The invention discloses an automatic
driving test method and
system. Belongs to the technical field of automatic driving testing. According to the method, a high-fidelity virtual environment is constructed by collecting real scene data, and a virtual sensor is configured; mapping the real track to a
virtual space, and generating a dynamic
traffic flow in combination with a
car following and lane changing model; after the real vehicle and the virtual
intelligent agent are synchronously initialized, the real vehicle runs in the
physical field and periodically updates the state; the virtual
traffic flow is dynamically evolved according to the state of the main vehicle, and the virtual sensor senses the target in the
field of view and generates a virtual sensing result; real sensor data is used as a reference, and virtual and real
perception information is fused to form unified input; and circularly executing until the task is completed, wherein each
virtual agent only participates in one test. According to the scheme, high-reality and high-efficiency closed-loop testing is achieved, the defects of a traditional method in the aspects of scene richness and testing safety are overcome, and the reliability and
repeatability of
verification of the automatic driving
system are improved.