Automatic testing method, device and equipment for automatic driving function, medium and product

Abstract

The invention discloses an automatic testing method and device for an automatic driving function, equipment, a medium and a product, and relates to the field of automatic driving, and the method comprises the steps: loading and operating a current test case; the current test case comprises a current scene file; the current scene file is matched with a map box in a domain controller; the traffic participants in the current scene file have preset waiting time; controlling the current scene file to run for the preset waiting time; sending a signal for opening an automatic driving function to a domain controller according to the current scene file running for the preset waiting time so as to complete the test of the automatic driving function under the current scene file; and updating the current test case until all the test cases are completed. According to the method and the device, the problem of automatic test failure caused by position jump generated by test scene switching can be solved.

Description

Technical Field

[0001] This application relates to the field of autonomous driving, and particularly to an automated test method, device, equipment, medium and product for autonomous driving functions. Background Art

[0002] With the development of intelligent driving technology, many automobile companies have deployed pilot assist driving and autonomous driving functions. Verifying high-level assist driving or autonomous driving functions is a prerequisite for vehicle mass production. When performing automated tests, the initial position of the vehicle being tested will keep changing as the test scenario switches. The position jump will cause the IMU driver to report an error, and then the function cannot be activated, resulting in test failure. Therefore, a method is needed to solve the problem of autonomous driving test failure caused by position jumps. Summary of the Invention

[0003] The purpose of this application is to provide an automated test method, device, equipment, medium and product for autonomous driving functions, which can solve the problem of automatic test failure caused by position jumps during the switching of test scenarios.

[0004] To achieve the above purpose, this application provides the following solutions: In a first aspect, this application provides an automated test method for autonomous driving functions, including: Loading and running the current test case; the current test case includes the current scenario file; the current scenario file matches the map box in the domain controller; there is a preset waiting time for traffic participants in the current scenario file; Controlling the current scenario file to run for the preset waiting time; Sending a signal to turn on the autonomous driving function to the domain controller according to the current scenario file after running for the preset waiting time, so as to complete the test of the autonomous driving function under the current scenario file; Updating the current test case until all test cases are completed.

[0005] In an embodiment, before loading and running the current test case, it further includes: Building a scenario file that matches the map box in the domain controller on the OpenDRIVE map file.

[0006] In an embodiment, controlling the current scenario file to run for the preset waiting time specifically includes: Obtaining the latitude and longitude information of the initial position of the vehicle being tested in the current scenario file; Sending the latitude and longitude information of the initial position of the vehicle being tested to the domain controller to control the domain controller to initialize according to the latitude and longitude information of the initial position of the vehicle being tested; Set the initial vehicle speed in the current scenario file as the target speed using the dynamic model, and set the traffic participants in the current scenario file to be stationary within a preset waiting time.

[0007] In one embodiment, send the longitude and latitude information of the initial vehicle position to the domain controller to control the domain controller to perform initialization according to the longitude and latitude information of the initial vehicle position. Specifically, it includes: Send the longitude and latitude information of the initial vehicle position to the domain controller to control the domain controller to perform initialization positioning, planning, and control node drive initialization according to the longitude and latitude information of the initial vehicle position.

[0008] In one embodiment, send a signal to the domain controller to turn on the autonomous driving function according to the current scenario file after running the preset waiting time, so as to complete the test of the autonomous driving function under the current scenario file. Specifically, it includes: Send a signal to the domain controller to turn on the autonomous driving function; At the same time, the traffic participants in the current scenario file after running the preset waiting time run according to the set trajectory, and the vehicle runs under the control of the domain controller at the target speed, so as to complete the test of the autonomous driving function under the current scenario file.

[0009] In one embodiment, the preset waiting time is 30s.

[0010] In a second aspect, the present application provides an automated test device for autonomous driving functions, including: A loading module for loading and running the current test case; the current test case includes the current scenario file; the current scenario file matches the map box in the domain controller; there is a preset waiting time for the traffic participants in the current scenario file; A waiting module for controlling the current scenario file to run the preset waiting time; A sending module for sending a signal to the domain controller to turn on the autonomous driving function according to the current scenario file after running the preset waiting time, so as to complete the test of the autonomous driving function under the current scenario file; An updating module for updating the current test case until all test cases are completed.

[0011] In a third aspect, the present application provides a computer device, including: a memory, a processor, and a computer program stored on the memory and executable on the processor, and the processor executes the computer program to implement the automated test method for autonomous driving functions.

[0012] In a fourth aspect, the present application provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the automated test method for autonomous driving functions is implemented.

[0013] In a fifth aspect, the present application provides a computer program product, including a computer program which, when executed by a processor, implements the automated test method for the autonomous driving function described above.

[0014] According to the specific embodiments provided by the present application, the following technical effects are disclosed in the present application: The present application provides an automated test method, device, equipment, medium and product for an autonomous driving function, which loads and runs the current test case; the current test case includes a current scenario file; the current scenario file matches the map box in the domain controller; there is a preset waiting time for traffic participants in the current scenario file; controls the current scenario file to run the preset waiting time; sends a signal to turn on the autonomous driving function to the domain controller according to the current scenario file after running the preset waiting time to complete the test of the autonomous driving function under the current scenario file; updates the current test case until all test cases are completed. By running the pre-waiting time for the scenario file in the current test case, it can be ensured that the vehicle has completed initialization, can drive at the target vehicle speed set in the dynamic model, and the current scenario file matches the map box in the domain controller, thereby being able to solve the problem of automatic test failure caused by position jumps due to switching test scenarios. Description of the Drawings

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required to be used in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0016] Figure 1 It is an application environment diagram of an automated test method for an autonomous driving function in an embodiment of the present application.

[0017] Figure 2 It is a flowchart of an automated test method for an autonomous driving function provided in an embodiment of the present application.

[0018] Figure 3 It is a schematic diagram of an automated test method for an autonomous driving function.

[0019] Figure 4 It is a data transmission diagram in the automated test method for an autonomous driving function.

[0020] Figure 5 It is a scenario diagram.

[0021] Figure 6 It is a test result diagram.

[0022] Figure 7 Schematic diagram of the functional modules of an automated driving function automated test device provided in another embodiment of the present application.

[0023] Figure 8 Schematic diagram of the structure of a computer device provided in an embodiment of the present application.

[0024] Figure 9 Schematic diagram of the test scheme adopted for the test scenario. Detailed implementation manners

[0025] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0026] By designing static elements of traffic facilities such as traffic signs and traffic markings in the scenario, as well as dynamic elements such as the relative positions, speeds, accelerations, and lane-changing actions of other traffic participants such as pedestrians, non-motor vehicles, and motor vehicles with respect to the vehicle itself, testing the functions and performance of the vehicle in various fragmented scenarios is a common simulation test method for the HIL simulation system for assisted driving functions. For example, placing the vehicle in front of a crosswalk and zebra crossing to test whether the vehicle's algorithm can stop and wait within 1 m before the stop line when there are pedestrians passing through the zebra crossing; or placing the vehicle not far in front of a roundabout to test whether the vehicle can drive around the roundabout normally, etc. test scenarios; or testing an obstacle avoidance test scenario where there is an interfering vehicle in the safety detection area of the adjacent lane. The simulation scenarios used for testing can use any map and do not need to be consistent with the map inside the domain controller. However, different from low-level assisted driving, high-level assisted driving or autonomous driving often uses a high-precision map, with a map box built inside the domain controller. The prerequisite for the vehicle to activate the autonomous driving function is that the vehicle's longitude and latitude information obtained from the IMU must be within the vehicle's designed driving operation domain range, otherwise the positioning drive cannot be started normally, resulting in the failure to activate the autonomous driving function successfully.

[0027] One way that can be adopted is to place the vehicle on an openDrive map that matches the map box inside the domain controller, configure random traffic flows within the simulation road range, and after the tested vehicle activates the autonomous driving function, run in the scenario, and test whether the functions of the vehicle meet the design requirements of the function specifications by interacting with other traffic participants in the random traffic flows. However, due to the uncontrollability of the random traffic flows, this method cannot effectively conduct accurate tests on all function points required by the function specifications in accordance with the detailed requirements of the function specifications.

[0028] In addition, when actually performing the test, the vehicle speed of this vehicle needs to be a fixed value, so as to more accurately design information such as the relative distance, relative speed or driving trajectory of surrounding traffic participants. It is necessary to solve the problem of HIL test execution with certain requirements for positioning accuracy when the algorithm starts for intelligent driving functions at L3 and above in the prior art: when switching between different test scenarios, the positioning information needs to be continuous, and the position of this vehicle cannot change suddenly. After the sudden change, a drive error is reported and the test cannot be executed; during actual testing, different test scenarios test different functions, resulting in a necessary change in the initial position of the vehicle under test.

[0029] To make the above objects, features and advantages of the present application more obvious and understandable, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0030] The automated test method for autonomous driving functions provided in the embodiments of the present application can be applied to, for example, Figure 1 the application environment shown. Among them, the terminal 102 communicates with the server 104 through the network. The data storage system can store the data that the server 104 needs to process. The data storage system can be set up separately, integrated on the server 104, or placed on the cloud or other servers. The terminal 102 can send the current scenario file to the server 104. After receiving the current scenario file, for the current scenario file, the server 104 controls the current scenario file to run the preset waiting time; according to the current scenario file after running the preset waiting time, it sends a signal to turn on the autonomous driving function to the domain controller to complete the test of the autonomous driving function under the current scenario file; updates the current test case until all test cases are completed. In addition, in some embodiments, the automated test method for autonomous driving functions can also be implemented separately by the server 104 or the terminal 102.

[0031] Among them, the terminal 102 can be, but is not limited to, various desktop computers, laptop computers, smart phones, tablet computers, Internet of Things devices and portable wearable devices. The Internet of Things devices can be smart speakers, smart TVs, smart air conditioners, smart in-vehicle devices, etc. The portable wearable devices can be smart watches, smart bracelets, head-mounted devices, etc. The server 104 can be implemented by an independent server or a server cluster composed of multiple servers, and can also be a cloud server.

[0032] In an exemplary embodiment, as Figure 2 shown, an automated test method for autonomous driving functions is provided. This method is executed by a computer device, and can specifically be executed alone by a computer device such as a terminal or a server, or jointly executed by a terminal and a server. In the embodiments of the present application, taking this method as applied to Figure 1Taking the server 104 in [the relevant context] as an example for illustration, it includes the following steps 201 to step 204.

[0033] Step 201: Load and run the current test case; the current test case includes the current scenario file; the current scenario file matches the map box in the domain controller; there is a preset waiting time for traffic participants in the current scenario file.

[0034] Step 202: Control the current scenario file to run the preset waiting time.

[0035] Step 203: Send a signal to turn on the automatic driving function to the domain controller according to the current scenario file after running the preset waiting time, so as to complete the test of the automatic driving function under the current scenario file.

[0036] Step 204: Update the current test case until all test cases are completed.

[0037] By running the preset waiting time for the current scenario file, it can be ensured that the vehicle has completed initialization, can drive at the target vehicle speed set in the dynamic model, and the current scenario file matches the map box in the domain controller, thus being able to solve the problem of automatic test failure caused by position jumps resulting from switching test scenarios.

[0038] In an exemplary embodiment, before loading and running the current test case, it further includes: building a scenario file that matches the map box in the domain controller on the OpenDRIVE map file.

[0039] In an exemplary embodiment, controlling the current scenario file to run the preset waiting time specifically includes: Obtain the longitude and latitude information of the vehicle's initial position in the current scenario file.

[0040] Send the longitude and latitude information of the vehicle's initial position to the domain controller to control the domain controller to perform initialization according to the longitude and latitude information of the vehicle's initial position.

[0041] Set the initial vehicle speed of the vehicle in the current scenario file as the target vehicle speed using the dynamic model, and set the traffic participants in the current scenario file to be stationary within the preset waiting time.

[0042] In an exemplary embodiment, sending the longitude and latitude information of the vehicle's initial position to the domain controller to control the domain controller to perform initialization according to the longitude and latitude information of the vehicle's initial position specifically includes: sending the longitude and latitude information of the vehicle's initial position to the domain controller to control the domain controller to perform initialization positioning, planning, and control node drive initialization according to the longitude and latitude information of the vehicle's initial position.

[0043] In an exemplary embodiment, a signal to turn on the autonomous driving function is sent to the domain controller according to the current scenario file after running a preset waiting time, so as to complete the test of the autonomous driving function under the current scenario file. Specifically, it includes: sending a signal to turn on the autonomous driving function to the domain controller; at the same time, the traffic participants in the current scenario file after running the preset waiting time run according to the set trajectory, and the vehicle runs under the control of the domain controller at the target speed, so as to complete the test of the autonomous driving function under the current scenario file.

[0044] In practical applications, the preset waiting time is 30 s.

[0045] Such as Figure 3 and Figure 4 As shown, in another exemplary embodiment, specific steps of the autonomous driving function automation test method in practical applications are provided.

[0046] 1. Construct a scenario file using an OpenDRIVE map file that matches the map box in the domain controller. Constructing the scenario file using a matching map file can ensure that the GPS longitude and latitude information output by the vehicle at any position on the map can be received by the positioning system in the domain controller, and then the vehicle position can be accurately located on the map box built into the domain control, ensuring that the positioning drive can complete the initialization process.

[0047] 2. Build a scenario file on the OpenDRIVE map file. It should be particularly noted that the traffic participants in the scenario remain stationary within the first 30 s of the scenario running (the Delay value is set to 30 s). After 30 s, the traffic participants start to run according to the trajectory set by the test case. The reason for setting it to 30 s is that the time taken for the domain control to complete the initialization of nodes such as positioning, planning, and control is about more than 20 s, less than 30 s. Adding steps such as intermediate parameter setting, model reset, and starting autonomous driving, 30 s can ensure that the vehicle has completed initialization and can drive at the preset vehicle speed in dynamics, and at the same time, it does not have to waste too much time waiting, resulting in too long a time for a single test case.

[0048] 3. In the dynamic model, an initial vehicle speed is given to the vehicle model. The vehicle will run in the scenario at this initial speed. If the autonomous driving algorithm takes over, the vehicle model will drive according to the acceleration, braking, steering and other instructions given by the algorithm. If there is no takeover by the autonomous driving algorithm, the vehicle model will freely slide along the current driving direction of the vehicle until it stops due to tire friction and wind resistance. The initial vehicle speed given in this step is 0, and the autonomous driving function has not been activated yet, which can ensure that the vehicle remains stationary at the initial position. The vehicle dynamics model includes tire resistance and wind resistance. As long as the vehicle is in a driving state, the dynamic model will automatically update the vehicle speed impact caused by the driving resistance. When the autonomous driving algorithm is activated, it will adjust the target vehicle speed or steering angle according to the results of perception and decision-making, and implement them into the acceleration, braking, steering and other instructions of the vehicle. Otherwise, the vehicle will freely slide based on the original initial vehicle speed and initial driving direction. Among them, the adjustment method is that the algorithm outputs the target values of acceleration and steering angle, and these values will be transmitted to the dynamic model through the interface. After the dynamic model runs, it will output the adjusted vehicle speed and updated steering angle.

[0049] 4. Load the scenario file in the scenario simulation software in the automated test software and run the scenario.

[0050] 5. As the scenario file is loaded, the longitude and latitude information of the vehicle's initial position read by the IMU inertial navigation model is updated immediately, and the IMU model obtains the longitude and latitude information of the vehicle's initial position. One of the functions of the automated test software is signal transmission and instruction sending. Here, it means that the automated test software reads the longitude and latitude signals from the IMU inertial navigation model, edits this information into an instruction, and sends this instruction to the domain controller. The domain controller will read the longitude and latitude information in this instruction and perform the initial position update procedure.

[0051] 6. Send remote instructions from the automated test software to the domain controller through the network, and control the domain controller to perform positioning, planning, and control the initialization of the drivers of each node based on the updated longitude and latitude information. When the initialization is completed, the domain controller is in a ready state for the automatic driving function to be activated; the test object of the hardware in the loop is the domain controller, and the simulation environment model is the working environment of the domain controller. The IMU inertial navigation model replaces the real inertial navigation hardware of the real vehicle to transmit the signal to the domain controller. After the domain controller receives the positioning information and completes the initialization, the perception planning algorithm can be started normally. The automated test software is a higher-level encapsulation covered on the HIL test system, which uniformly schedules the test content, so the information of the inertial navigation model sends instructions to the domain controller through the automated test software to complete the update of positioning. The domain controller performs positioning, planning, and initialization of the drivers of each node based on the updated longitude and latitude information. Specifically, the positioning receives the latitude and longitude altitude information of the current vehicle and matches and identifies it with the map information built into the algorithm. After the identification is normal, the initialization process inside the positioning module is performed. After the positioning node is successfully initialized, the planning node is triggered to be initialized. After the planning node is initialized, the control node is triggered to be initialized.

[0052] 7. In the dynamics, set the initial speed of the vehicle as the target speed. (This target speed is a value that has been confirmed during the scene design, and can effectively interact with other traffic participants in the scene. For example, if the algorithm does not intervene and the vehicle travels at the initial speed, pedestrians moving in the crosswalk may collide with the vehicle at the pre-collision point) Complete the reset of the dynamics model to ensure successful assignment.

[0053] 8. The automated test software sends a signal to the domain controller to turn on the autopilot function, and the domain controller activates the autopilot function after receiving the signal. At this point, the initialization is complete, and the initialization time is 30 seconds.

[0054] 9. After the successful activation of the autonomous driving function, the autonomous driving algorithm takes over the control vehicle. At the same time, other traffic participants in the scene start to run according to the established trajectory. The perception sensor model obtains the information in the scene and transmits it to the domain controller. The domain controller controls the vehicle movement through a series of positioning, perception, fusion, planning, and control algorithms to achieve the purpose of functional testing and performance testing. The simulation test requires that the relevant information of the simulation environment be given to the positioning and perception-related interface inputs, and at the same time, the interface output from the control end is given to the external simulation model to complete a HIL closed loop and carry out testing. The domain controller realizes autonomous vehicle control through multi-module collaboration: first, the environmental perception layer integrates multi-sensor data such as lidar and cameras to detect surrounding obstacles and road information in real time; secondly, the positioning and construction layer combines GNSS, IMU and SLAM algorithms to achieve centimeter-level positioning; then, the decision-making and planning layer is used The algorithm, state machine, and reinforcement learning generate the optimal path and behavior strategy, and use polynomial curves and S-T diagrams for motion planning; finally, the control execution layer outputs steering / braking instructions through the CAN bus using an internal algorithm, and the entire process runs in a closed loop with a delay of 100ms level. At the same time, relying on ROS2 and the functional safety mechanism to ensure the reliability of the system.

[0055] Taking the scenario of a pedestrian crossing the road as an example, the test steps of the test case are as follows.

[0056] 1. The vehicle speed of the host vehicle reaches the initial vehicle speed of 20 km / h set in the scenario.

[0057] 2. [wait = 1s] Turn on the autonomous driving function switch.

[0058] 3. When a pedestrian crosses the road, the host vehicle decelerates. After the pedestrian passes, it travels at the originally planned speed.

[0059] 4. The test ends.

[0060] The expected results are as follows.

[0061] (1) When a pedestrian crosses the road at a long distance, the host vehicle decelerates. After the pedestrian passes, it travels at the originally planned speed.

[0062] (2) The distance between the host vehicle and the pedestrian ≥ the braking distance of the host vehicle.

[0063] As Figure 4 shown, the automated test software can internally connect to the scenario simulation software to load the scenario file, and obtain the GPS information of the host vehicle in the scenario and the motion state information of the host vehicle. At the same time, the automated test software can also load the IMU model and the dynamics model, and through establishing a mapping relationship, complete the transmission and update of the GPS information and the IMU model in the scenario, and complete the transmission and update of the motion state information of the host vehicle and the dynamics model in the scenario. The automated test software can externally complete the network communication with the domain controller, support the real-time communication of the GPS information, the motion state control and feedback information, and the positioning drive module and the motion control module of the domain control value, and at the same time send the start and stop of the autonomous driving function to the domain control value module to control the opening and closing of the autonomous driving function.

[0064] The sketch of the scenario is as Figure 5 shown, and the test scheme adopted to implement the above test scenario is as Figure 9 shown, which specifically includes the following steps.

[0065] 1 Load the scenario.

[0066] 2 Start data recording.

[0067] 3 Start the scenario running. Here, the scenario refers to the current scenario file.

[0068] 4 Restart the domain controller drive. Transmit the vehicle's location information in the scenario to the domain controller, and at the same time send a drive instruction to restart the domain controller to complete the initialization of modules such as positioning, planning, and control.

[0069] 5 Set the initial vehicle speed. By updating the initial vehicle speed value of the dynamic model, set the initial vehicle speed of this vehicle to the scenario design speed.

[0070] 6 Reset the model to make the vehicle speed setting take effect.

[0071] 7 Send an instruction to activate the autonomous driving function of the domain controller.

[0072] 8 Continuously judge whether a collision occurs. The vehicle executes autonomous driving under the control of the domain controller and continuously records whether a collision occurs during the process.

[0073] 9 If a vehicle collision is detected, immediately stop the scenario. If the vehicle is driving normally without a collision, continue to run until the end according to the scenario design time (usually 60s).

[0074] 10 Send an instruction to turn off the autonomous driving function of the domain controller.

[0075] 11 Reset the model.

[0076] 12 Stop information recording.

[0077] The test results are as Figure 6 shown, where VehicleSpeed represents the vehicle speed, TarGearFlag represents the activation status information feedback by autonomous driving, Initial_Speed represents the initial vehicle speed information provided by the dynamic model, Reset_Model represents the model reset information, and CD_lat_x and CD_lon_y represent the longitude and latitude information respectively. It can be seen from the figure that during the preparation stage before the activation of the autonomous driving function (before 32s on the time axis), both the vehicle speed and the initial vehicle speed provided by the dynamic model are 0, the autonomous driving function is not activated and is 0, and the longitude and latitude information CD_lat_x and CD_lon_y remains unchanged.

[0078] When the initial vehicle speed of the dynamic model is changed to 21 km / h and the model is reset, and at the same time the autonomous driving function is turned on and the domain control feedback shows that the autonomous driving function is in an activated state, the vehicle starts to move at this time, the longitude and latitude information changes continuously with time, the vehicle issues target torque, braking deceleration requests, and steering control signals, and the domain control's performance for pedestrian crossing is tested by the autonomous driving algorithm to control the vehicle.

[0079] When waiting to run the next scenario, the vehicle's position changes with the scenario update. The vehicle completes a new round of positioning, planning, control drive update in a stationary state, and then starts a new scenario test.

[0080] The present application has the following advantages: By designing that both the vehicle under test and other traffic participants remain stationary for an initial period of time in the scenario, the problem of incorrect positioning and driving errors in the domain controller caused by the sudden change of the initial position of the vehicle during scenario switching, which leads to the failure of successfully activating the autonomous driving function, is solved; When the nodes such as the domain controller positioning are initialized, a fixed initial vehicle speed is given to the vehicle through the vehicle dynamics model and the autonomous driving function is activated simultaneously, and at the same time, other traffic participants in the scenario start to run according to the established trajectory, so as to ensure that the vehicle under test can interact with other traffic participants at the vehicle speed designed in the scenario and achieve the test purpose.

[0081] Through the present application, it can effectively ensure that the autonomous driving function test can be quickly carried out while comprehensively covering the function points within the function specification. The test content of the initial position and initial vehicle speed of the vehicle under test can be flexibly adjusted, ensuring that the autonomous driving function is in a normal activation state in each scenario and the vehicle interacts with other traffic participants and traffic signs and other elements in the scenario to achieve the test goal.

[0082] Based on the same inventive concept, the embodiment of the present application also provides an autonomous driving function automated test device for implementing the above-mentioned autonomous driving function automated test method. The solution for solving the problem provided by this device is similar to the solution described in the above method. Therefore, the specific limitations in one or more embodiments of the autonomous driving function automated test device provided below can refer to the limitations on the autonomous driving function automated test method in the above text, and will not be elaborated here.

[0083] As Figure 7 shown, in an exemplary embodiment, an autonomous driving function automated test device is provided, including.

[0084] A loading module 701, configured to load and run the current test case; the current test case includes the current scenario file; the current scenario file matches the map box in the domain controller; there is a preset waiting time for traffic participants in the current scenario file.

[0085] A waiting module 702, configured to control the current scenario file to run the preset waiting time.

[0086] A sending module 703, configured to send a signal to open the autonomous driving function to the domain controller according to the current scenario file after running the preset waiting time, so as to complete the test of the autonomous driving function under the current scenario file.

[0087] An updating module 704, configured to update the current test case until all test cases are completed.

[0088] In an exemplary embodiment, a computer device is provided. The computer device can be a server or a terminal, and its internal structural diagram can be as shown in Figure 8 . The computer device includes a processor, a memory, an input / output interface (Input / Output, abbreviated as I / O), and a communication interface. Among them, the processor, the memory, and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store automated test data for autonomous driving functions. The input / output interface of the computer device is used to exchange information between the processor and external devices. The communication interface of the computer device is used to communicate with external terminals through a network connection. When the computer program is executed by the processor, it implements an automated test method for autonomous driving functions.

[0089] Those skilled in the art can understand that Figure 8 the structure shown in is only a block diagram of some structures related to the solution of this application, and does not constitute a limitation on the computer device to which the solution of this application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements. In an exemplary embodiment, a computer device is provided, including a memory and a processor. A computer program is stored in the memory, and when the processor executes the computer program, the above method embodiments are implemented.

[0090] In an exemplary embodiment, a computer-readable storage medium is provided, storing a computer program, and when the computer program is executed by a processor, the above method embodiments are implemented.

[0091] In an exemplary embodiment, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the above method embodiments are implemented.

[0092] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use, and processing of relevant data need to comply with relevant regulations.

[0093] In this application, all actions of obtaining signals, information, or data are carried out on the premise of complying with the corresponding data protection regulations and policies of the country where the location is located and obtaining authorization from the owner of the corresponding device.

[0094] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, database, or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memories. Non-volatile memories can include read-only memory (ROM), magnetic tapes, floppy disks, flash memories, optical memories, high-density embedded non-volatile memories, resistive random access memories (ReRAM), magnetoresistive random access memories (MRAM), ferroelectric random access memories (FRAM), phase change memories (PCM), graphene memories, etc. Volatile memories can include random access memory (RAM) or external cache memories, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0095] The databases involved in the embodiments provided in this application can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., without limitation. The processors involved in the embodiments provided in this application can be general-purpose processors, central processors, graphics processors, digital signal processors, programmable logics, data processing logics based on quantum computing, etc., without limitation.

[0096] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0097] In this text, specific examples are used to elaborate on the principles and implementation manners of this application. The descriptions of the above embodiments are only used to help understand the method of this application and its core idea; at the same time, for those of ordinary skill in the art, according to the idea of this application, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation to this application.

Claims

1. An automated test method for an autonomous driving function, characterized in that, The automated test method for the automatic driving function includes: Loading and running the current test case; the current test case includes the current scenario file; the current scenario file matches the map box in the domain controller; there is a preset waiting time for traffic participants in the current scenario file; Controlling the current scenario file to run for the preset waiting time; Sending a signal to turn on the automatic driving function to the domain controller according to the current scenario file after running for the preset waiting time, so as to complete the test of the automatic driving function under the current scenario file; Updating the current test case until all test cases are completed.

2. The automated test method for the autonomous driving function according to claim 1, wherein Before loading and running the current test case, it further includes: Building a scenario file that matches the map box in the domain controller on the OpenDRIVE map file.

3. The automated test method for the autonomous driving function according to claim 1, wherein Controlling the current scenario file to run for the preset waiting time, specifically including: Obtaining the longitude and latitude information of the initial position of the vehicle in the current scenario file; Sending the longitude and latitude information of the initial position of the vehicle to the domain controller to control the domain controller to perform initialization according to the longitude and latitude information of the initial position of the vehicle; Setting the initial vehicle speed in the current scenario file to the target speed using the dynamic model, and setting the traffic participants in the current scenario file to be stationary within the preset waiting time.

4. The automated test method for the autonomous driving function according to claim 3, characterized in that, Sending the longitude and latitude information of the initial position of the vehicle to the domain controller to control the domain controller to perform initialization according to the longitude and latitude information of the initial position of the vehicle, specifically including: Sending the longitude and latitude information of the initial position of the vehicle to the domain controller to control the domain controller to perform initialization positioning, planning, and control node drive initialization according to the longitude and latitude information of the initial position of the vehicle.

5. The automated test method for autonomous driving functions according to claim 3, wherein Sending a signal to turn on the automatic driving function to the domain controller according to the current scenario file after running for the preset waiting time, so as to complete the test of the automatic driving function under the current scenario file, specifically including: Sending a signal to turn on the automatic driving function to the domain controller; At the same time, the traffic participants in the current scenario file after running for the preset waiting time run according to the set trajectory, and the vehicle runs at the target speed under the control of the domain controller, so as to complete the test of the automatic driving function under the current scenario file.

6. The automated test method for the autonomous driving function according to claim 1, characterized in that The preset waiting time is 30s.

7. An automated test device for an autonomous driving function, characterized in that The automated test device for the automatic driving function includes: A loading module for loading and running the current test case; the current test case includes the current scenario file; the current scenario file matches the map box in the domain controller; there is a preset waiting time for traffic participants in the current scenario file; A waiting module for controlling the current scenario file to run for the preset waiting time; A sending module for sending a signal to turn on the automatic driving function to the domain controller according to the current scenario file after running for the preset waiting time, so as to complete the test of the automatic driving function under the current scenario file; An updating module for updating the current test case until all test cases are completed.

8. A computer device, comprising: A memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor executes the computer program to implement the automated test method for the automatic driving function according to any one of claims 1-6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the automated test method for the autonomous driving function described in any one of claims 1-6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the automated test method for the autonomous driving function described in any one of claims 1-6.

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