Automated Driving Sensor Replay With Continuous Timestamp Alignment
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Solution Overview
Problem
Current HiL technology for automated driving systems faces challenges in long-time operation stability testing due to position and time hopping issues when sensor data is repeatedly played, leading to misalignment and discontinuous timestamps, which affect the accuracy of performance testing.
Innovation Solution
The method involves acquiring record data with the same starting and ending points and updating timestamps in the data to ensure continuous time and position alignment during repeated writing, preventing position and time hopping by maintaining the same vehicle position and updating timestamps accordingly.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Duration of action of moving object
If sensor data is repeatedly played for long-time testing, then testing duration is extended, but position and time hopping occurs leading to data misalignment
Solution Approach 1:
The patent applies preliminary action by pre-processing the sensor data to identify and mark the first frame and last frame that correspond to the same vehicle position before repeated playback. This preprocessing step ensures that when data is cycled, the transition points are predetermined and controlled, preventing position hopping. The timestamp updating mechanism is also prepared in advance with clear rules for how timestamps should be adjusted during each playback cycle, ensuring time continuity without requiring real-time complex calculations.
Solution Approach 2:
The patent changes the timestamp parameter during repeated data playback. Specifically, when the last frame is replayed, the timestamp is updated by adding the total duration of the original record data. This parameter transformation maintains continuous time progression across multiple playback cycles while keeping the vehicle position consistent at transition points, thereby resolving both position hopping and time discontinuity issues.
2Device complexity
If timestamps are not updated during repeated writing, then data processing is simpler, but time discontinuity and hopping occur
Solution Approach 1:
The patent calculates and stores the total duration of the record data in advance. During repeated playback, instead of performing complex real-time timestamp calculations, the system simply adds this pre-calculated duration to timestamps at transition points. This preliminary preparation significantly reduces the complexity of real-time processing while ensuring accurate timestamp continuity.
Solution Approach 2:
The patent implements periodic timestamp updating that occurs at regular intervals corresponding to each complete playback cycle. When the playback reaches the transition point from last frame to first frame, the timestamp is periodically adjusted by adding the total record duration. This periodic action ensures consistent time continuity across all playback cycles without requiring continuous complex calculations.
3Adaptability or versatility
If the first and last frames do not correspond to the same vehicle position, then more diverse test scenarios are covered, but position hopping occurs during repetition
Solution Approach 1:
The patent applies preliminary action by selecting and marking specific frames (first frame and last frame) that correspond to the same vehicle position before the repeated playback begins. This pre-selection ensures that when the data cycles from last frame back to first frame, the vehicle position is consistent at the transition point, eliminating position hopping while still allowing diverse test scenarios to be covered within each playback cycle.
Data Source
AI summary
A testing method for an automated driving system, an electronic device and a storage medium are provided, and relate to the technical field of artificial intelligence, such as intelligent transportation and automated driving. The method includes: acquiring record data of a sensor device, the record data including a plurality of frames of data collected by the sensor device of a vehicle, each frame of data including a timestamp, and a first frame and a last frame of the record data corresponding to a same vehicle position; and writing the record data repeatedly to generate test data for testing the automated driving system; and updating the timestamp of each frame of data in the record data in the process of repeated writing, according to a number of times of a current repeated writing and a time duration corresponding to the record data.