Scene test system and method, storage medium and computer program product

Abstract

The invention discloses a scene test system and method, a storage medium and a computer program product, and the system comprises a mobile platform which is used for moving according to a moving instruction; the at least one cantilever system is used for transmitting a suspended target object according to the steering instruction; the meteorological simulation system is used for constructing a meteorological environment where the tested object is located according to the meteorological simulation instruction; and the control system is used for controlling the mobile platform to execute a moving action, and / or controlling the cantilever system to execute a steering action, and / or controlling the meteorological simulation system to execute a meteorological simulation action according to scene control parameters and / or a target track of the target object. And test site requirements are reduced.

Description

Technical Field

[0001] This invention relates to the field of scenario testing technology, and in particular to a scenario testing system and method, storage medium and computer program product. Background Technology

[0002] In related technologies, a large test channel is used, with guide rails and lighting groups arranged inside the test channel to simulate different driving scenarios of vehicles. However, due to the large area occupied by the test device and the fact that it can only be fixed in the same position, the requirements for the test site are high. It is impossible to accurately simulate the objects and climate of intelligent driving vehicles in complex scenarios. Even if it can simulate different scenarios, its reproducibility is poor. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art.

[0004] Therefore, one objective of this invention is to provide a scenario testing system that has a simple structure, a small footprint, low cost, and reduced requirements for testing sites.

[0005] Therefore, the second objective of this invention is to propose a scenario testing method.

[0006] Therefore, a third objective of the present invention is to provide a computer-readable storage medium.

[0007] Therefore, a fourth objective of this invention is to provide a computer program product.

[0008] To achieve the above objectives, an embodiment of the first aspect of the present invention provides a scenario testing system, comprising: a mobile platform for moving according to a movement command; at least one cantilever system disposed on the mobile platform for driving a suspended target object according to a steering command; a meteorological simulation system disposed on the cantilever system for constructing a meteorological environment in which the test object is located according to a meteorological simulation command; and a control system connected to the mobile platform, the cantilever system, and the meteorological simulation system for controlling the mobile platform to perform movement actions, and / or controlling the cantilever system to perform steering actions, and / or controlling the meteorological simulation system to perform meteorological simulation actions according to scenario control parameters and / or the target trajectory of the target object.

[0009] According to the scenario testing system of the present invention, at least one cantilever system is set on a mobile platform. Through the movement of the mobile platform and the transmission of the cantilever system, the motion trajectory of the target object under different test scenarios is precisely controlled. At the same time, the meteorological simulation system constructs the meteorological environment in which the test object is located. By combining the ability to simulate the perception scenario and environmental interference factors, dynamic and static simulation tests are realized, ensuring the effectiveness of the test object in complex scenarios, as well as the consistency and repeatability of test results. Compared with the large fixed test systems of the prior art, it has a simple structure, a small footprint, low cost, and reduces the requirements for test sites.

[0010] In some embodiments, the scene control parameters include: the test speed of the test object. When the mobile platform is controlled to perform a movement action according to the scene control parameters and / or the target trajectory of the target object, the control system is specifically used to: determine the guide speed of the mobile platform according to the test speed; generate the first movement command according to the guide speed to control the mobile platform to perform the first movement action.

[0011] In some embodiments, the scene control parameters include: the first position coordinates of the test object, a lane change distance threshold between the target object and the test object, and after controlling the mobile platform to perform a first movement action, the control system is further configured to: determine the second position coordinates of the target object based on the target trajectory; determine the relative distance between the target object and the test object based on the first position coordinates and the second position coordinates; if the relative distance satisfies the lane change distance threshold, determine the moving speed and orientation of the target object based on the target trajectory; determine a first directional speed based on the moving speed and the orientation; and generate a second movement command based on the first directional speed to control the mobile platform to perform a second movement action.

[0012] In some embodiments, the cantilever system includes a rotating device and a transmission device. When the cantilever system is controlled to perform a steering action according to scene control parameters and / or the target trajectory of the target object, the control system is specifically configured to: determine the connection direction between the target object and the test object according to the target trajectory if the relative distance meets the lane change distance threshold; determine a second directional speed according to the moving speed and the connection direction; generate a steering command according to the second directional speed to control the rotating device to rotate the target object, and / or control the transmission device to transport the target object.

[0013] In some embodiments, the scene control parameters further include a longitudinal distance threshold between the mobile platform and the test object. The cantilever system includes a rotating device and a transmission device. When the cantilever system is controlled to perform a steering action according to the scene control parameters and / or the target trajectory of the target object, the control system is specifically used to: determine the longitudinal distance between the mobile platform and the test object according to the test speed; if the longitudinal distance meets the longitudinal distance threshold, control the rotating device to rotate the target object, and / or control the transmission device to transport the target object.

[0014] In some embodiments, the environmental control parameters include media interference parameters, and the meteorological simulation system includes a media interference device. When the meteorological simulation system is controlled to perform meteorological simulation actions according to the scene control parameters and / or the target trajectory of the target object, the control system is specifically used to: generate a first meteorological simulation command according to the media interference parameters; and control the media interference device to load and spray interference media according to the first meteorological simulation command.

[0015] In some embodiments, the environmental control parameters include photoelectric interference parameters, and the meteorological simulation system includes a photoelectric interference device. When the meteorological simulation system is controlled to perform meteorological simulation actions according to the scene control parameters and / or the target trajectory of the target object, the control system is specifically used to: generate a second meteorological simulation command according to the photoelectric interference parameters; and control the photoelectric interference device to emit light signals or electromagnetic signals of a specific frequency and intensity according to the second meteorological simulation command.

[0016] To achieve the above objectives, a second aspect of the present invention provides a scenario testing method, the scenario testing method comprising: acquiring scenario control parameters and a target trajectory of a target object; controlling a mobile platform to perform a movement action based on the scenario control parameters and / or the target trajectory of the target object, and / or controlling a cantilever system to perform a steering action, and / or controlling a meteorological simulation system to perform a meteorological simulation action.

[0017] According to the scenario testing method of the present invention, at least one cantilever system is set on a mobile platform. Through the movement of the mobile platform and the transmission of the cantilever system, the motion trajectory of the target object under different test scenarios is precisely controlled. At the same time, the meteorological simulation system constructs the meteorological environment in which the test object is located. By combining the ability to simulate the perception scenario and environmental interference factors, dynamic and static simulation tests are realized, ensuring the effectiveness of the test object in complex scenarios, as well as the consistency and repeatability of test results. Compared with the large fixed test systems of the prior art, it has a simple structure, a small footprint, low cost, and reduces the requirements for test sites.

[0018] To achieve the above objectives, a third aspect of the present invention provides a computer-readable storage medium, characterized in that the computer-readable storage medium stores a scenario testing program, which, when executed by a processor, implements the scenario testing method described in the above embodiments.

[0019] To achieve the above objectives, a fourth aspect of the present invention provides a computer program product comprising a computer program that, when executed by a processor, implements the scenario testing method described in the above embodiments.

[0020] According to the computer program product of the present invention, at least one cantilever system is set on a mobile platform. Through the movement of the mobile platform and the transmission of the cantilever system, the movement trajectory of the target object under different test scenarios is precisely controlled. At the same time, the meteorological simulation system constructs the meteorological environment in which the test object is located. By combining the ability to simulate the perception scene and environmental interference factors, dynamic and static simulation tests are realized, ensuring the effectiveness of the test object in complex scenarios, as well as the consistency and repeatability of test results. Compared with the large fixed test systems of the prior art, it has a simple structure, a small footprint, low cost, and reduces the requirements for test sites.

[0021] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0022] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a structural block diagram of a scenario testing system according to an embodiment of the present invention; Figure 2 This is a hardware structure diagram of a scenario testing system according to an embodiment of the present invention; Figure 3 This is a hardware structure diagram of a scenario testing system according to another embodiment of the present invention; Figure 4 This is a schematic diagram of a target object according to an embodiment of the present invention; Figure 5 This is a hardware structure diagram of a meteorological simulation system according to an embodiment of the present invention; Figure 6 This is a schematic diagram of a target trajectory according to an embodiment of the present invention; Figure 7 This is a schematic diagram of a scenario simulating a cutting-off condition according to an embodiment of the present invention; Figure 8 This is a schematic diagram of a scenario simulating a cutting-off condition according to another embodiment of the present invention; Figure 9 This is a schematic diagram of a static AEB test scenario according to an embodiment of the present invention; Figure 10 This is a schematic diagram of a multi-target complex interaction scenario according to an embodiment of the present invention; Figure 11 This is a schematic diagram of parking according to an embodiment of the present invention; Figure 12 This is a schematic diagram of a rain perception test according to an embodiment of the present invention; Figure 13 This is a schematic diagram of a fog perception test according to an embodiment of the present invention; Figure 14 This is a schematic diagram of a backlight perception test according to an embodiment of the present invention; Figure 15 This is a flowchart of a scenario testing method according to an embodiment of the present invention.

[0023] Figure label: Scenario Testing System 10; Mobile platform 1; Cantilever system 2; Weather simulation system 3; Target object 4; Test object 5; 21. X-axis drive motor; 22. Transmission belt; 23. Target object rotation axis; 24. Moving slider; 25. Cantilever rotation spindle; 26. Cantilever rotation motor; 27. Tooling bracket; 28. Counterweight; 29. ​​Connector; 30. X-axis transmission box; 31. Tooling platform base; 32. Target object rotation transmission box; 33. Target object rotation motor; 34. Cantilever rotation bearing; 35. Cantilever platform base; 36. Cantilever rotation transmission box; 311 Environmental equipment control box; 312 Sprayer variable frequency motor; 313 Sprayer water tank; 314 Sprayer pipe; Smoke generator 315; Smoke outlet pipe 316; Optical interference device 321. Detailed Implementation

[0024] To provide a more detailed understanding of the features and technical content of the embodiments of the present invention, the implementation of the embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The accompanying drawings are for illustrative purposes only and are not intended to limit the embodiments of the present invention. In the following technical description, for ease of explanation, several details are used to provide a full understanding of the disclosed embodiments. However, one or more embodiments may still be implemented without these details. In other cases, well-known structures and devices may be shown in a simplified manner to simplify the drawings.

[0025] Intelligent driving technology originated in the 1980s, and its functions are currently undergoing rapid iteration and mass production. Intelligent driving vehicles utilize visual sensors, millimeter-wave sensors, and laser sensors to perceive their surroundings. Through decision-making and planning algorithms, they make timely plans and then issue braking, accelerator, and steering wheel commands to control the vehicle, enabling complex driving behaviors such as lane keeping, intelligent lane changing, and traffic light recognition. With the development of intelligent driving technology, testing technology for intelligent driving vehicles has also rapidly evolved, forming a testing system primarily based on simulation testing, closed-scenario testing, and open road testing. Among these, scenario testing, due to its realism and high efficiency, is a key testing method for intelligent driving technology.

[0026] In terms of scenario testing, many researchers have proposed various intelligent driving testing methods, equipment, and testing devices from different perspectives and needs. For example, a strong light interference system for vehicle safety testing utilizes a large-scale light interference system to simulate a tunnel environment by arranging guide rails and light groups in the test channel; or an intelligent driving vehicle expected functional safety testing equipment that simulates rain and fog weather, supporting the simulation and testing of rain and fog conditions, but this patent is fixed and occupies a large area.

[0027] Alternatively, a scenario testing method based on the interaction of multiple traffic participants can be used to construct a test scenario on the field. The interaction and control of the scene objects are calculated in real time through the cloud to test the intelligent driving scenario on the field.

[0028] In terms of scenario construction, a method for constructing and testing extreme test scenarios for intelligent driving is proposed. Based on human experience, the extreme scenarios between social vehicles and the test vehicle at intersections are parametrically designed.

[0029] The aforementioned patents propose environmental simulation testing devices and intelligent driving scenario testing methods from different perspectives and needs. However, these testing devices are fixed and occupy a large area; or they rely on expensive testing equipment and it is difficult to guarantee the temporal sequence of traffic participants in intelligent driving scenarios; they only propose methods for constructing extreme scenarios and cannot guarantee the consistency of scenario testing results.

[0030] The following is combined with Figures 1-14 The scenario testing system 10 of this embodiment of the invention will be illustrated by example.

[0031] like Figure 1 As shown, the scenario testing system 10 of this embodiment includes: a mobile platform 1, at least one cantilever system 2, a meteorological simulation system 3, and a control system (not shown in the figure), wherein, The mobile platform 1 is used to move according to the movement command; at least one cantilever system 2 is installed on the mobile platform 1 to drive the suspended target object 4 according to the steering command; the meteorological simulation system 3 is installed on the cantilever system 2 to construct the meteorological environment of the test object 5 according to the meteorological simulation command; the control system is connected to the mobile platform 1, the cantilever system 2 and the meteorological simulation system 3, and is used to control the mobile platform 1 to perform movement actions according to the scene control parameters and / or the target trajectory of the target object 4, and / or control the cantilever system 2 to perform steering actions, and / or control the meteorological simulation system 3 to perform meteorological simulation actions.

[0032] In an embodiment, such as Figures 1-3 As shown, the mobile platform 1 serves as the carrier for all components and can be a wheeled robot. The mobile platform 1 has a built-in computing unit, communication components, and positioning equipment. The mobile platform 1 supports both human-driven and autonomous driving modes. In autonomous driving mode, the mobile platform 1 can control the brakes, accelerator, and steering wheel. The mobile platform can also communicate with the test object 5. The mobile platform 1 actively collaborates with the test object 5 to automatically perform scenario testing based on scenario testing requirements.

[0033] like Figures 1-3 As shown, the cantilever system 2 is the core component of the scene testing system 10. It can use an industrial robot, such as a three-degree-of-freedom robotic arm. The cantilever system 2 is made of lightweight materials. The X-axis drive motor 21 in the transmission device can move the target object 4 laterally through the transmission belt 22. The target object rotation axis 23 rotates the target object 4 in its own direction through the moving slider 24. The cantilever rotation spindle 25 in the rotation device rotates the cantilever system 2 in its own direction through the cantilever rotation motor 26. The tooling bracket 27 is made of aluminum profile and fixed to the top of the moving platform 1. The other side of the cantilever system 2 is fixed with a counterweight 28 by bolts, with a weight of, for example, 50 kg. In addition, it also includes X-axis transmission box 30, tooling platform base 31, target object rotation transmission box 32, target object rotation motor 33, cantilever rotation bearing 34, cantilever platform base 35, cantilever rotation transmission box 36 and other components.

[0034] The cantilever system 2 is detachable and supports the overlapping combination of two or more cantilever systems 2, superimposing multiple target objects 4 to achieve multiple target movement conditions, flexibly implementing testing. The cantilever system 2 realizes motion control and steering control of the cantilever through rotating and transmission equipment, and uses balancing devices and suspension design to stabilize the suspended target object 4, flexibly controlling parameters such as the distance between the target object 4 and the test object 5. The scenario testing system 10 combines the advantages of wheeled robots and industrial robots, that is, combining the autonomous driving function of the mobile platform 1 and the precise control of the cantilever system 2, to realize the testing of AI (Artificial Intelligence) equipment AI intelligent driving vehicles, realize precise control of the testing process and precise control of the motion trajectory of the target object 4, ensuring the consistency of test results, thus enabling the completion of highly dynamic and interactive intelligent driving scenario safety testing tasks. Compared with existing technologies, it has a simple structure and cost advantage.

[0035] like Figure 4 As shown, different types of target objects 4 can be suspended, including vulnerable road users (VRUs), vehicles, non-motorized vehicles, etc. The target object 4 is fixed to the cantilever system 2 using pins or other easily detachable but rigid connectors 29. Its suspension height is adjustable and it can be automatically detached instantly. It can move left and right along the rotation axis 25 of the cantilever. The target object 4 tracks and rotates according to the movement trajectory in the X direction to simulate the tilting state of the object's head during cutting. The orientation of the suspended object can be adjusted by the steering device on the cantilever system 2. The cantilever system 2 supports loading and unloading onto the robotic arm. The mobile platform 1 and at least one cantilever system 2 together realize the scene control capability of the scene testing system 10.

[0036] like Figure 5 As shown, the meteorological simulation system 3 consists of media interference devices such as an environmental equipment control box 311, a spray frequency converter motor 312, a spray water tank 313, a spray pipe 314, and a smoke outlet pipe 316. The media interference devices are used to load interference media, supporting at least water, dust, and smoke. The spray pipe 314 and the smoke outlet pipe 316 are used to spray the interference media. The control system controls the flow rate and direction of the interference media, such as rainwater, dust, and smoke. Photoelectric interference devices 321 can also be arranged, and the control system controls the light intensity, direction, and spectrum to simulate interference factors such as dust and light in the air. The media interference devices and photoelectric interference devices can be disassembled and combined at will. The meteorological simulation system 3 achieves dynamic and static environmental perception interference testing capabilities through spraying media and light interference, and has the significant advantages of small equipment and low site requirements.

[0037] The control system is located within the computing unit of the mobile platform 1. All calculations of the control system are completed within the computing unit, resulting in a simple structure and avoiding issues such as network setup, timing synchronization, and data latency common in scenario testing devices. It obtains the corresponding scenario control parameters according to the scenario testing requirements, and acquires the poses of the test object 5 and the mobile platform 1 in real time according to the scenario testing requirements. After calculating the relative poses, it obtains... Figure 6 The target trajectory of the target object 4 is shown. Based on scene control parameters and / or the target trajectory, the system issues movement commands to the mobile platform 1, steering commands to the cantilever system 2, and meteorological simulation commands to the meteorological simulation system 3. This controls the relevant components of the mobile platform 1, cantilever system 2, and meteorological simulation system 3, precisely controlling the automatic longitudinal movement of the mobile platform 1, the trajectory of the cantilever system 2, and the meteorological simulation actions of the meteorological simulation system 3, ensuring the effectiveness of the scene test and the consistency and repeatability of the test results. The scene test system 10 of this embodiment has low requirements for the test site and can perform tests on straight roads, curves, and slopes.

[0038] According to the scenario testing system 10 of the present invention, at least one cantilever system 2 is set on the mobile platform 1. Through the movement of the mobile platform 1 and the transmission of the cantilever system 2, the movement trajectory of the target object 4 under different test scenarios is precisely controlled. At the same time, the meteorological simulation system 3 constructs the meteorological environment in which the test object 5 is located. By combining the ability to simulate the perception scenario and environmental interference factors, dynamic and static simulation tests are realized, ensuring the effectiveness of the test object 5 in complex scenarios, as well as the consistency and repeatability of test results. Compared with the large fixed test systems of the prior art, it has a simple structure, a small footprint, low cost, and reduces the requirements for test sites.

[0039] In some embodiments, the scene control parameters include: the test speed of the test object 5. When the mobile platform 1 is controlled to perform a movement action according to the scene control parameters and / or the target trajectory of the target object 4, the control system is specifically used to: determine the guide speed of the mobile platform 1 according to the test speed; and generate a first movement command according to the guide speed to control the mobile platform 1 to perform a first movement action.

[0040] In this embodiment, the test speed of the test object 5 is set according to the scenario test requirements. The test object 5 drives autonomously at the test speed Ve. The guide speed Vg1 of the mobile platform 1 is determined according to the test speed Ve. For example, the guide speed Vg1 is set to Ve, or the guide speed Vg1 is set to be greater than the test speed Ve. The mobile platform 1 drives at the guide speed Vg1 to achieve coordinated control between the mobile platform 1 and the test object 5. The mobile platform 1 maintains a suitable distance from the test object 5 through its autonomous driving capability.

[0041] In some embodiments, the scene control parameters include: the first position coordinates of the test object 5, the lane change distance threshold between the target object 4 and the test object 5, and after the control mobile platform 1 executes the first movement action, the control system is further configured to: determine the second position coordinates of the target object 4 based on the target trajectory; determine the relative distance between the target object 4 and the test object 5 based on the first position coordinates and the second position coordinates; if the relative distance meets the lane change distance threshold, determine the moving speed and orientation of the target object 4 based on the target trajectory; determine the first directional speed based on the moving speed and orientation; and generate a second movement command based on the first directional speed to control the mobile platform 1 to execute the second movement action.

[0042] In this embodiment, after the mobile platform 1 executes the first movement action, it determines the first position coordinates (X1, Y1) of the test object 5 at the test speed Ve for autonomous driving. Simultaneously, it determines the second position coordinates (x, y) of the target object 4 based on the target trajectory. The relative distance between the target object 4 and the test object 5 is determined based on the first and second position coordinates (X1, Y1) and (x, y). The relationship between the relative distance and a lane change distance threshold is then assessed. If the relative distance meets the lane change distance threshold (e.g., less than or equal to the threshold), the lane change scenario simulation trigger requirement is considered met, and then... Figure 7 The simulated scenario of the entry condition shown is as follows: the direction of the moving speed V of the target object 4 at the current position and the orientation of the target object 4 are determined according to the target trajectory. The moving speed V of the target object 4 is decomposed according to the orientation of the target object 4 to obtain the first directional speed Vf. The second movement command is generated according to the first directional speed Vf to control the first direction of the moving platform 1 and control the moving platform 1 to execute the second movement action. For example, let the longitudinal speed Vg of the moving platform 1 be Vf, and move at the longitudinal speed Vg to realize the longitudinal control of the moving platform 1.

[0043] Among them, such as Figure 8 As shown, the left image is the ST diagram of the scene where target object 4 accelerates and cuts into the test object 5 from behind, and the right image is the ST diagram of the scene where target object 4 decelerates and cuts into the test object 5 from the front. The scene triggering time is the simulation start time. During the period from the simulation start time to the cut-in start time, longitudinal control of the moving platform 1 is performed to ensure that the scene requirements are met at the start of the cut-in. Then, the cut-in trajectory control of target object 4 completes the scene test. This invention achieves AI testing AI through the above scene triggering method and trajectory control method.

[0044] In some embodiments, the cantilever system 2 includes a rotating device and a transmission device. When the cantilever system 2 is controlled to perform a steering action according to scene control parameters and / or the target trajectory of the target object 4, the control system is specifically used to: determine the connection direction between the target object 4 and the test object 5 according to the target trajectory if the relative distance meets the lane change distance threshold; determine a second directional speed according to the moving speed and the connection direction; generate a steering command according to the second directional speed to control the rotating device to rotate the target object 4, and / or control the transmission device to transmit the target object 4.

[0045] In an embodiment, such as Figure 6 and Figure 7 As shown, if the relative distance meets the lane change distance threshold, the connection direction between the target object 4 and the test object 5 can be determined through the target trajectory. Based on the connection direction between the target object 4 and the test object 5, the moving speed V of the target object 4 is decomposed to obtain the second directional speed Vc. Based on the second directional speed Vc, a steering command is generated to control the rotating device of the cantilever system 2 to rotate the target object 4, and / or control the transmission device to transmit the target object 4, thereby realizing the lateral control of the cantilever system and the cutting action of the target object 4.

[0046] In some embodiments, the scene control parameters further include: a longitudinal distance threshold between the mobile platform 1 and the test object 5. The cantilever system 2 includes: a rotating device and a transmission device. When the cantilever system 2 is controlled to perform a steering action according to the scene control parameters and / or the target trajectory of the target object 4, the control system is specifically used to: determine the longitudinal distance between the mobile platform 1 and the test object 5 according to the test speed; if the longitudinal distance meets the longitudinal distance threshold, control the rotating device to rotate the target object 4, and / or control the transmission device to transmit the target object 4.

[0047] In an embodiment, such as Figure 9 As shown, without moving, the guiding platform determines the longitudinal distance between the mobile platform 1 and the test object 5 based on the test speed. When the longitudinal distance meets the longitudinal distance threshold, the rotating device of the cantilever system 2 is controlled to rotate the target object 4, and / or the transmission device is controlled to transport the target object 4. By using the target object 4 suspended by the mobile platform 1 to block the forward direction of the test object 5, a static AEB test scenario is performed to identify the "ghost peek" scenario. Since the dynamic AEB test scenario and the lane change scenario test method are similar, they will not be described in detail.

[0048] In some embodiments, such as Figure 10 As shown, the scene testing system 10 of this embodiment fully utilizes the composability of the cantilever system 2 to construct multi-objective complex interactive scenes, and according to... Figure 7The control method controls the scene triggering timing and trajectory of each target object 4, demonstrating a complex interactive scene where the first target object 41 cuts out in front of the test object 5, while the second target object 42 cuts in to the right of the test object 5.

[0049] like Figure 11 As shown, during the parking process of test object 5, the complex trajectory motion capability and precise control capability of the scene testing system 10 of this embodiment of the invention are used to realize the complex and precise control of the running trajectory of target object 4 during the parking test, so as to verify the accurate perception and interaction of the dynamic target object 4 around test object 5, thereby realizing the safety test.

[0050] In some embodiments, the environmental control parameters include media interference parameters, and the meteorological simulation system 3 includes a media interference device. When the meteorological simulation system 3 is controlled to perform meteorological simulation actions according to the scene control parameters and / or the target trajectory of the target object 4, the control system is specifically used to: generate a first meteorological simulation command according to the media interference parameters; and control the media interference device to load and spray interference media according to the first meteorological simulation command.

[0051] In this embodiment, the medium interference device enables the dynamic and static environmental interference testing capability of the scenario testing system 10 of the present invention, such as... Figure 12 As shown, taking dynamic and static rain perception test as an example, the medium interference device is a spray system. After the rain control box receives the first meteorological simulation command, it draws the interference medium, i.e., rainwater, loaded in the spray water tank 313 through the spray frequency conversion motor 312, and sprays it out of the rain simulation area through the spray pipe 314. The perception results are tested by adjusting the amount of rain and the different positions of the target object 4, and the impact of the rainfall on the perception is determined by comparing the perception results. After the rain controller in the medium interference device receives the first meteorological simulation command, it adjusts the amount of rain and adjusts the horizontal and vertical velocity parameters of the detected object. The test is carried out under standard dynamic working conditions, such as the cut-in working condition. After the test is completed, the action response distance and speed of the test object 5 under the working condition are determined by the inertial navigation device. The difference between different rainy weather environments is compared to determine the impact of the rainfall on the perception results.

[0052] like Figure 13 As shown, taking the dynamic and static fog perception test as an example, the medium interference device is a smoke-generating system. The smoke-generating system controls the current of the power supply box according to the first meteorological simulation command, adjusts the smoke size of the smoke generator 315, and sprays out a patch of fog simulation area through the smoke outlet pipe 316 to realize the intelligent driving scenario test under typical environmental interference conditions such as rain, fog, and smoke.

[0053] In some embodiments, the environmental control parameters include photoelectric interference parameters, and the meteorological simulation system 3 includes a photoelectric interference device 321. When the meteorological simulation system 3 is controlled to perform meteorological simulation actions according to the scene control parameters and / or the target trajectory of the target object 4, the control system is specifically used to: generate a second meteorological simulation command according to the photoelectric interference parameters; and control the photoelectric interference device 321 to emit light signals or electromagnetic signals of a specific frequency and intensity according to the second meteorological simulation command.

[0054] In this embodiment, the photoelectric interference device 321 enables the dynamic and static environmental interference testing capability of the scenario testing system 10 of the present invention, such as... Figure 14 As shown, taking the dynamic and static backlight perception test as an example, the photoelectric interference device 321 is a backlight system. The backlight system controls the backlight to turn on and adjust the brightness according to the second meteorological simulation command.

[0055] The scenario testing system 10 of this invention controls the power supply and current of the backlight system, sprinkler system, and smoke-generating system through a control program to achieve adjustable lighting and adjustable rain / fog intensity, enabling dynamic and static environmental interference testing. It can also control the relative pose and interference intensity between the test object 5 and the mobile platform 1, combining the environmental perception module with scenario testing. For example, lane-changing scenario testing may include environmental perception simulation testing, or AEB scenario testing may include environmental perception simulation testing. This allows for safety testing of complex scenarios such as entry scenarios, dynamic and static AEB scenarios, and ghost-protruding scenarios, as well as environmental perception simulation testing of light, rain, mud, and smoke. It also includes 360° blind spot perception evaluation and the design and control of complex motion trajectories of dynamic targets in parking tests, meeting the requirements of scenario testing realism and reproducibility. The above combinations are merely examples and are not limited to these examples. After completing the above tests, the mobile platform 1 and the test object 5 exit the autonomous driving mode, the cantilever system 2 is reset, and relevant parameters are reset.

[0056] According to the scenario testing system 10 of the present invention, at least one cantilever system 2 is set on the mobile platform 1. Through the movement of the mobile platform 1 and the transmission of the cantilever system 2, the movement trajectory of the target object 4 under different test scenarios is precisely controlled. At the same time, the meteorological simulation system 3 constructs the meteorological environment in which the test object 5 is located. By combining the ability to simulate the perception scenario and environmental interference factors, dynamic and static simulation tests are realized, ensuring the effectiveness of the test object 5 in complex scenarios, as well as the consistency and repeatability of test results. Compared with the large fixed test systems of the prior art, it has a simple structure, a small footprint, low cost, and reduces the requirements for test sites.

[0057] The following is combined with Figure 15 The scenario testing method of this invention will be illustrated with examples.

[0058] like Figure 15As shown, the embodiments of the present invention include at least steps S1 and S2.

[0059] Step S1: Obtain scene control parameters and target trajectory of the target object.

[0060] Step S2: Control the mobile platform to perform movement actions according to the scene control parameters and / or the target trajectory of the target object, and / or control the cantilever system to perform steering actions, and / or control the meteorological simulation system to perform meteorological simulation actions.

[0061] According to the scenario testing method of the present invention, at least one cantilever system is set on a mobile platform. Through the movement of the mobile platform and the transmission of the cantilever system, the motion trajectory of the target object under different test scenarios is precisely controlled. At the same time, the meteorological simulation system constructs the meteorological environment in which the test object is located. By combining the ability to simulate the perception scenario and environmental interference factors, dynamic and static simulation tests are realized, ensuring the effectiveness of the test object in complex scenarios, as well as the consistency and repeatability of test results. Compared with the large fixed test systems of the prior art, it has a simple structure, a small footprint, low cost, and reduces the requirements for test sites.

[0062] The following describes a computer-readable storage medium according to embodiments of the present invention.

[0063] The computer-readable storage medium of this invention stores a scenario testing program, which, when executed by a processor, implements the scenario testing method of the above embodiments.

[0064] The following describes a computer program product based on an embodiment of the present invention.

[0065] The computer program product of this invention includes a computer program that, when executed by a processor, implements the scenario testing method described in the above embodiments.

[0066] According to the computer program product of the present invention, at least one cantilever system is set on a mobile platform. Through the movement of the mobile platform and the transmission of the cantilever system, the movement trajectory of the target object under different test scenarios is precisely controlled. At the same time, the meteorological simulation system constructs the meteorological environment in which the test object is located. By combining the ability to simulate the perception scene and environmental interference factors, dynamic and static simulation tests are realized, ensuring the effectiveness of the test object in complex scenarios, as well as the consistency and repeatability of test results. Compared with the large fixed test systems of the prior art, it has a simple structure, a small footprint, low cost, and reduces the requirements for test sites.

[0067] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0068] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A scenario testing system, characterized in that, include: A mobile platform used to move according to mobile commands; At least one cantilever system is provided on the mobile platform for driving the suspended target object according to a steering command; A meteorological simulation system, which is installed on the cantilever system, is used to construct the meteorological environment in which the test object is located according to meteorological simulation instructions; The control system is connected to the mobile platform, the cantilever system, and the meteorological simulation system. It is used to control the mobile platform to perform movement actions according to scene control parameters and / or the target trajectory of the target object, and / or control the cantilever system to perform steering actions, and / or control the meteorological simulation system to perform meteorological simulation actions.

2. The scenario testing system according to claim 1, characterized in that, The scene control parameters include: the test speed of the test object. When the mobile platform is controlled to perform movement actions based on the scene control parameters and / or the target trajectory of the target object, the control system is specifically used for: The boot speed of the mobile platform is determined based on the test speed. The first movement command is generated based on the guidance speed to control the mobile platform to perform the first movement action.

3. The scenario testing system according to claim 2, characterized in that, The scene control parameters include: the first position coordinates of the test object, the lane change distance threshold between the target object and the test object, and after controlling the mobile platform to execute the first movement action, the control system is further used for: Determine the second position coordinates of the target object based on the target trajectory; The relative distance between the target object and the test object is determined based on the first position coordinates and the second position coordinates; If the relative distance meets the lane change distance threshold, the moving speed and orientation of the target object are determined based on the target trajectory; The first directional velocity is determined based on the moving speed and the orientation. The second movement command is generated based on the velocity in the first direction to control the mobile platform to perform a second movement action.

4. The scenario testing system according to claim 3, characterized in that, The cantilever system includes a rotating device and a transmission device. When the cantilever system is controlled to perform a steering action according to scene control parameters and / or the target trajectory of the target object, the control system is specifically used for: If the relative distance meets the lane change distance threshold, the connection direction between the target object and the test object is determined according to the target trajectory. The second directional velocity is determined based on the moving speed and the connection direction; A steering command is generated based on the second directional velocity to control the rotating device to rotate the target object, and / or to control the transmission device to transport the target object.

5. The scenario testing system according to claim 3, characterized in that, The scene control parameters also include: a longitudinal distance threshold between the moving platform and the test object; the cantilever system includes: a rotating device and a transmission device; when the cantilever system is controlled to perform a steering action according to the scene control parameters and / or the target trajectory of the target object, the control system is specifically used for: The longitudinal distance between the moving platform and the test object is determined based on the test speed. If the longitudinal distance meets the longitudinal distance threshold, control the rotating device to rotate the target object, and / or control the transmission device to transport the target object.

6. The scenario testing system according to claim 1, characterized in that, The environmental control parameters include media interference parameters, and the meteorological simulation system includes media interference devices. When the meteorological simulation system is controlled to perform meteorological simulation actions based on the scene control parameters and / or the target trajectory of the target object, the control system is specifically used for: A first meteorological simulation command is generated based on the aforementioned medium interference parameters; The interference device is controlled to load and spray interference media according to the first meteorological simulation command.

7. The scenario testing system according to claim 1, characterized in that, The environmental control parameters include photoelectric interference parameters, and the meteorological simulation system includes photoelectric interference equipment. When the meteorological simulation system is controlled to perform meteorological simulation actions according to the scene control parameters and / or the target trajectory of the target object, the control system is specifically used for: A second meteorological simulation command is generated based on the aforementioned photoelectric interference parameters; The photoelectric interference device is controlled to emit light or electromagnetic signals of a specific frequency and intensity according to the second meteorological simulation command.

8. A scenario testing method, characterized in that, include: Obtain scene control parameters and the target trajectory of the target object; The mobile platform is controlled to perform movement actions based on the scene control parameters and / or the target trajectory of the target object, and / or the cantilever system is controlled to perform steering actions, and / or the meteorological simulation system is controlled to perform meteorological simulation actions.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a scenario testing program, which, when executed by a processor, implements the scenario testing method as described in any one of claims 1-7.

10. A computer program product comprising a computer program that, when executed by a processor, implements the scenario testing method as described in any one of claims 1-7.

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