle path induction device for scenario testing of the embodiment of the present application can be configured in any terminal device to execute the vehicle path induction method for scenario testing of the embodiment of the present application. For example, the vehicle path induction device for scenario testing of the embodiment of the present application can be configured in a simulator to induce the driving path of collaborative participants and assist the test vehicle to complete the preset events in the test case.

[0079] Among them, collaborative participants may refer to other traffic participants who interact with the test vehicle or share road space. For example, system participants may include other vehicles, pedestrians, bicycles, etc. in addition to the test vehicle. It should be noted that the existence of collaborative participants increases the complexity of the test, because the autonomous driving vehicle must be able to recognize, understand and anticipate the behavior of other traffic participants, and take appropriate measures to ensure the smoothness and safety of traffic. Therefore, during the test process, in order to ensure that the test vehicle can successfully interact with the corresponding collaborative participants, the collaborative participants are required to complete the preset events of the test case and interact effectively with the test vehicle.

[0080] Among them, the test cases may include testing content of the perception system, such as simulating road conditions under different weather conditions, including rainy days, snowy days and sunny days, to ensure that the sensors can correctly identify and adapt to different environments; they may also include path planning and decision-making testing content, such as testing path planning in complex urban environments, including intersections, roundabouts and viaducts, to ensure that the vehicle can safely and efficiently traverse these scenarios; they may also include emergency response tests, such as simulating a sudden obstacle appearing in front of the vehicle to verify whether the system can detect it in time and take appropriate emergency braking or evasive actions. In an embodiment of the present application, collaborative participants can simulate sudden obstacles.

[0081] Among them, the key nodes in the test case can refer to the key nodes preset by the user. The position, time, speed and other information that should be reached at the key nodes can be met, that is, the conditions for determining that the collaborative participants can complete the preset events in the test case.

[0082] In the embodiment of the present application, the terminal device can detect the current driving information of the corresponding collaborative participant through the perception system, wherein the perception system obtains information such as roads, vehicle positions, obstacles, and the vehicle's own position through vehicle-mounted sensors and vehicle networking technology, and transmits the acquired information to the vehicle control center (i.e., the terminal device) to provide decision-making basis for the autonomous driving car. Therefore, perception can be understood as taking the data of multiple sensors and the information of high-precision maps as information input, and after a series of calculations and processing, accurately perceive the vehicle's own driving environment. Since the terminal device and the corresponding collaborative participant are bound, the terminal device is installed on the corresponding collaborative participant, so the terminal device can detect the current driving information of the corresponding collaborator through the perception system.

[0083] In a possible implementation, the current driving information includes at least the current position, current speed, and current time of the corresponding collaborative participant.

[0084] In an embodiment of the present application, the terminal device can obtain the preset driving information of the corresponding collaborative participants at the key nodes in the test case by receiving external information. For example, the user sets the preset driving information, and then stores the preset driving information of the corresponding collaborative participants at the key nodes in the test case in the terminal device by writing.

[0085] In a possible implementation, obtaining preset driving information of a corresponding collaborative participant at a key node in a test case includes:

[0086] The content of the test case is previewed in three dimensions through the three-dimensional visualization platform to obtain the preset driving information of the corresponding collaborative participants at key nodes.

[0087] Among them, the three-dimensional visualization platform may refer to a three-dimensional visualization software that can present the test scene in a visualized driving manner. Specifically, the content of the test case can be input into the three-dimensional visualization software, and the three-dimensional visualization software can be used to preview all the test case contents in three dimensions, that is, preview the set driving behaviors of each corresponding collaborative participant and test vehicle in the scene of the test case. At the same time, during the three-dimensional preview process, the preset driving information of the collaborative participants at the key nodes can be set, and the preset driving information can be transmitted to the terminal device so that the terminal device can obtain the preset driving information of the corresponding collaborative participants at the key nodes. It should be understood that the present application is intended to perform process control, so the key node can refer to any position before reaching the target position in the test scene, which is set by the user. That is, the above-mentioned steps of previewing the content of the test case in three dimensions through the three-dimensional visualization platform and obtaining the preset driving information of the corresponding collaborative participants at the key nodes can specifically include:

[0088] Demonstrate the contents of the test case in three dimensions through a three-dimensional visualization platform, and set preset driving information of the corresponding collaborative participant in response to a target setting instruction of the corresponding collaborative participant;

[0089] In response to the data import instruction, the preset driving information of the corresponding collaborative participant imported by the three-dimensional visualization platform is received.

[0090] Among them, responding to the target setting instruction of the corresponding collaborative participant means that the user generates the target setting instruction by clicking or highlighting the trigger, and in response to the target setting instruction, the preset driving information of the corresponding collaborative participant is obtained.

[0091] During the test, the terminal device can respond to the data import instruction and receive the preset driving information of the corresponding collaborative participant imported by the three-dimensional visualization platform.

[0092] In a possible implementation, the preset driving information at least includes the target location and target time of the corresponding collaborative participant, so as to ensure that the corresponding collaborative participant can reach the target location of the preset event in the test case on time according to the target location and target time.

[0093] In a possible implementation, the preset driving information at least includes a target speed for the corresponding collaborative participant to reach the target position, so as to ensure that the corresponding collaborative participant can reach the target position of the preset event in the test case on time and at the target speed according to the target position, target time and target speed.

[0094] Step 202, based on the current driving information and the preset driving information of the key nodes, an induction path for the corresponding collaborative participant is generated and displayed on the induction interface to guide the corresponding collaborative participant of the test vehicle in real time to complete the preset events in the test case according to the induction path.

[0095] Among them, the induced path is used to guide the corresponding collaborative participants to drive along the induced path.

[0096] The induction interface may refer to a display interface of a terminal device, and the induction interface may display the induction path of the corresponding collaborative participant.

[0097] In an embodiment of the present application, the current driving information can be compared with the preset driving information of the key nodes to predict whether the preset driving information can be completed at the key nodes if the current driving information is followed. If the preset driving information cannot be completed at the key nodes if the current driving information is followed, then in order to complete the preset driving information at the key nodes, how can the corresponding collaborative participants change their current driving behavior? Based on this, an induced path for the corresponding collaborative participants can be generated.

[0098] In a possible implementation, generating a induced path corresponding to the collaborative participant according to the current driving information and the preset driving information of the key node includes:

[0099] Determine the current expected position and current expected speed of the corresponding collaborative participant according to the current position and target position, current time and target time, and current speed of the corresponding collaborative participant;

[0100] According to the current expected position and the current expected speed, an induced path of the corresponding collaborative participant is generated.

[0101] In the embodiment of the present application, the current expected position and current expected speed of the corresponding collaborative participant can be determined by comparing the current position and target position, current time and target time of the corresponding collaborative participant, and according to the current speed, wherein the current expected speed refers to the current speed that can reach the target position at the target time. For example, the current position is the first position, the target position is the second position, the difference is the target position difference, and then the difference between the current time and the target time is the target time difference. If the product of the current speed and the target time difference is less than the target position difference, the current expected speed should be calculated based on the target position difference and the target time difference.

[0102] The current expected position refers to the position that the corresponding collaborative participant should reach if the current speed of the corresponding collaborative participant does not change. The specific calculation method can be: according to the time difference between the current time and the target time and the current speed, the time difference between the current expected position and the target position is calculated, and the current expected position is determined according to the time difference between the current position and the target position and the current position.

[0103] Specifically, the generated induced path corresponding to the collaborative participant includes the current expected position and the current expected speed of the corresponding collaborative participant, and the path is a path from the current position to the current expected position.

[0104] For example, Figure 3 The figure shows a schematic diagram of the induction display of a collaborative participating vehicle provided by an embodiment of the present application; the figure shows the current expected position (the position of the vehicle in the box) and the current expected speed (50km / h) of the collaborative participating vehicle. When the user drives the collaborative participating vehicle, he can drive according to the current expected position and current expected speed displayed on the interface to reach the target position at the target time.

[0105] For example, Figure 4 The figure shows a schematic diagram of the induction display of a collaborative pedestrian provided by an embodiment of the present application; the figure shows the current expected position (key node at 40 meters) and the induction path and driving trajectory of the collaborative pedestrian. When the pedestrian wears the terminal device, he can walk according to the current expected position, induction path and driving trajectory displayed on the interface, and can reach the target position at the target time.

[0106] It should be understood that the above Figure 3 and Figure 4 The induction interface display diagram is only an example and does not constitute a limitation of the present application.

[0107] In a possible implementation, the vehicle path induction method further includes:

[0108] If the current expected position is ahead of the current position, the deceleration warning information and the current expected speed will be displayed on the guidance interface;

[0109] If the current expected position lags behind the current position, the acceleration warning information and the current expected speed will be displayed on the guidance interface;

[0110] If the current expected position is the same as the current position, the preset completion information will be displayed on the induction interface.

[0111] Among them, the current expected position is ahead of the current position means that the current expected position is closer to the target position in the path of the test case than the current position, and it is necessary to accelerate; the current expected position is behind the current position means that the current expected position is farther from the target position in the path of the test case than the current position, and it is necessary to decelerate; if the current expected position is the same as the current position, the corresponding collaborative participant can continue to drive at the current speed.

[0112] In a possible implementation, the induction interface also includes current driving information of the corresponding collaborative participant and the current driving scene.

[0113] In an embodiment of the present application, the current driving information of the corresponding collaborative participant is directly displayed on the induction interface, so that the user can intuitively see whether he should slow down or speed up, avoiding the user from checking the current driving information on the dashboard, which is more convenient and quick.

[0114] In the embodiment of the present application, by obtaining the current driving information of the corresponding collaborative participant and the preset driving information of the corresponding collaborative participant at the key node in the test case, it can be obtained whether the corresponding collaborative participant drives to the target position of the key node in the test case at the key node, and then the induced path of the corresponding collaborative participant is generated and displayed in the induced interface to guide the corresponding collaborative participant of the test vehicle to complete the preset events in the test case according to the induced path in real time. The above scheme can assist the collaborative participants to complete the test task in collaboration with the autonomous driving test vehicle.

[0115] The vehicle path induction method corresponding to the scenario test in the above embodiment, Figure 5 The schematic diagram of the structure of the vehicle path induction device for scenario testing provided by an embodiment of the present application is shown. For the convenience of explanation, only the parts related to the embodiment of the present application are shown.

[0116] See also Figure 5 , the vehicle path induction device 500 comprises:

[0117] The information acquisition module 501 is used to acquire the current driving information of the corresponding collaborative participant and the preset driving information of the corresponding collaborative participant at the key nodes in the test case;

[0118] The path guidance module 502 is used to generate a guidance path for the corresponding collaborative participants based on the current driving information and the preset driving information of the key nodes, and display it on the guidance interface to guide the corresponding collaborative participants of the test vehicle to complete the preset events in the test case according to the guidance path in real time.

[0119] In an embodiment of the present application, the current driving information in the vehicle path induction device includes at least the current position, current speed and current time of the corresponding collaborative participant; the preset driving information includes at least the target position and target time of the corresponding collaborative participant.

[0120] In the embodiment of the present application, the path induction module 502 may include:

[0121] A first determining unit, configured to determine a current expected position and a current expected speed of the corresponding collaborative participant according to the current position and the target position, the current time and the target time, and the current speed of the corresponding collaborative participant;

[0122] The first generating unit is used to generate an induced path corresponding to the collaborative participant according to the current expected position and the current expected speed, where the induced path includes the current expected position or the current expected speed of the corresponding collaborative participant.

[0123] In an embodiment of the present application, the vehicle path induction device further includes:

[0124] A first judgment unit is used to display a deceleration warning message and a current expected speed on the guidance interface if the current expected position is ahead of the current position;

[0125] A second judgment unit is used to display acceleration warning information and the current expected speed on the guidance interface if the current expected position lags behind the current position;

[0126] The third judgment unit is used to display preset completion information on the induction interface if the current expected position is the same as the current position.

[0127] In the embodiment of the present application, the information acquisition module 501 includes:

[0128] The first acquisition unit is used to perform a three-dimensional preview of the content of the test case through a three-dimensional visualization platform to obtain preset driving information of the corresponding collaborative participants at key nodes.

[0129] In the embodiment of the present application, the first acquisition unit may be specifically used for:

[0130] Demonstrate the contents of the test case in three dimensions through a three-dimensional visualization platform, and set preset driving information of the corresponding collaborative participant in response to a target setting instruction of the corresponding collaborative participant;

[0131] In response to the data import instruction, the preset driving information of the corresponding collaborative participant imported by the three-dimensional visualization platform is received.

[0132] In an embodiment of the present application, the guidance interface in the above-mentioned vehicle path guidance device also includes the current driving information of the corresponding collaborative participant and the current driving scene.

[0133] In actual use, the vehicle path induction device for scenario testing provided in the embodiment of the present application can be configured in any electronic device to execute the vehicle path induction method for the aforementioned scenario testing.

[0134] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0135] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0136] See also Figure 6 , shows a schematic diagram of the structure of a terminal device provided by an embodiment of the present application, such as Figure 6 As shown, the terminal device 600 of this embodiment includes: at least one processor 610 ( Figure 6 Only one is shown), a memory 620 and a computer program 621 stored in the memory 620 and executable on the at least one processor 610, wherein the processor 610 implements the steps in the vehicle path induction method embodiment of the above-mentioned scenario test when executing the computer program 621.

[0137] It should be noted that the terminal device 600 may refer to a computing device such as a desktop computer, a notebook, a PDA, and a cloud server. The terminal device may include, but is not limited to, a processor 610 and a memory 620. Those skilled in the art will understand that Figure 6It is only an example of the terminal device 600 and does not constitute a limitation on the terminal device 600. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components, for example, it may also include input and output devices, network access devices, etc.

[0138] The processor 610 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0139] In some embodiments, the memory 620 may be an internal storage unit of the terminal device 600, such as a hard disk or memory of the terminal device 600. In other embodiments, the memory 620 may also be an external storage device of the terminal device 600, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the terminal device 600. Further, the memory 620 may also include both an internal storage unit of the terminal device 600 and an external storage device. The memory 620 is used to store an operating system, an application program, a boot loader (Boot Loader), data and other programs, such as the program code of the computer program, etc. The memory 620 may also be used to temporarily store data that has been output or is to be output.

[0140] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0141] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0142] In the embodiments provided in the present application, it should be understood that the disclosed devices / terminal equipment and methods can be implemented in other ways. For example, the device / terminal equipment embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0143] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0144] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0145] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0146] The present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed through a computer program product. When the computer program product runs on a terminal device, the terminal device can implement the steps in the above-mentioned method embodiments when executing.

[0147] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application is described in detail with reference to the above-mentioned embodiments, a person skilled in the art should understand that the technical solutions described in the above-mentioned embodiments can still be modified, or some of the technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A vehicle path guidance method for scenario testing, It is characterized in that The vehicle path induction method comprises: Acquire current driving information of a corresponding collaborative participant and preset driving information of the corresponding collaborative participant at key nodes in a test case; Based on the current driving information and the preset driving information of the key nodes, an induced path for the corresponding collaborative participant is generated and displayed on an induced interface to guide the corresponding collaborative participant of the test vehicle in real time to complete the preset events in the test case according to the induced path.

2. The vehicle path guidance method according to claim 1, It is characterized in that The current driving information includes at least the current position, current speed and current time of the corresponding collaborative participant; the preset driving information includes at least the target position and target time of the corresponding collaborative participant.

3. The vehicle path guidance method according to claim 2, It is characterized in that The generating the induced path of the corresponding collaborative participant according to the current driving information and the preset driving information of the key node includes: Determine the current expected position and the current expected speed of the corresponding collaborative participant according to the current position and the target position of the corresponding collaborative participant, the current time and the target time, and the current speed; An induced path of the corresponding collaborative participant is generated according to the current expected position and the current expected speed, wherein the induced path includes the current expected position or the current expected speed of the corresponding collaborative participant.

4. The vehicle path guidance method according to claim 3, It is characterized in that Also includes: If the current expected position is ahead of the current position, a deceleration warning message and the current expected speed are displayed on the guidance interface; If the current expected position lags behind the current position, displaying acceleration warning information and the current expected speed on the guidance interface; If the current expected position is the same as the current position, preset completion information is displayed on the induction interface.

5. The vehicle path guidance method according to claim 1, It is characterized in that Acquiring preset driving information of the corresponding collaborative participant at a key node in the test case includes: The content of the test case is previewed in three dimensions through a three-dimensional visualization platform to obtain preset driving information of the corresponding collaborative participants at key nodes.

6. The vehicle path guidance method according to claim 5, It is characterized in that The three-dimensional preview of the content of the test case is performed through the three-dimensional visualization platform to obtain the preset driving information of the corresponding collaborative participant at the key node, including: Demonstrating the content of the test case in three dimensions through the three-dimensional visualization platform, and setting preset driving information of the corresponding collaborative participant in response to a target setting instruction of the corresponding collaborative participant; In response to the data import instruction, the preset driving information of the corresponding collaborative participant imported by the three-dimensional visualization platform is received.

7. The vehicle path guidance method according to claim 1, It is characterized in that Also includes: The induction interface also includes the current driving information of the corresponding collaborative participant and the current driving scene.

8. A vehicle path guidance device for scenario testing, It is characterized in that The vehicle path induction device comprises: An information acquisition module, used to acquire current driving information of a corresponding collaborative participant and preset driving information of a key node of the corresponding collaborative participant in a test case; A path induction module is used to generate an induction path for the corresponding collaborative participant based on the current driving information and the preset driving information of the key node, and display it on the induction interface to guide the corresponding collaborative participant of the test vehicle in real time to complete the preset events in the test case according to the induction path.

9. A terminal device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, It is characterized in that When the processor executes the computer program, the method according to any one of claims 1 to 7 is implemented.

10. A vehicle path guidance system for scenario testing, It is characterized in that The vehicle path guidance system includes: a three-dimensional visualization platform, at least one terminal device and corresponding collaborative participants, and a test vehicle; The three-dimensional visualization platform is used to demonstrate the content of the test case and the scenario of the scenario test, and to set the preset driving information of the corresponding collaborative participant in response to the target setting instruction of the corresponding collaborative participant; The terminal device is used to obtain the current driving information of the corresponding collaborative participant and the preset driving information of the corresponding collaborative participant at the key nodes in the test case; generate the induced path of the corresponding collaborative participant according to the current driving information and the preset driving information of the key nodes, and display it on the induced interface, so as to guide the corresponding collaborative participant of the test vehicle to complete the preset events in the test case according to the induced path in real time; The test vehicle is used to travel according to the content of the test case to complete the preset events in the test case with the at least one collaborative participant.

11. The vehicle path guidance system according to claim 10, It is characterized in that The terminal device is bound to the corresponding collaborative participant; The terminal device is used to simulate the driving behavior of the corresponding collaborative participant and display it on the induction interface of the terminal device.

12. A computer-readable storage medium storing a computer program. It is characterized in that When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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